diff --git a/.gitattributes b/.gitattributes
index 589a703759d4e6a0e3dc6d2589385cefc82e2086..b6289a40c00382022f03b8931e89750ae82bf4ad 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -376,3 +376,7 @@ new_beeswax_candle/new_beeswax_candle_5/visual/ouzkdj__base_link__ior.exr filter
 new_beeswax_candle/new_beeswax_candle_0/visual/aiuhyv__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_beeswax_candle/new_beeswax_candle_4/visual/oimgmh__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_beeswax_candle/new_beeswax_candle_6/visual/pfewit__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+teapot/teapot_6/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+carrot/carrot_0/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
+carrot/carrot_0/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+carrot/carrot_7/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/carrot/carrot_0/.DS_Store b/carrot/carrot_0/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..b8b7640a814c2196f88dcaecbd43861c5c8238df
Binary files /dev/null and b/carrot/carrot_0/.DS_Store differ
diff --git a/carrot/carrot_0/collision/model_normalized_collision_0.obj b/carrot/carrot_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b784e9bbce445f4cd45dbcac7145b03e58cb53
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26745724 -0.10956072 -0.07846004
+v 0.26588147 -0.09327951 -0.09636912
+v 0.26464230 0.13135077 -0.06003829
+v 0.17550037 0.12527802 -0.05605617
+v 0.00793856 -0.10418966 -0.10649442
+v 0.01233367 -0.12587730 -0.06139216
+v 0.26417095 0.02937257 -0.13572767
+v 0.00772686 0.09086334 -0.09164562
+v 0.26382142 -0.02589639 -0.13538473
+v 0.26482565 0.12583887 -0.06998058
+v 0.00757576 -0.01382197 -0.06236502
+v 0.00896592 0.02537676 -0.13745561
+v 0.17649660 0.11994901 -0.06726288
+v 0.26297302 -0.05331118 -0.12646511
+v 0.14421086 0.11957395 -0.06088847
+v 0.00858948 -0.05420331 -0.13758338
+v 0.23498379 0.09319072 -0.10672658
+v 0.12527911 -0.05150310 -0.13513329
+v 0.26369548 0.09235490 -0.10713700
+v 0.08484116 0.06591647 -0.12050939
+v 0.20754388 0.10600990 -0.09409897
+v 0.26382791 0.06860623 -0.12235184
+v 0.00859082 0.05236804 -0.12363621
+v 0.26403290 0.10716216 -0.09363172
+v 0.02358411 0.07756075 -0.10674182
+v 0.15839567 0.04082343 -0.13488131
+v 0.05509939 0.03663829 -0.13468072
+v 0.00824773 0.08397312 -0.09948456
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 9 7 1
+f 9 1 2
+f 10 3 1
+f 10 1 7
+f 11 6 4
+f 11 8 5
+f 11 5 6
+f 13 8 4
+f 13 4 3
+f 13 10 8
+f 13 3 10
+f 14 9 2
+f 14 2 5
+f 15 11 4
+f 15 4 8
+f 15 8 11
+f 16 5 8
+f 16 12 7
+f 16 7 9
+f 18 14 5
+f 18 5 16
+f 18 16 9
+f 18 9 14
+f 21 8 10
+f 21 17 20
+f 22 10 7
+f 22 20 17
+f 22 17 19
+f 23 16 8
+f 23 12 16
+f 24 19 17
+f 24 17 21
+f 24 21 10
+f 24 22 19
+f 24 10 22
+f 25 21 20
+f 25 20 23
+f 26 22 7
+f 26 7 12
+f 26 20 22
+f 27 23 20
+f 27 12 23
+f 27 26 12
+f 27 20 26
+f 28 8 21
+f 28 21 25
+f 28 25 23
+f 28 23 8
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_1.obj b/carrot/carrot_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828bfaed2c372390126143d90d34c37ef66e66c3
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.42601955 0.05544711 0.10685768
+v 0.44683139 0.06182616 0.08901260
+v 0.33660204 0.12041780 0.07817501
+v 0.16082037 0.13558476 0.01168368
+v 0.27032981 0.08457102 -0.11180159
+v 0.18965008 0.05855954 0.12714943
+v 0.40577203 0.09111744 0.08948890
+v 0.34683084 0.07767370 -0.10307674
+v 0.14764302 0.10813764 0.07807729
+v 0.43762359 0.06721250 0.09263082
+v 0.33978979 0.05898940 0.12890458
+v 0.41360799 0.07963075 -0.07258807
+v 0.22260135 0.07982128 0.11790713
+v 0.22224631 0.13440463 0.05048606
+v 0.13996335 0.10028389 -0.09104505
+v 0.40549242 0.07808304 0.10151257
+v 0.44092278 0.05763530 0.09668006
+v 0.39293208 0.11921514 0.05257782
+v 0.33959371 0.13268641 -0.04325115
+v 0.13902769 0.07576258 0.10777621
+v 0.22217935 0.11943167 0.07902272
+v 0.30836516 0.08234770 0.11598805
+v 0.14695383 0.11941095 0.06185133
+v 0.42385637 0.06515034 0.10221179
+v 0.36719213 0.09237933 0.10366692
+v 0.44256052 0.07229539 0.08376571
+v 0.36688702 0.10602827 0.09013158
+v 0.35253124 0.13357625 0.03995548
+v 0.33898069 0.12109347 -0.06459928
+v 0.39489888 0.12067788 -0.02757118
+v 0.20653714 0.13430714 -0.04178572
+v 0.19099994 0.10715841 0.08906427
+v 0.19044572 0.06875928 0.12175036
+v 0.32381198 0.13407413 0.05355795
+v 0.19191777 0.13532940 0.03710746
+v 0.14611360 0.12243499 -0.05519545
+v 0.33938390 0.06911314 0.12292357
+v 0.38163324 0.11898239 0.06266470
+v 0.35230931 0.13350097 -0.02832696
+v 0.37844225 0.10568172 -0.06479508
+v 0.26482565 0.12583887 -0.06998058
+v 0.36484999 0.12181092 -0.05189712
+v 0.19300065 0.09198771 0.10334546
+v 0.17465655 0.13481104 -0.02759692
+v 0.39934581 0.08759038 -0.07253468
+v 0.39424353 0.10739276 -0.05300954
+v 0.16244401 0.13480105 -0.01419365
+v 0.39568009 0.09480516 -0.06694074
+f 8 6 5
+f 8 1 6
+f 11 6 1
+f 13 6 11
+f 15 5 6
+f 16 10 7
+f 16 11 1
+f 17 2 10
+f 17 12 2
+f 17 1 8
+f 17 8 12
+f 20 15 6
+f 22 13 11
+f 22 21 13
+f 22 3 21
+f 23 21 14
+f 23 9 21
+f 23 20 9
+f 23 15 20
+f 24 16 1
+f 24 10 16
+f 24 17 10
+f 24 1 17
+f 25 16 7
+f 25 3 22
+f 25 11 16
+f 26 10 2
+f 26 2 12
+f 26 18 7
+f 26 7 10
+f 27 25 7
+f 27 3 25
+f 29 8 5
+f 30 26 12
+f 30 18 26
+f 30 28 18
+f 32 9 20
+f 32 21 9
+f 32 13 21
+f 33 20 6
+f 33 6 13
+f 34 21 3
+f 34 14 21
+f 35 23 14
+f 35 4 23
+f 35 34 4
+f 35 14 34
+f 36 23 4
+f 36 15 23
+f 37 25 22
+f 37 22 11
+f 37 11 25
+f 38 3 27
+f 38 34 3
+f 38 18 28
+f 38 28 34
+f 38 27 7
+f 38 7 18
+f 39 34 28
+f 39 4 34
+f 39 19 31
+f 39 30 19
+f 39 28 30
+f 40 8 29
+f 41 29 5
+f 41 5 15
+f 41 36 31
+f 41 15 36
+f 41 31 19
+f 41 19 29
+f 42 29 19
+f 42 19 30
+f 42 40 29
+f 43 32 20
+f 43 13 32
+f 43 33 13
+f 43 20 33
+f 44 31 36
+f 44 39 31
+f 44 4 39
+f 45 12 8
+f 45 8 40
+f 46 30 12
+f 46 42 30
+f 46 40 42
+f 47 44 36
+f 47 36 4
+f 47 4 44
+f 48 45 40
+f 48 40 46
+f 48 46 12
+f 48 12 45
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_10.obj b/carrot/carrot_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9036c322c755917d3f5cf9a5f33c85599c0eebd
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.41107882 -0.10253251 0.04933502
+v 0.48969575 -0.02486867 0.01213119
+v 0.45064912 -0.02204196 0.10258574
+v 0.40941071 0.07254604 0.10341724
+v 0.40151515 0.04678409 0.01339255
+v 0.49142361 0.04280655 0.05368307
+v 0.38251701 -0.05311410 0.12252897
+v 0.44732835 -0.07274785 0.06433571
+v 0.39854998 -0.10566684 0.01115108
+v 0.48930013 0.00343785 0.06582181
+v 0.44822366 0.03798942 0.10257049
+v 0.46064243 0.07584847 0.05801590
+v 0.39633202 0.05493558 0.11902811
+v 0.46330016 -0.07623161 0.00752822
+v 0.39137812 -0.08407533 0.09644337
+v 0.49525945 0.04184141 0.01509890
+v 0.47330288 -0.03219006 0.06551707
+v 0.48996506 0.02890729 0.06451591
+v 0.48098448 0.05016939 0.06474336
+v 0.38638332 -0.01383286 0.13467335
+v 0.43582285 0.05355835 0.10241342
+v 0.43418312 -0.08676453 0.05554177
+v 0.41106863 -0.10206655 0.01449731
+v 0.39744792 -0.10339141 0.05296196
+v 0.38430293 -0.06943992 0.11273603
+v 0.43522725 -0.05995171 0.08988808
+v 0.48970745 -0.01581442 0.05163961
+v 0.46761569 0.06967258 0.05394669
+v 0.45997703 -0.02082212 0.09284043
+v 0.47950208 0.04176364 0.07191104
+v 0.42281560 -0.02208762 0.11743460
+v 0.42615764 0.02843781 0.11610117
+v 0.40882697 0.05420447 0.11478846
+v 0.45613161 0.07169607 0.06938844
+v 0.46208530 -0.07219950 0.02688129
+v 0.40712432 -0.08686257 0.07932889
+v 0.39585503 -0.09027191 0.08173691
+v 0.40446960 -0.05081319 0.11544394
+v 0.43643904 -0.07371714 0.07442756
+v 0.44728016 -0.04724520 0.08964143
+v 0.39934282 -0.01599310 0.12989140
+f 9 7 5
+f 12 5 4
+f 13 4 5
+f 14 9 5
+f 16 6 10
+f 16 5 12
+f 16 14 5
+f 16 2 14
+f 18 10 6
+f 18 11 3
+f 18 3 10
+f 19 18 6
+f 20 13 5
+f 20 5 7
+f 21 11 19
+f 22 1 14
+f 23 14 1
+f 23 1 9
+f 23 9 14
+f 24 9 1
+f 25 7 9
+f 25 24 15
+f 25 9 24
+f 26 25 15
+f 27 16 10
+f 27 2 16
+f 27 10 17
+f 27 14 2
+f 27 17 8
+f 28 16 12
+f 28 6 16
+f 28 19 6
+f 28 12 19
+f 29 17 10
+f 29 10 3
+f 30 19 11
+f 30 11 18
+f 30 18 19
+f 32 13 20
+f 32 31 3
+f 32 3 11
+f 33 21 4
+f 33 4 13
+f 33 13 32
+f 33 32 11
+f 33 11 21
+f 34 21 19
+f 34 19 12
+f 34 12 4
+f 34 4 21
+f 35 22 14
+f 35 8 22
+f 35 27 8
+f 35 14 27
+f 36 15 1
+f 36 1 22
+f 37 24 1
+f 37 1 15
+f 37 15 24
+f 38 7 25
+f 38 3 31
+f 38 26 3
+f 38 25 26
+f 39 26 15
+f 39 8 26
+f 39 15 36
+f 39 36 22
+f 39 22 8
+f 40 8 17
+f 40 17 29
+f 40 26 8
+f 40 29 3
+f 40 3 26
+f 41 32 20
+f 41 31 32
+f 41 38 31
+f 41 20 7
+f 41 7 38
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_11.obj b/carrot/carrot_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb326732a9640e7d85458000c099e47edc57b672
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00772817 -0.09626258 -0.11464591
+v 0.00651385 -0.08156461 -0.12529799
+v -0.23484848 -0.02897349 -0.07751654
+v -0.31059554 -0.02863615 -0.13645583
+v -0.30862804 -0.08236384 -0.12360683
+v 0.00750259 -0.02762862 -0.14279875
+v -0.23677703 -0.11088587 -0.10593271
+v -0.31038731 -0.11021896 -0.10018351
+v -0.29384941 -0.02657548 -0.13812952
+v -0.18853726 -0.06721540 -0.13531218
+v 0.00858948 -0.05420331 -0.13758338
+v -0.30922888 -0.03914857 -0.13442208
+v 0.00759227 -0.03351008 -0.14194383
+v -0.12927291 -0.06711184 -0.13494176
+f 6 3 1
+f 7 2 1
+f 8 3 4
+f 8 4 5
+f 8 5 7
+f 8 7 1
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 10 9 6
+f 10 7 5
+f 10 2 7
+f 11 6 1
+f 11 1 2
+f 12 5 4
+f 12 4 9
+f 12 10 5
+f 12 9 10
+f 13 11 10
+f 13 10 6
+f 13 6 11
+f 14 11 2
+f 14 2 10
+f 14 10 11
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_12.obj b/carrot/carrot_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bd40db74432419e6ceb8360b0a2e4cea4bfa9f
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.39585503 -0.09027191 0.08173691
+v 0.40451165 -0.07869202 0.09321578
+v 0.14450941 -0.09449733 0.09476769
+v 0.05378848 -0.01267732 0.12043034
+v 0.39987588 -0.01341381 0.12992920
+v 0.00771184 -0.08786144 0.08718520
+v 0.30988801 -0.08938419 0.10437898
+v 0.14427095 -0.10164902 0.08666719
+v 0.17603604 -0.03876244 0.13188968
+v 0.39232102 -0.08615665 0.09275233
+v 0.28109663 -0.08905312 0.10428357
+v 0.13002963 -0.06426287 0.11692120
+v 0.35442566 -0.05108081 0.13118165
+v 0.16151584 -0.01228355 0.13406963
+v 0.06916244 -0.07700679 0.10258358
+v 0.00819375 -0.05472835 0.10875799
+v 0.38185340 -0.06416769 0.11676810
+v 0.25035199 -0.05099789 0.13168732
+v 0.39477728 -0.01169315 0.13201760
+v 0.00684537 -0.06802674 0.10290014
+v 0.05477036 -0.04052330 0.11788185
+v 0.39362838 -0.07533679 0.10446929
+v 0.39523210 -0.02530559 0.13034793
+v 0.16107318 -0.02683885 0.13293590
+v 0.00828104 -0.06599912 0.10416264
+v 0.00796777 -0.08040403 0.09363975
+v 0.05190628 -0.01407597 0.12024068
+v 0.38111931 -0.03591444 0.13029035
+v 0.39934282 -0.01599310 0.12989140
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 8 6 1
+f 8 3 6
+f 8 1 7
+f 10 7 1
+f 10 1 2
+f 11 8 7
+f 11 3 8
+f 15 6 3
+f 15 3 12
+f 16 12 9
+f 16 4 6
+f 17 13 7
+f 18 9 12
+f 18 11 7
+f 18 7 13
+f 18 12 3
+f 18 3 11
+f 18 13 14
+f 19 5 4
+f 19 4 14
+f 19 14 13
+f 20 15 12
+f 20 16 6
+f 21 16 9
+f 22 17 7
+f 22 7 10
+f 22 10 2
+f 23 19 13
+f 23 17 22
+f 23 22 2
+f 24 18 14
+f 24 9 18
+f 24 21 9
+f 25 20 12
+f 25 12 16
+f 25 16 20
+f 26 20 6
+f 26 6 15
+f 26 15 20
+f 27 4 16
+f 27 16 21
+f 27 21 24
+f 27 24 14
+f 27 14 4
+f 28 23 13
+f 28 13 17
+f 28 17 23
+f 29 5 19
+f 29 19 23
+f 29 23 2
+f 29 2 5
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_13.obj b/carrot/carrot_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a565ea73b96863e4a104bd734af2de488afd35b
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15909090 -0.02897349 -0.06236502
+v -0.15910537 -0.02829251 -0.14391019
+v -0.15891265 0.08905273 -0.06130939
+v -0.35500461 0.06991287 -0.07320205
+v -0.30922888 -0.03914857 -0.13442208
+v -0.15814801 0.03815845 -0.12451725
+v -0.23467677 0.08564934 -0.05957412
+v -0.23484848 -0.02897349 -0.06236502
+v -0.15784714 0.07855865 -0.08438130
+v -0.35284817 0.02211881 -0.11898693
+v -0.36205610 0.03703078 -0.10734784
+v -0.24891726 0.07973771 -0.07161195
+v -0.25010854 0.00938369 -0.13558243
+v -0.35326016 0.01136250 -0.12351544
+v -0.29434192 0.03470012 -0.12050083
+v -0.32319613 0.06062474 -0.09465446
+v -0.15857740 0.01192612 -0.13742507
+v -0.30892838 -0.01531718 -0.13669657
+v -0.32224310 0.04761258 -0.10744597
+v -0.29354119 -0.00207483 -0.13658907
+v -0.24933215 0.07426469 -0.08179220
+v -0.35446785 0.06340736 -0.08370510
+v -0.30998937 -0.02598589 -0.13693859
+v -0.23578544 0.00644264 -0.13653374
+f 5 2 1
+f 6 1 2
+f 7 1 3
+f 8 5 1
+f 8 7 4
+f 8 1 7
+f 9 3 1
+f 9 1 6
+f 11 8 4
+f 12 7 3
+f 12 3 9
+f 12 4 7
+f 14 5 8
+f 14 8 11
+f 14 11 10
+f 15 6 13
+f 16 9 6
+f 17 13 6
+f 17 6 2
+f 19 15 10
+f 19 10 11
+f 19 11 16
+f 19 16 6
+f 19 6 15
+f 20 14 10
+f 20 10 15
+f 20 15 13
+f 20 18 14
+f 20 2 18
+f 20 17 2
+f 21 12 9
+f 21 9 16
+f 21 16 4
+f 21 4 12
+f 22 16 11
+f 22 11 4
+f 22 4 16
+f 23 18 2
+f 23 2 5
+f 23 5 14
+f 23 14 18
+f 24 20 13
+f 24 13 17
+f 24 17 20
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_14.obj b/carrot/carrot_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f704068418724715d57be912e1a41ab436ae9f
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.36436675 -0.11675143 0.02460499
+v 0.40477950 -0.10365895 0.01490247
+v 0.39988729 -0.08592081 0.08707812
+v 0.26502800 -0.09649465 0.09562212
+v 0.26745724 -0.10956072 -0.07846004
+v 0.29281398 -0.11679291 0.06646379
+v 0.39744792 -0.10339141 0.05296196
+v 0.34507285 -0.11601388 -0.05243230
+v 0.36732144 -0.08092010 -0.08396038
+v 0.35357544 -0.10120107 0.08157971
+v 0.26323893 -0.13445702 0.02342479
+v 0.36441540 -0.11799112 0.01414881
+v 0.38339358 -0.08403054 -0.07371166
+v 0.34027019 -0.08847826 -0.09146440
+v 0.26434809 -0.10914276 0.08071310
+v 0.38112860 -0.10265964 0.06828587
+v 0.26440374 -0.12398369 -0.05682787
+v 0.39854998 -0.10566684 0.01115108
+v 0.26333555 -0.13583204 -0.03972309
+v 0.27665020 -0.13212463 0.02500659
+v 0.37521197 -0.10099504 -0.05231830
+v 0.33850836 -0.09472150 -0.08524075
+v 0.26399637 -0.11947796 0.06589765
+v 0.39585503 -0.09027191 0.08173691
+v 0.35408550 -0.11578397 0.03805042
+v 0.27500930 -0.13391122 -0.03875189
+v 0.37758471 -0.09020143 -0.06929574
+f 7 2 3
+f 9 4 3
+f 10 3 4
+f 12 7 1
+f 12 2 7
+f 13 9 3
+f 13 3 2
+f 14 5 4
+f 14 4 9
+f 14 9 13
+f 15 10 4
+f 15 6 10
+f 16 3 10
+f 16 10 6
+f 17 4 5
+f 18 12 8
+f 18 8 2
+f 18 2 12
+f 19 11 15
+f 19 15 4
+f 19 4 17
+f 19 17 5
+f 19 5 8
+f 20 12 1
+f 20 11 12
+f 20 16 6
+f 20 6 11
+f 21 13 2
+f 21 2 8
+f 22 8 5
+f 22 5 14
+f 22 14 13
+f 23 15 11
+f 23 11 6
+f 23 6 15
+f 24 16 7
+f 24 7 3
+f 24 3 16
+f 25 1 7
+f 25 7 16
+f 25 20 1
+f 25 16 20
+f 26 19 8
+f 26 8 12
+f 26 12 11
+f 26 11 19
+f 27 21 8
+f 27 13 21
+f 27 22 13
+f 27 8 22
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_15.obj b/carrot/carrot_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c08e2882e8fd04767f1114f76e17f25a11b740
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26323893 -0.13445702 0.02342479
+v 0.27663128 -0.13308394 0.01366718
+v 0.26502800 -0.09649465 0.09562212
+v 0.02442636 -0.08195876 0.09466128
+v 0.00758342 -0.13400760 0.01315630
+v 0.26399637 -0.11947796 0.06589765
+v 0.05335865 -0.13664891 0.00889310
+v 0.26434809 -0.10914276 0.08071310
+v 0.00639465 -0.11735240 0.05011395
+v 0.26310060 -0.13600235 0.01303347
+v 0.14336551 -0.13090413 0.03720165
+v 0.14450941 -0.09449733 0.09476769
+v 0.00771184 -0.08786144 0.08718520
+v 0.01055711 -0.12731037 0.03090237
+v 0.13171119 -0.11794192 0.06275571
+v 0.24790586 -0.13250177 0.03638946
+v 0.14412611 -0.08734380 0.10194984
+v 0.05432648 -0.10289764 0.07653274
+v 0.02518160 -0.08958983 0.08843100
+v 0.00854121 -0.09553119 0.08034922
+f 3 2 4
+f 5 4 2
+f 6 1 2
+f 7 5 2
+f 8 6 2
+f 8 2 3
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 5 7
+f 12 8 3
+f 13 4 5
+f 13 5 9
+f 14 9 5
+f 14 5 11
+f 15 11 6
+f 15 14 11
+f 15 9 14
+f 15 6 8
+f 15 8 12
+f 16 11 7
+f 16 7 1
+f 16 1 6
+f 16 6 11
+f 17 12 3
+f 17 3 4
+f 18 15 12
+f 18 9 15
+f 19 12 17
+f 19 17 4
+f 19 4 13
+f 20 18 12
+f 20 12 19
+f 20 9 18
+f 20 19 13
+f 20 13 9
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_16.obj b/carrot/carrot_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9a9d7aa1ae108bd2b12bd4b5257d9324b2d3c2
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.39477728 -0.01169315 0.13201760
+v 0.42403516 -0.01948122 -0.09050152
+v 0.39002082 0.08711838 0.10193799
+v 0.34664182 0.09411449 0.10653421
+v 0.26515151 -0.01382197 -0.04721351
+v 0.41360799 0.07963075 -0.07258807
+v 0.38000342 0.03965601 0.13016072
+v 0.26524825 -0.01325260 0.14379418
+v 0.26515151 0.06193560 -0.04721351
+v 0.39633202 0.05493558 0.11902811
+v 0.26469097 0.05687919 0.13430436
+v 0.39404325 0.02498621 0.13006986
+v 0.38236971 0.06811006 0.11774461
+v 0.33701767 0.05371065 0.13217327
+v 0.33938390 0.06911314 0.12292357
+f 6 4 3
+f 8 5 2
+f 8 2 1
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 11 4 9
+f 11 9 5
+f 11 5 8
+f 12 8 1
+f 12 7 8
+f 12 10 7
+f 12 1 10
+f 13 10 3
+f 13 3 4
+f 13 7 10
+f 14 11 8
+f 14 8 7
+f 14 7 13
+f 15 14 13
+f 15 13 4
+f 15 4 11
+f 15 11 14
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_17.obj b/carrot/carrot_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e624095ebc839b5ba9914a07ecc4ee9e642fa6f0
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00770959 -0.10294004 0.07238805
+v 0.00854121 -0.09553119 0.08034922
+v -0.15898472 -0.08852315 0.07278042
+v -0.10272206 -0.02807946 0.10533260
+v 0.00784768 -0.02850602 0.11630750
+v -0.14263362 -0.09674679 0.06670181
+v 0.00828104 -0.06599912 0.10416264
+v -0.12495784 -0.07826642 0.08608590
+v -0.09724378 -0.05404900 0.10148675
+v -0.14050642 -0.09053581 0.07343382
+v 0.00393634 -0.03774071 0.11434338
+v -0.09682191 -0.02939600 0.10614948
+v -0.03654815 -0.06610124 0.10097058
+v -0.15874832 -0.07177429 0.08427897
+v -0.15767147 -0.08242140 0.07775796
+v -0.15958532 -0.07836523 0.08012679
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 2 5
+f 8 2 7
+f 10 6 2
+f 10 2 8
+f 10 8 3
+f 10 3 6
+f 11 9 7
+f 11 7 5
+f 12 5 4
+f 12 4 9
+f 12 11 5
+f 12 9 11
+f 13 9 8
+f 13 8 7
+f 13 7 9
+f 14 9 4
+f 14 4 3
+f 14 8 9
+f 15 3 8
+f 16 14 3
+f 16 3 15
+f 16 15 8
+f 16 8 14
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_18.obj b/carrot/carrot_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffb433c24fb38b838de6f85489d9e391e109d651
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.09787230 -0.10007661 0.07042165
+v -0.10043895 -0.12784952 -0.07005425
+v -0.09690760 0.09916456 -0.05916307
+v -0.23321325 0.09012589 0.00657950
+v -0.23312204 -0.13279769 -0.00149798
+v -0.23467677 0.08564934 -0.05957412
+v -0.09525362 0.06281069 0.07591924
+v -0.20634513 -0.13363707 -0.00410247
+v -0.23303225 -0.04263520 0.08684705
+v -0.23383469 0.09139344 -0.04397355
+v -0.23501099 -0.12938163 -0.06159867
+v -0.09608077 0.09464084 0.03733460
+v -0.15627005 -0.11742906 0.03415409
+v -0.23220520 -0.07923217 0.07315942
+v -0.23111846 0.03575852 0.07096383
+v -0.09672482 -0.04018768 0.10495993
+v -0.23287512 -0.10432350 0.04828164
+v -0.22702985 -0.13356139 -0.02916962
+v -0.09551924 0.07765661 0.05988285
+v -0.23259377 -0.00212036 0.08653064
+v -0.09738193 -0.06976766 0.09426245
+v -0.20386751 -0.11659046 0.03325033
+v -0.15964871 -0.12938127 -0.06095591
+v -0.23226401 0.07701685 0.03270549
+v -0.09682913 0.01191507 0.10290452
+v -0.21863790 -0.05642107 0.08601289
+v -0.20142983 0.06063162 0.05889899
+v -0.14225071 0.03626088 0.08571993
+v -0.18732951 0.05074036 0.07027498
+v -0.11181388 0.07520529 0.05965276
+v -0.21640350 0.01007200 0.08628142
+v -0.18615056 0.02325264 0.08517018
+v -0.10964098 0.01101251 0.10131675
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 9 6
+f 12 3 4
+f 13 8 2
+f 13 2 1
+f 13 5 8
+f 16 1 7
+f 17 11 5
+f 17 9 11
+f 17 14 9
+f 17 1 14
+f 18 8 5
+f 18 5 11
+f 18 2 8
+f 19 7 3
+f 19 3 12
+f 20 9 16
+f 20 4 6
+f 20 6 9
+f 21 14 1
+f 21 1 16
+f 22 13 1
+f 22 1 17
+f 22 17 5
+f 22 5 13
+f 23 18 11
+f 23 11 2
+f 23 2 18
+f 24 19 12
+f 24 12 4
+f 24 20 15
+f 24 4 20
+f 25 20 16
+f 25 16 7
+f 26 21 16
+f 26 16 9
+f 26 9 14
+f 26 14 21
+f 27 24 15
+f 28 25 7
+f 29 27 15
+f 29 7 27
+f 29 28 7
+f 29 15 28
+f 30 27 7
+f 30 7 19
+f 30 19 24
+f 30 24 27
+f 31 15 20
+f 32 28 15
+f 32 15 31
+f 32 31 25
+f 32 25 28
+f 33 31 20
+f 33 20 25
+f 33 25 31
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_19.obj b/carrot/carrot_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e276d1c86d08eeb8f9e7d4b02984db5241e9f8
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 -0.01382197 0.01339255
+v 0.14393939 -0.01382197 -0.06236502
+v 0.14170936 0.08831154 -0.10516383
+v 0.00757576 0.04678409 0.01339255
+v 0.00757576 -0.01382197 0.01339255
+v 0.14393939 0.04678409 0.01339255
+v 0.08492885 -0.01624365 -0.14422499
+v 0.00582472 -0.01043929 -0.14297099
+v 0.00573593 0.06225198 -0.11821846
+v 0.08139346 0.06406046 -0.12138008
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 7 5
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 10 9 3
+f 10 3 7
+f 10 7 8
+f 10 8 9
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_2.obj b/carrot/carrot_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae9b28b94bbaf3b791e7ff40a6e8137dd9fe9c3
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.23513478 -0.12201235 0.02111003
+v -0.23449162 -0.12661568 -0.07909125
+v -0.23383469 0.09139344 -0.04397355
+v -0.36835390 0.07562997 -0.00683872
+v -0.47584316 -0.09141683 -0.03610470
+v -0.23318540 0.02520271 0.07638175
+v -0.44994024 -0.12135898 -0.02591677
+v -0.47543152 -0.02574946 -0.08173629
+v -0.23226401 0.07701685 0.03270549
+v -0.42338665 -0.01701412 0.07048514
+v -0.23220520 -0.07923217 0.07315942
+v -0.23426822 0.08051011 -0.07202089
+v -0.44967822 -0.11807303 -0.05379727
+v -0.26413480 0.09098096 -0.00544230
+v -0.44618705 -0.06313106 0.04238556
+v -0.43453303 0.03907343 0.04014858
+v -0.23287512 -0.10432350 0.04828164
+v -0.23228623 0.05050228 0.06024917
+v -0.42435928 -0.04279802 0.07222472
+v -0.35302090 0.07313748 -0.06794267
+v -0.46130595 -0.10645060 -0.05409344
+v -0.35717304 -0.12079231 -0.07383351
+v -0.23371758 0.09259819 -0.00421224
+v -0.32225924 0.07311149 0.01998657
+v -0.46210344 -0.08927405 0.00201587
+v -0.45481072 0.00952559 0.03884838
+v -0.37029039 0.01138418 0.07128668
+v -0.39800983 -0.10454486 0.02890123
+v -0.29157090 0.06211143 0.04306251
+v -0.26313118 0.08961046 -0.04242780
+v -0.36763059 0.07407244 -0.05652920
+v -0.47456255 -0.09290002 -0.04448352
+v -0.47423478 -0.08712564 -0.06148775
+v -0.43300106 0.03697902 0.04646400
+v -0.45949308 -0.10819841 -0.02386205
+v -0.44959897 0.00795952 0.04774427
+v -0.48180262 -0.08243438 -0.03472807
+v -0.29264041 0.04700135 0.05820911
+v -0.42586695 -0.11620936 0.00323551
+v -0.34053750 -0.11649013 0.02099829
+v -0.30983323 -0.08980646 0.05769632
+v -0.40866402 -0.07364655 0.05938659
+v -0.26352986 0.07413767 0.03092907
+v -0.42863654 0.02271114 0.05655831
+v -0.48027589 -0.08343244 -0.04323562
+v -0.38405147 0.03231706 0.05807143
+v -0.44757752 -0.10425037 0.00218656
+v -0.29311725 -0.10254292 0.04587209
+v -0.43561269 -0.07307286 0.04336582
+v -0.40744321 -0.08723895 0.04542170
+v -0.37097804 -0.06750326 0.07122084
+v -0.43788336 0.01100872 0.05567135
+v -0.41416064 -0.05289190 0.07191340
+v -0.43490601 -0.10470427 0.01274592
+v -0.26369361 -0.07993440 0.07027109
+f 7 2 1
+f 11 2 9
+f 12 2 8
+f 12 9 2
+f 12 3 9
+f 17 1 2
+f 17 2 11
+f 18 11 9
+f 18 6 11
+f 19 11 6
+f 20 12 8
+f 20 3 12
+f 21 13 7
+f 22 8 2
+f 22 2 7
+f 22 7 13
+f 23 14 9
+f 23 9 3
+f 23 3 14
+f 24 14 4
+f 24 9 14
+f 26 16 8
+f 27 19 6
+f 27 10 19
+f 29 18 9
+f 30 14 3
+f 30 3 20
+f 31 16 4
+f 31 30 20
+f 31 4 14
+f 31 14 30
+f 31 20 8
+f 31 8 16
+f 32 21 7
+f 32 7 5
+f 33 13 21
+f 33 22 13
+f 33 8 22
+f 33 21 32
+f 34 24 4
+f 34 4 16
+f 34 29 24
+f 34 16 26
+f 35 5 7
+f 35 7 25
+f 36 19 10
+f 36 34 26
+f 36 26 15
+f 36 15 19
+f 37 25 15
+f 37 15 26
+f 37 35 25
+f 37 5 35
+f 37 26 8
+f 37 32 5
+f 38 6 18
+f 38 18 29
+f 38 29 34
+f 39 7 1
+f 40 1 17
+f 40 39 1
+f 40 28 39
+f 41 17 11
+f 42 28 41
+f 43 29 9
+f 43 9 24
+f 43 24 29
+f 44 10 27
+f 45 37 8
+f 45 8 33
+f 45 33 32
+f 45 32 37
+f 46 27 6
+f 46 6 38
+f 46 44 27
+f 46 38 34
+f 46 34 44
+f 47 25 7
+f 47 15 25
+f 48 40 17
+f 48 17 41
+f 48 41 28
+f 48 28 40
+f 49 19 15
+f 49 15 47
+f 50 39 28
+f 50 28 42
+f 51 42 41
+f 52 36 10
+f 52 10 44
+f 52 44 34
+f 52 34 36
+f 53 49 42
+f 53 19 49
+f 53 42 51
+f 53 51 11
+f 53 11 19
+f 54 49 47
+f 54 42 49
+f 54 50 42
+f 54 39 50
+f 54 47 7
+f 54 7 39
+f 55 51 41
+f 55 41 11
+f 55 11 51
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_20.obj b/carrot/carrot_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb77f54b4b9323109d90c8948e9176a6d1e23fc
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26044332 -0.03132446 0.13944517
+v 0.26524825 -0.01325260 0.14379418
+v 0.14167046 -0.01376085 0.13143789
+v 0.14513799 0.10200888 0.08576249
+v 0.26495822 0.08421230 0.11838288
+v 0.14566383 -0.01723590 0.13218425
+v 0.18942407 0.10714074 0.08891063
+v 0.17538130 0.04299058 0.13214792
+v 0.14849399 0.06633634 0.11651675
+v 0.26469097 0.05687919 0.13430436
+v 0.14756061 0.02915965 0.13186527
+v 0.14709202 0.09746220 0.09153594
+v 0.22227411 0.05466231 0.13199044
+v 0.19049391 0.10000012 0.09585808
+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 10 8 2
+f 10 2 5
+f 11 6 2
+f 11 2 8
+f 11 3 6
+f 11 8 9
+f 11 9 4
+f 11 4 3
+f 12 7 4
+f 12 4 9
+f 13 9 8
+f 13 8 10
+f 13 10 5
+f 13 5 9
+f 14 12 9
+f 14 9 5
+f 14 5 7
+f 14 7 12
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_21.obj b/carrot/carrot_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c22d1ad3c284cc898cd5ab3acd6d188baeba84b
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.31038731 -0.11021896 -0.10018351
+v -0.30862804 -0.08236384 -0.12360683
+v -0.31618140 0.04308175 -0.11252822
+v -0.42388091 0.04373079 -0.08966733
+v -0.45769888 -0.09993106 -0.06815129
+v -0.43876448 -0.01706502 -0.11975073
+v -0.30980398 0.01287129 -0.12995863
+v -0.43746740 -0.07725734 -0.10545934
+v -0.35032150 -0.10715578 -0.07688804
+v -0.42703228 -0.00641301 -0.11996146
+v -0.47543152 -0.02574946 -0.08173629
+v -0.43942164 -0.04181085 -0.12020566
+v -0.35494380 -0.08196163 -0.11913789
+v -0.36170791 0.04944036 -0.09854110
+v -0.44846309 0.01918331 -0.09952924
+v -0.44180156 0.00722278 -0.10876760
+v -0.41438886 -0.06713290 -0.11950655
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 9 4 5
+f 10 7 6
+f 10 3 7
+f 11 5 4
+f 11 8 5
+f 12 7 2
+f 12 6 7
+f 12 11 6
+f 12 8 11
+f 13 2 1
+f 13 1 8
+f 14 9 3
+f 14 3 4
+f 14 4 9
+f 15 11 4
+f 15 6 11
+f 16 4 3
+f 16 3 10
+f 16 15 4
+f 16 10 6
+f 16 6 15
+f 17 12 2
+f 17 2 13
+f 17 13 8
+f 17 8 12
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_22.obj b/carrot/carrot_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f48c599bd5b541dfdd81c48bbeb1a5cf12708034
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00770959 -0.10294004 0.07238805
+v 0.00772817 -0.09626258 -0.11464591
+v 0.00393634 -0.03774071 0.11434338
+v -0.10272206 -0.02807946 0.10533260
+v -0.10043895 -0.12784952 -0.07005425
+v 0.00759227 -0.03351008 -0.14194383
+v -0.09787230 -0.10007661 0.07042165
+v 0.01207262 -0.12593569 -0.06229387
+v -0.09826834 -0.03261691 -0.14272521
+v -0.09881694 -0.09646711 -0.11554306
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 8 6 3
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 10 9 6
+f 10 6 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_23.obj b/carrot/carrot_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc37a3ea83666d7b557397c98b6e8baa581e00f
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.35727455 0.03138185 0.06123605
+v -0.35575232 0.01584337 -0.12137331
+v -0.35564642 0.07486321 -0.06171377
+v -0.43333667 0.05971016 0.00188560
+v -0.48080811 0.00679557 -0.00245041
+v -0.46261106 0.02850075 -0.09436571
+v -0.37096977 0.06328496 0.01934783
+v -0.35303455 0.03599656 -0.11025222
+v -0.45481072 0.00952559 0.03884838
+v -0.44110874 0.06125664 -0.05617614
+v -0.42770193 0.00999261 -0.11202542
+v -0.35487155 0.05379125 0.03930412
+v -0.38224711 0.06028573 -0.08156124
+v -0.42592249 0.04720925 0.03713394
+v -0.46085424 0.04863563 -0.04557762
+v -0.48174909 0.01099383 -0.05677202
+v -0.39965940 0.03448374 -0.10508358
+v -0.35446785 0.06340736 -0.08370510
+v -0.42743591 0.05917108 -0.06949814
+v -0.46885790 0.00914302 0.02091971
+v -0.41474631 0.05874814 0.01971266
+v -0.44880532 0.05044957 -0.06851354
+v -0.45922274 0.04940588 -0.03635985
+v -0.46109048 0.01948037 -0.09536990
+v -0.47519979 0.02366739 -0.05760903
+v -0.39790329 0.04641602 -0.09366041
+v -0.44722398 0.04598069 0.00074790
+v -0.43925445 0.04788990 -0.07976347
+f 7 3 4
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 10 4 3
+f 11 2 5
+f 12 3 7
+f 12 1 8
+f 14 9 1
+f 14 1 12
+f 16 11 5
+f 17 8 2
+f 17 2 11
+f 17 11 6
+f 18 12 8
+f 18 3 12
+f 18 13 3
+f 18 8 17
+f 19 10 3
+f 19 3 13
+f 20 5 9
+f 20 9 14
+f 21 14 12
+f 21 12 7
+f 21 7 4
+f 21 4 14
+f 22 15 10
+f 22 6 15
+f 23 15 5
+f 23 4 10
+f 23 10 15
+f 24 16 6
+f 24 6 11
+f 24 11 16
+f 25 15 6
+f 25 6 16
+f 25 16 5
+f 25 5 15
+f 26 17 6
+f 26 18 17
+f 26 13 18
+f 27 20 14
+f 27 14 4
+f 27 4 23
+f 27 23 5
+f 27 5 20
+f 28 6 22
+f 28 26 6
+f 28 19 13
+f 28 13 26
+f 28 22 10
+f 28 10 19
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_24.obj b/carrot/carrot_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014eb506f35fccbc30fd26227abac403768137dc
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14593558 0.04399109 0.12735906
+v 0.14307313 0.06616454 -0.12288317
+v 0.14596331 0.12305632 0.05391853
+v 0.04065529 0.11959802 0.02493211
+v 0.00573593 0.06225198 -0.11821846
+v 0.14611360 0.12243499 -0.05519545
+v 0.02683175 0.09117365 0.07325674
+v 0.10090429 0.04155427 0.11954208
+v 0.03959416 0.12027043 -0.02939145
+v 0.14489080 0.10695008 -0.08229693
+v 0.14640964 0.05585134 0.12210918
+v 0.01083069 0.10378013 0.05094240
+v 0.00879445 0.04220844 0.10803143
+v 0.00929974 0.10579996 -0.06832021
+v 0.14764302 0.10813764 0.07807729
+v 0.00996081 0.05149256 0.10381345
+v 0.06982054 0.11942261 -0.04261794
+v 0.00880622 0.09514307 -0.08561666
+v 0.14669669 0.08164080 0.10535307
+v 0.05547838 0.10567864 0.06083513
+v 0.05463118 0.06182412 0.10423676
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 11 1 2
+f 12 3 4
+f 13 5 8
+f 13 12 5
+f 13 8 1
+f 13 1 11
+f 14 6 10
+f 14 5 12
+f 14 12 4
+f 14 4 9
+f 15 6 3
+f 15 11 2
+f 15 2 6
+f 16 7 12
+f 16 12 13
+f 16 13 11
+f 17 14 9
+f 17 9 6
+f 17 6 14
+f 18 14 10
+f 18 5 14
+f 18 10 2
+f 18 2 5
+f 19 15 7
+f 19 11 15
+f 20 12 7
+f 20 7 15
+f 20 15 3
+f 20 3 12
+f 21 16 11
+f 21 11 19
+f 21 19 7
+f 21 7 16
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_25.obj b/carrot/carrot_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a9a22d45b736edaa820e92a958aefcc3339bd4
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00784768 -0.02850602 0.11630750
+v 0.00757576 -0.02897349 -0.06236502
+v 0.00938419 0.11102764 -0.05768397
+v -0.09542430 0.10465465 0.01020002
+v -0.09848484 -0.02897349 -0.06236502
+v 0.01003617 0.09594795 0.06356685
+v -0.09682191 -0.02939600 0.10614948
+v -0.09690760 0.09916456 -0.05916307
+v 0.01017557 0.11011759 0.03907125
+v 0.00996081 0.05149256 0.10381345
+v -0.09549864 0.10438013 -0.04290015
+v -0.09682913 0.01191507 0.10290452
+v -0.09469463 0.08947528 0.04600070
+v -0.06705028 0.10438104 -0.05521503
+v -0.08020768 0.10415043 0.02303366
+v -0.05074464 0.10309947 0.03528191
+v -0.09525362 0.06281069 0.07591924
+v -0.08135112 0.05028887 0.08635271
+v -0.03308051 0.06321398 0.08625121
+v -0.03375396 0.09054335 0.05961805
+v -0.00374223 0.05014571 0.10210633
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 3 4
+f 9 2 3
+f 10 1 2
+f 10 9 6
+f 10 2 9
+f 11 8 4
+f 11 4 3
+f 12 4 8
+f 12 7 1
+f 12 1 10
+f 12 8 5
+f 12 5 7
+f 14 11 3
+f 14 3 8
+f 14 8 11
+f 15 9 4
+f 15 4 13
+f 16 13 6
+f 16 6 9
+f 16 15 13
+f 16 9 15
+f 17 13 4
+f 17 4 12
+f 18 17 12
+f 19 17 10
+f 19 10 6
+f 19 6 17
+f 20 17 6
+f 20 6 13
+f 20 13 17
+f 21 18 12
+f 21 12 10
+f 21 10 17
+f 21 17 18
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_26.obj b/carrot/carrot_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1382e8c761e98c2ec7efed85aa05e327622112d3
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00811144 -0.13509161 0.00921057
+v 0.01207262 -0.12593569 -0.06229387
+v 0.00770959 -0.10294004 0.07238805
+v -0.12776073 -0.09774412 0.06853481
+v -0.15964871 -0.12938127 -0.06095591
+v -0.09628693 -0.11545097 0.04772886
+v 0.00808419 -0.10841062 0.06560972
+v -0.03662306 -0.13255584 -0.06096252
+v -0.15577221 -0.12745258 -0.06727642
+v -0.15707998 -0.13228651 -0.00332228
+v 0.00639465 -0.11735240 0.05011395
+v -0.12563837 -0.10312208 0.06193881
+v 0.00681541 -0.13294915 -0.04285646
+v -0.15900732 -0.10288416 0.05738117
+v -0.14229719 -0.13114302 -0.05811616
+v 0.00508472 -0.12911121 -0.06189655
+v -0.06494106 -0.12936266 0.02220654
+v -0.15627005 -0.11742906 0.03415409
+v -0.15673299 -0.13213931 -0.03223313
+v -0.01703965 -0.13022094 0.02216446
+v -0.15816164 -0.10711203 0.05118892
+v -0.12669062 -0.13040757 0.00796007
+f 3 2 4
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 9 4 2
+f 11 7 6
+f 11 1 7
+f 12 7 4
+f 12 6 7
+f 13 2 1
+f 13 1 8
+f 14 9 5
+f 14 4 9
+f 14 5 10
+f 14 12 4
+f 15 9 8
+f 15 5 9
+f 16 9 2
+f 16 8 9
+f 16 13 8
+f 16 2 13
+f 17 10 1
+f 17 11 6
+f 18 17 6
+f 19 10 5
+f 19 5 15
+f 19 1 10
+f 19 15 8
+f 19 8 1
+f 20 17 1
+f 20 1 11
+f 20 11 17
+f 21 14 10
+f 21 10 18
+f 21 18 6
+f 21 6 12
+f 21 12 14
+f 22 18 10
+f 22 10 17
+f 22 17 18
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_27.obj b/carrot/carrot_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c1d35bb993b9cf62ef8ea1fbb70d32f3dce073
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26588147 -0.09327951 -0.09636912
+v 0.26850158 -0.07381178 -0.11314580
+v 0.26297302 -0.05331118 -0.12646511
+v 0.00765014 -0.05866888 -0.13613314
+v 0.00793856 -0.10418966 -0.10649442
+v 0.14063613 -0.08013476 -0.11963897
+v 0.26193620 -0.06407693 -0.12059457
+v 0.00651385 -0.08156461 -0.12529799
+v 0.26367280 -0.07878973 -0.11021590
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 5
+f 7 6 3
+f 7 3 2
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 2 1
+f 9 1 6
+f 9 7 2
+f 9 6 7
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_28.obj b/carrot/carrot_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8e94fdb066b7a9d146f46f612b37357b0ae86c
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40477950 -0.10365895 0.01490247
+v 0.40151515 -0.01382197 0.01339255
+v 0.41900217 -0.02520996 0.11832788
+v 0.07622616 -0.01470493 0.12371287
+v 0.08333334 -0.01382197 0.01339255
+v 0.08321289 -0.09143524 0.09104636
+v 0.39988729 -0.08592081 0.08707812
+v 0.08401406 -0.13001539 0.03138984
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 7 6
+f 8 1 7
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_29.obj b/carrot/carrot_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac471a63f479844a546d04830d042cc9ba8be691
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09850519 -0.13154061 -0.06128888
+v -0.09850930 -0.12252608 -0.08561385
+v -0.09848484 -0.02897349 -0.06236502
+v -0.23484848 -0.02897349 -0.06236502
+v -0.23460178 -0.12761910 -0.09085403
+v -0.09824007 -0.03582414 -0.14232128
+v -0.23501099 -0.12938163 -0.06159867
+v -0.23692453 -0.04111214 -0.13804409
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_3.obj b/carrot/carrot_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df71561cbe61e188cb8a8e609991ba235cefdc5
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08401406 -0.13001539 0.03138984
+v 0.14393939 -0.01382197 0.01339255
+v 0.14411843 -0.01376247 0.13158290
+v 0.00879445 0.04220844 0.10803143
+v 0.00757576 0.04678409 0.01339255
+v 0.00819375 -0.05472835 0.10875799
+v 0.01055711 -0.12731037 0.03090237
+v 0.14393939 0.04678409 0.01339255
+v 0.08321289 -0.09143524 0.09104636
+v 0.02422939 0.01476006 0.11777681
+v 0.00771184 -0.08786144 0.08718520
+v 0.14593558 0.04399109 0.12735906
+v 0.05477036 -0.04052330 0.11788185
+v 0.03945182 0.02653855 0.11693959
+v 0.02367216 -0.02681142 0.11763195
+f 1 2 3
+f 6 4 5
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 1 3
+f 9 7 1
+f 10 4 6
+f 11 6 5
+f 11 5 7
+f 11 9 6
+f 11 7 9
+f 12 3 2
+f 12 2 8
+f 12 10 3
+f 12 8 5
+f 12 5 4
+f 13 9 3
+f 13 6 9
+f 14 12 4
+f 14 4 10
+f 14 10 12
+f 15 10 6
+f 15 6 13
+f 15 13 3
+f 15 3 10
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_30.obj b/carrot/carrot_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33278ed4f7f2d9f0a22dd99ebdc18eb9ab575341
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26044332 -0.03132446 0.13944517
+v 0.26515151 -0.01382197 -0.06236502
+v 0.26495822 0.08421230 0.11838288
+v 0.13902769 0.07576258 0.10777621
+v 0.14393939 -0.01382197 -0.06236502
+v 0.14167046 -0.01376085 0.13143789
+v 0.27063439 0.09468109 -0.10436353
+v 0.13996335 0.10028389 -0.09104505
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_31.obj b/carrot/carrot_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3a09a3a7de18aa6d26e2e1ff85e0576bdcf52a
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26310060 -0.13600235 0.01303347
+v 0.26440374 -0.12398369 -0.05682787
+v 0.26515151 -0.01382197 0.01339255
+v 0.00757576 -0.01382197 0.01339255
+v 0.00508472 -0.12911121 -0.06189655
+v 0.26333555 -0.13583204 -0.03972309
+v 0.00811144 -0.13509161 0.00921057
+v 0.26515151 -0.01382197 -0.06236502
+v 0.04050941 -0.13416250 -0.05885305
+v 0.00662559 -0.13509088 -0.03131548
+v 0.00757576 -0.01382197 -0.06236502
+v 0.21328518 -0.13229301 -0.05218295
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 5 2
+f 10 6 1
+f 10 1 7
+f 10 9 6
+f 10 7 5
+f 10 5 9
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 9 2
+f 12 2 6
+f 12 6 9
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_4.obj b/carrot/carrot_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db1a47d78e06f2e6ac6e96df3de74b9439f06fb
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34068596 -0.11339892 -0.05636910
+v 0.34552995 -0.10294631 -0.07108965
+v -0.47423478 -0.08712564 -0.06148775
+v 0.33540225 -0.08499001 -0.09596091
+v -0.27576642 -0.11977697 -0.09562628
+v 0.18974823 -0.11694216 -0.08043567
+v -0.44144428 -0.12111654 -0.05708890
+v -0.23413678 -0.08388268 -0.12548142
+v 0.27734339 -0.11657426 -0.06673845
+v -0.46826688 -0.09629585 -0.05672154
+v -0.46468663 -0.08178975 -0.08397024
+v -0.05418391 -0.10405231 -0.10848690
+v 0.33802307 -0.10627715 -0.06947066
+v 0.27832846 -0.12241550 -0.05513628
+v 0.33538049 -0.08910170 -0.09380316
+v -0.14449100 -0.08155037 -0.12701916
+v -0.45717995 -0.09497970 -0.08475115
+v -0.23302914 -0.09255118 -0.12077076
+v 0.21816744 -0.10483672 -0.09271569
+v -0.41428930 -0.08210179 -0.11186457
+v -0.45038236 -0.10248854 -0.08316832
+v -0.14439854 -0.09258330 -0.12028784
+v 0.20337666 -0.09216092 -0.10611094
+v -0.30794433 -0.10286831 -0.10782606
+v -0.41139997 -0.10282452 -0.09332840
+v 0.20431689 -0.08448200 -0.11017645
+v -0.41303315 -0.09034994 -0.10589250
+v -0.43934665 -0.11653255 -0.06946827
+v -0.38497367 -0.11552418 -0.08187745
+f 1 2 3
+f 3 2 4
+f 10 1 3
+f 11 3 4
+f 12 6 5
+f 13 2 1
+f 13 1 9
+f 14 9 1
+f 14 7 5
+f 14 5 6
+f 14 6 9
+f 14 10 7
+f 14 1 10
+f 15 13 9
+f 15 4 2
+f 15 2 13
+f 16 11 4
+f 17 10 3
+f 17 3 11
+f 18 8 16
+f 19 15 9
+f 19 9 6
+f 19 6 12
+f 20 16 8
+f 20 11 16
+f 20 17 11
+f 20 8 18
+f 21 7 10
+f 21 10 17
+f 21 17 20
+f 22 12 5
+f 22 5 18
+f 22 18 16
+f 23 19 12
+f 23 15 19
+f 23 22 16
+f 23 12 22
+f 24 20 18
+f 24 18 5
+f 26 23 16
+f 26 16 4
+f 26 4 15
+f 26 15 23
+f 27 25 21
+f 27 21 20
+f 27 20 24
+f 27 24 5
+f 27 5 25
+f 28 5 7
+f 28 7 21
+f 28 21 25
+f 29 28 25
+f 29 25 5
+f 29 5 28
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_5.obj b/carrot/carrot_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3affc3078171fdab96e715a189fd6758f425493c
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.27663128 -0.13308394 0.01366718
+v 0.49233855 -0.01377979 0.01339279
+v 0.41106863 -0.10206655 0.01449731
+v 0.26515151 -0.01382197 0.01339255
+v 0.26507164 -0.01362128 -0.13724445
+v 0.26367280 -0.07878973 -0.11021590
+v 0.47873350 -0.00908110 -0.04034651
+v 0.26297302 -0.05331118 -0.12646511
+v 0.37360248 -0.10933652 -0.04151113
+v 0.45728251 -0.07591678 -0.02819119
+v 0.39289290 -0.02419108 -0.10468962
+v 0.38313536 -0.11023313 0.01248379
+v 0.32032591 -0.08256787 -0.10613661
+v 0.47561280 -0.05377571 -0.01230252
+v 0.41414139 -0.10219778 -0.00937202
+v 0.42328318 -0.01039743 -0.09276732
+v 0.33604777 -0.03846007 -0.11859487
+v 0.42187463 -0.07224111 -0.06210116
+v 0.47413758 -0.03669010 -0.03662241
+v 0.46330016 -0.07623161 0.00752822
+v 0.44288688 -0.08633024 -0.02997515
+v 0.33783700 -0.01238827 -0.12477784
+v 0.30565248 -0.05143409 -0.12023335
+v 0.35052666 -0.06133534 -0.10510746
+v 0.36244409 -0.07758843 -0.08896323
+v 0.42370856 -0.02520851 -0.08986863
+v 0.46009821 -0.06515543 -0.03538913
+v 0.47953014 -0.05244705 0.01128679
+v 0.39297025 -0.01151193 -0.10675675
+v 0.44842775 -0.04991588 -0.06170732
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 7 5 4
+f 7 4 2
+f 8 6 4
+f 8 4 5
+f 12 3 1
+f 12 1 9
+f 13 9 1
+f 13 1 6
+f 13 6 8
+f 15 12 9
+f 15 3 12
+f 16 5 7
+f 19 7 2
+f 19 2 14
+f 20 10 14
+f 20 3 15
+f 21 15 9
+f 21 20 15
+f 21 10 20
+f 21 18 10
+f 21 9 18
+f 22 5 16
+f 22 17 5
+f 22 11 17
+f 23 17 13
+f 23 13 8
+f 23 8 5
+f 23 5 17
+f 24 17 11
+f 24 13 17
+f 25 18 9
+f 25 9 13
+f 25 24 18
+f 25 13 24
+f 26 11 16
+f 26 16 7
+f 26 24 11
+f 26 18 24
+f 27 19 14
+f 27 14 10
+f 28 20 14
+f 28 14 2
+f 28 2 3
+f 28 3 20
+f 29 22 16
+f 29 16 11
+f 29 11 22
+f 30 26 7
+f 30 7 19
+f 30 19 27
+f 30 18 26
+f 30 27 10
+f 30 10 18
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_6.obj b/carrot/carrot_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd3162cb0885aeeb82cf1fa25167a8d1afdfc81
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.38632287 -0.05922375 -0.09259678
+v 0.42403516 -0.01948122 -0.09050152
+v 0.26515151 -0.01382197 -0.04721351
+v 0.26510562 0.12114909 -0.07646200
+v 0.26507164 -0.01362128 -0.13724445
+v 0.40583206 0.10005041 -0.05449413
+v 0.35085129 -0.02371457 -0.11915369
+v 0.34402978 -0.06694325 -0.10252731
+v 0.26382791 0.06860623 -0.12235184
+v 0.26515151 0.06193560 -0.04721351
+v 0.38037741 -0.03937788 -0.10604763
+v 0.33795804 -0.05312991 -0.11219214
+v 0.35114224 0.10719822 -0.07871518
+v 0.35159995 0.04109849 -0.11993228
+v 0.34910940 0.11781974 -0.06609024
+v 0.26403290 0.10716216 -0.09363172
+v 0.39297025 -0.01151193 -0.10675675
+v 0.38125377 -0.05391521 -0.09935583
+v 0.33756532 -0.02369442 -0.12217517
+v 0.36793128 -0.05136917 -0.10590057
+v 0.33533011 0.08072121 -0.10388525
+v 0.39393912 0.03922977 -0.10336456
+v 0.27884102 0.10691418 -0.09271179
+v 0.35316363 0.11314302 -0.07088253
+v 0.29239080 0.06708624 -0.11933984
+v 0.39530704 0.08238959 -0.07922844
+v 0.38221169 0.09933577 -0.07034865
+v 0.35096181 0.09364180 -0.09009874
+v 0.36230617 0.06611083 -0.10341867
+v 0.37893638 0.09411587 -0.07749095
+v 0.39319443 0.06613397 -0.09054776
+v 0.37806813 0.07965610 -0.08865746
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 8 3 5
+f 9 5 3
+f 10 3 6
+f 12 8 5
+f 14 5 9
+f 15 10 6
+f 15 4 10
+f 16 9 3
+f 16 3 10
+f 16 10 4
+f 17 11 7
+f 17 2 11
+f 17 7 14
+f 18 11 2
+f 18 2 1
+f 18 1 8
+f 19 12 5
+f 19 7 12
+f 19 14 7
+f 19 5 14
+f 20 12 7
+f 20 7 11
+f 20 11 18
+f 20 18 8
+f 20 8 12
+f 22 17 14
+f 22 2 17
+f 23 15 13
+f 23 4 15
+f 23 16 4
+f 23 21 9
+f 23 9 16
+f 24 15 6
+f 24 13 15
+f 25 21 14
+f 25 14 9
+f 25 9 21
+f 26 6 2
+f 26 2 22
+f 27 24 6
+f 27 13 24
+f 27 6 26
+f 28 23 13
+f 28 21 23
+f 29 22 14
+f 29 14 21
+f 29 21 28
+f 30 27 26
+f 30 13 27
+f 30 28 13
+f 30 26 28
+f 31 26 22
+f 31 22 29
+f 32 29 28
+f 32 28 26
+f 32 31 29
+f 32 26 31
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_7.obj b/carrot/carrot_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35f4c8932a79914efb77b72b0607bd147389ff5
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.09908107 -0.10480354 -0.10775206
+v 0.00750259 -0.02762862 -0.14279875
+v 0.00757576 -0.02897349 -0.06236502
+v -0.15891265 0.08905273 -0.06130939
+v -0.15910537 -0.02829251 -0.14391019
+v 0.00938419 0.11102764 -0.05768397
+v -0.15909090 -0.02897349 -0.06236502
+v -0.15849282 -0.09781437 -0.11646590
+v 0.00896592 0.02537676 -0.13745561
+v -0.15829946 -0.10609121 -0.10735699
+v -0.12834128 0.09317408 -0.05824504
+v -0.09881694 -0.09646711 -0.11554306
+v -0.15814801 0.03815845 -0.12451725
+v -0.00654501 0.10928004 -0.05771578
+v -0.15857740 0.01192612 -0.13742507
+v 0.00859082 0.05236804 -0.12363621
+v -0.12658439 0.07487885 -0.09492714
+v -0.08269442 0.02311819 -0.13558307
+v 0.00929974 0.10579996 -0.06832021
+v -0.15784714 0.07855865 -0.08438130
+v -0.12721833 0.06175547 -0.10747444
+v -0.00604056 0.10431970 -0.06847125
+v -0.12697861 0.08912353 -0.07080291
+v -0.08067337 0.05029077 -0.12029297
+v -0.08081395 0.08939256 -0.08153098
+f 1 2 3
+f 7 4 5
+f 8 5 2
+f 8 7 5
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 10 8 1
+f 10 7 8
+f 11 4 7
+f 11 7 3
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 14 4 11
+f 14 11 3
+f 14 3 6
+f 15 9 5
+f 15 5 4
+f 15 4 13
+f 18 15 13
+f 18 9 15
+f 18 16 9
+f 18 13 16
+f 19 6 9
+f 19 9 16
+f 19 16 17
+f 20 17 13
+f 20 13 4
+f 21 17 16
+f 21 13 17
+f 22 14 6
+f 22 6 19
+f 23 20 4
+f 23 4 14
+f 23 14 22
+f 24 21 16
+f 24 16 13
+f 24 13 21
+f 25 22 19
+f 25 19 17
+f 25 17 20
+f 25 23 22
+f 25 20 23
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_8.obj b/carrot/carrot_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad21ef36f2204a952004177561b552f0644b15b2
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.43887793 -0.07755490 0.03511226
+v -0.42267169 -0.02869721 -0.12503737
+v -0.41881169 0.02545155 0.05628049
+v -0.43315261 -0.02463968 0.06671025
+v -0.49417929 -0.02548280 -0.01188478
+v -0.47692112 -0.08112128 -0.06455380
+v -0.47939012 -0.04985852 0.01678260
+v -0.46109048 0.01948037 -0.09536990
+v -0.47644650 0.00390504 0.01713283
+v -0.44090144 -0.08308174 -0.09879197
+v -0.46332536 -0.05195830 0.03277062
+v -0.47742684 -0.07523635 -0.00990211
+v -0.42290647 0.02397752 -0.10527324
+v -0.49037266 -0.01675697 -0.05529189
+v -0.46284556 -0.06970304 -0.09228287
+v -0.46245455 0.00390115 0.03413446
+v -0.47732996 0.01098547 -0.06834319
+v -0.44809497 -0.07426541 0.03059282
+v -0.49064175 -0.05500999 -0.00727002
+v -0.44180156 0.00722278 -0.10876760
+v -0.43957356 -0.06634549 -0.11259840
+v -0.47673676 -0.00603736 -0.07719468
+v -0.48810263 -0.06678186 -0.05884221
+v -0.45267676 -0.08078909 -0.09320658
+v -0.44926961 0.00826629 -0.10457877
+v -0.47347668 -0.05904283 -0.08017311
+v -0.49042186 -0.06543612 -0.02148008
+f 1 2 3
+f 1 3 4
+f 9 5 7
+f 10 2 1
+f 10 1 6
+f 11 1 4
+f 11 4 7
+f 12 6 1
+f 13 8 3
+f 13 3 2
+f 16 4 3
+f 16 3 9
+f 16 9 7
+f 16 7 4
+f 17 9 3
+f 17 3 8
+f 17 14 5
+f 17 5 9
+f 18 11 7
+f 18 1 11
+f 18 12 1
+f 18 7 12
+f 19 12 7
+f 19 7 5
+f 20 13 2
+f 20 8 13
+f 21 15 8
+f 21 2 10
+f 22 8 15
+f 22 17 8
+f 22 14 17
+f 23 15 6
+f 23 14 22
+f 23 5 14
+f 24 10 6
+f 24 6 15
+f 24 21 10
+f 24 15 21
+f 25 20 2
+f 25 8 20
+f 25 21 8
+f 25 2 21
+f 26 23 22
+f 26 22 15
+f 26 15 23
+f 27 23 6
+f 27 6 12
+f 27 12 19
+f 27 19 5
+f 27 5 23
\ No newline at end of file
diff --git a/carrot/carrot_0/collision/model_normalized_collision_9.obj b/carrot/carrot_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416c84769f1294bf37fc552f85f05d2cc5e09f4a
--- /dev/null
+++ b/carrot/carrot_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.49592917 -0.00795398 0.01651173
+v 0.49112457 -0.00838963 -0.01273145
+v 0.47509374 0.06821008 -0.02591005
+v 0.39395260 0.12585847 0.01187569
+v 0.40151515 -0.01382197 0.01339255
+v 0.46036759 0.04568235 0.08734031
+v 0.49004135 0.04068884 -0.01402508
+v 0.39994198 -0.01343088 -0.10345628
+v 0.43524312 0.10421773 0.03988396
+v 0.41163106 0.05865686 0.11162045
+v 0.49142361 0.04280655 0.05368307
+v 0.47518626 0.00368251 -0.05021796
+v 0.39530704 0.08238959 -0.07922844
+v 0.43662685 0.10401344 -0.02413768
+v 0.39839378 0.10057071 0.08385074
+v 0.44643482 0.07692614 0.07567028
+v 0.48767600 0.05512171 0.00069254
+v 0.47588362 0.01492994 -0.04921354
+v 0.46111590 -0.00962359 -0.06314471
+v 0.39645131 0.05532475 -0.09538447
+v 0.40993463 0.11908072 0.01149851
+v 0.39424353 0.10739276 -0.05300954
+v 0.46251505 0.06619175 -0.04832278
+v 0.39764887 0.11035138 0.06713056
+v 0.48861788 0.05130553 0.05190081
+v 0.40965157 0.10733678 0.06500172
+v 0.42234828 0.09195298 0.07775451
+v 0.44972894 0.03967145 -0.07386173
+v 0.40949261 0.11828869 -0.01250290
+v 0.46373492 0.07611617 -0.03636698
+v 0.43131711 0.07708597 -0.06294601
+v 0.46000772 0.04202959 -0.06356808
+v 0.44796922 0.08987573 0.05079702
+v 0.44765496 -0.01001821 -0.07668771
+v 0.42308724 0.04160351 -0.08898461
+v 0.39699922 0.12208379 -0.01355848
+v 0.40812973 0.07961157 -0.07525543
+v 0.40888293 0.10349108 -0.04886354
+v 0.44800048 0.06487721 -0.06163212
+v 0.40927900 0.05264389 -0.09184550
+v 0.42328318 -0.01039743 -0.09276732
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 10 5 1
+f 10 1 6
+f 11 6 1
+f 11 1 7
+f 14 9 3
+f 15 4 5
+f 15 5 10
+f 16 10 6
+f 17 11 7
+f 17 7 3
+f 17 3 9
+f 18 7 2
+f 18 2 12
+f 19 12 2
+f 19 2 8
+f 20 8 4
+f 21 4 9
+f 21 9 14
+f 22 20 4
+f 22 13 20
+f 23 3 7
+f 24 4 15
+f 25 17 9
+f 25 11 17
+f 25 16 6
+f 25 6 11
+f 26 24 15
+f 26 9 4
+f 26 4 24
+f 27 15 10
+f 27 10 16
+f 27 26 15
+f 28 18 12
+f 29 21 14
+f 29 4 21
+f 29 14 22
+f 30 14 3
+f 30 3 23
+f 31 30 23
+f 32 23 7
+f 32 7 18
+f 32 28 23
+f 32 18 28
+f 33 25 9
+f 33 16 25
+f 33 27 16
+f 33 9 26
+f 33 26 27
+f 34 28 12
+f 34 12 19
+f 34 19 8
+f 36 29 22
+f 36 22 4
+f 36 4 29
+f 37 13 22
+f 38 22 14
+f 38 14 30
+f 38 30 31
+f 38 37 22
+f 38 31 37
+f 39 31 23
+f 39 23 28
+f 39 37 31
+f 40 35 8
+f 40 8 20
+f 40 20 13
+f 40 13 37
+f 40 37 39
+f 40 39 28
+f 40 28 35
+f 41 34 8
+f 41 8 35
+f 41 35 28
+f 41 28 34
\ No newline at end of file
diff --git a/carrot/carrot_0/model.xml b/carrot/carrot_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..024a2ed5f46a5fc70f8c094ecabb3874c71d1bc0
--- /dev/null
+++ b/carrot/carrot_0/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="carrot_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <material name="Tiny_Carrot" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="Tiny_Carrot1" texture="image3" 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="Tiny_Carrot1"/>
+        <geom solimp="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="Tiny_Carrot"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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"/>
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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="7.715087500000097e-05 0.0001268662999999986 -0.020912623549999995" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="7.715087500000097e-05 0.0001268662999999986 0.020850156099999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.019814091949999998 0.07190972964999998 -3.123372500000026e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/carrot/carrot_0/visual/image0.png b/carrot/carrot_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2a4ffe1058a76ca10a1877947897188f84dec87
--- /dev/null
+++ b/carrot/carrot_0/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e0a8da58f3e3bd1657797e310f277f686838479ebd88a36e7ac4f6e6f0760c
+size 1274131
diff --git a/carrot/carrot_0/visual/image3.png b/carrot/carrot_0/visual/image3.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dd4e23a74b8ac3f08acbc0c483e9bfd53228de1
--- /dev/null
+++ b/carrot/carrot_0/visual/image3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6e397b050827fa79830b7cd40e96f9a4a1e31d1d93f250524c65b010233e19
+size 1025517
diff --git a/carrot/carrot_0/visual/material.mtl b/carrot/carrot_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/carrot/carrot_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/carrot/carrot_0/visual/material_0.png b/carrot/carrot_0/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2a4ffe1058a76ca10a1877947897188f84dec87
--- /dev/null
+++ b/carrot/carrot_0/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e0a8da58f3e3bd1657797e310f277f686838479ebd88a36e7ac4f6e6f0760c
+size 1274131
diff --git a/carrot/carrot_0/visual/model_normalized_0.obj b/carrot/carrot_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209bf32de30486f9f34d6ff01b1c7045021634de
--- /dev/null
+++ b/carrot/carrot_0/visual/model_normalized_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d501a944b2fa8759ce48cab65ddd038e8f9b31656660e7f1210caf45d6219937
+size 13965821
diff --git a/carrot/carrot_0/visual/model_normalized_1.obj b/carrot/carrot_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa072b6ec73605500c4666c9f8658942a0ffaca9
--- /dev/null
+++ b/carrot/carrot_0/visual/model_normalized_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f72ffd5f8baf2f0854ba0572fb74ff522043dcba04a5fe6c9ce35c0a3af993e
+size 21645832
diff --git a/carrot/carrot_1/collision/model_normalized_collision_0.obj b/carrot/carrot_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..597094dd4bd8ec34c0713404996f8b730e0f09ac
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.27447133 -0.04736870 0.32579440
+v 0.34448859 -0.01195442 0.28494411
+v 0.34306366 -0.01880312 0.28735500
+v 0.27801088 0.04235808 0.32939195
+v 0.20606812 0.02679380 0.22989648
+v 0.27700462 0.00734557 0.32950490
+v 0.32882977 0.04082083 0.28652689
+v 0.26506193 -0.01670648 0.22873699
+v 0.25601360 0.03219926 0.31923355
+v 0.22980018 0.03677372 0.23480981
+v 0.32985755 -0.02615828 0.28423124
+v 0.20695413 -0.01296350 0.23092579
+v 0.26436159 0.03138545 0.22933103
+v 0.26613420 -0.04318223 0.32278135
+v 0.32406556 -0.02540728 0.27819793
+v 0.25027721 -0.03546096 0.26500052
+v 0.21403298 -0.00092633 0.25551388
+v 0.27378081 0.02970517 0.23606936
+v 0.27504389 -0.01435171 0.23524370
+v 0.26829299 0.03548888 0.24187378
+v 0.22062315 -0.02026453 0.23430172
+v 0.25835194 -0.03945753 0.27778781
+v 0.21513397 0.01401071 0.25283288
+v 0.24397236 -0.01690449 0.30091731
+v 0.30714407 -0.02335496 0.26457712
+v 0.25804349 -0.03059995 0.31729365
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 4 2
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+f 9 6 4
+f 9 4 5
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+f 11 3 1
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+f 26 17 14
+f 26 14 9
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\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_1.obj b/carrot/carrot_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1798d01e39c00744dd345f88d5599f7ce9d61158
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.13411458 -0.07220277 -0.05449773
+v -0.13987200 -0.05822726 -0.24644141
+v -0.13922320 0.07785693 -0.17239860
+v -0.16346394 0.06902643 -0.13198644
+v -0.32521842 -0.00297283 -0.25701492
+v -0.12829242 0.00410002 -0.01494903
+v -0.25287842 -0.06851333 -0.25375330
+v -0.14025556 0.06036348 -0.24679793
+v -0.29998632 0.05790461 -0.25310442
+v -0.16300093 0.05941983 -0.08696422
+v -0.13521168 -0.01445109 -0.02221261
+v -0.13287654 -0.08308950 -0.13084337
+v -0.29918398 -0.05154899 -0.25222613
+v -0.30686379 -0.04725588 -0.25947343
+v -0.26822463 0.06853166 -0.25480291
+v -0.27252772 0.00064201 -0.18763057
+v -0.13137133 0.02062121 -0.02755308
+v -0.12746078 -0.04811587 -0.03104567
+v -0.18208238 -0.08276727 -0.20372817
+v -0.14166221 -0.07085601 -0.06062046
+v -0.15644586 0.06398979 -0.24552583
+v -0.30865914 0.04864670 -0.25857458
+v -0.32333612 0.01812056 -0.25896723
+v -0.13542572 -0.00049728 -0.02104107
+v -0.12788929 -0.01800749 -0.01552831
+v -0.17116717 -0.06528497 -0.24467819
+v -0.14307346 -0.07866688 -0.18238095
+v -0.29190581 -0.05241062 -0.24315240
+v -0.13478317 -0.04455947 -0.03772998
+v -0.31871392 0.00001558 -0.24695864
+v -0.31675749 0.01502757 -0.24925907
+f 8 3 6
+f 10 3 4
+f 12 2 8
+f 14 7 13
+f 14 8 2
+f 14 2 7
+f 15 4 3
+f 15 10 4
+f 15 9 10
+f 17 6 3
+f 17 3 10
+f 17 10 16
+f 18 1 12
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+f 18 8 6
+f 19 12 1
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+f 20 7 19
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+f 29 25 11
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+f 30 23 5
+f 30 20 16
+f 30 5 20
+f 31 30 16
+f 31 23 30
+f 31 16 10
+f 31 10 23
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_10.obj b/carrot/carrot_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d6cf1218e0c81399af236307e0fe1016d4fd45
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.17567127 -0.06229633 0.17229357
+v 0.27121470 -0.01861988 0.23630920
+v 0.19392929 0.02633369 0.21832348
+v 0.17415683 0.07489816 0.17064221
+v 0.18531166 -0.05730132 0.15589645
+v 0.27082795 0.03305296 0.23691892
+v 0.19312778 -0.01253626 0.21768974
+v 0.17769817 -0.06454258 0.15812241
+v 0.18289662 0.06992990 0.15592279
+v 0.22062315 -0.02026453 0.23430172
+v 0.17476154 0.07729586 0.15760262
+v 0.21202124 0.00122251 0.17380341
+v 0.25432475 -0.02320759 0.24020710
+v 0.25742346 0.02891731 0.22240697
+v 0.25845071 -0.01340376 0.22196079
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 10 7 1
+f 10 6 3
+f 10 3 7
+f 11 8 1
+f 11 1 4
+f 11 4 6
+f 11 6 9
+f 11 9 5
+f 11 5 8
+f 12 5 9
+f 13 10 1
+f 13 1 2
+f 13 2 6
+f 13 6 10
+f 14 12 9
+f 14 9 6
+f 15 2 5
+f 15 5 12
+f 15 12 14
+f 15 14 6
+f 15 6 2
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_11.obj b/carrot/carrot_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6396e098968b9508d47cd560372b2760f2094cd8
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.16269842 -0.07347835 0.16519920
+v 0.20770068 -0.00890464 0.14367281
+v 0.17861290 -0.01913208 0.19437856
+v 0.05027006 -0.00344963 0.18237880
+v 0.06322396 -0.08307922 0.12307329
+v 0.08402828 -0.06730487 0.17683934
+v 0.17500811 -0.05794275 0.17703211
+v 0.18243906 -0.06909195 0.12927042
+v 0.02480606 -0.01982693 0.15335708
+v 0.09199670 -0.08869371 0.12529358
+v 0.16030796 -0.06632043 0.17343976
+v 0.05140554 -0.07017038 0.14961795
+v 0.09299284 -0.08388701 0.13863955
+v 0.04582487 -0.07762282 0.12678741
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 4 2
+f 10 8 1
+f 10 5 8
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 6 4
+f 12 4 9
+f 12 5 6
+f 13 6 5
+f 13 5 10
+f 13 10 1
+f 13 1 6
+f 14 12 9
+f 14 5 12
+f 14 9 2
+f 14 2 5
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_12.obj b/carrot/carrot_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36f1d94664b3dd527f5cf3cf57f7adb860f98b4
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.26086193 -0.04555960 -0.36731630
+v -0.24980236 -0.03374426 -0.36351769
+v -0.40173702 -0.03401213 -0.37517865
+v -0.32162958 0.07080914 -0.36585539
+v -0.39066837 0.00183201 -0.48930023
+v -0.34395000 -0.00014095 -0.46037504
+v -0.41657240 -0.03514984 -0.46152990
+v -0.27255407 0.00191355 -0.40046495
+v -0.36014987 -0.02843559 -0.45811652
+v -0.34650731 0.04224999 -0.44691717
+v -0.43921048 0.02868508 -0.45046823
+v -0.33357546 -0.01297355 -0.44544354
+v -0.25102746 0.04918489 -0.36211704
+v -0.38691412 -0.02203310 -0.47623330
+v -0.38224601 -0.03440330 -0.45308432
+v -0.34501135 0.01561513 -0.45929997
+v -0.43672503 -0.01497577 -0.43671748
+v -0.41079509 0.04244638 -0.38196406
+v -0.43706806 -0.00103327 -0.49135095
+v -0.42771461 0.03996184 -0.47685063
+v -0.31465436 -0.03650746 -0.41731241
+v -0.25658904 0.00139564 -0.38624570
+v -0.26133147 0.05661510 -0.36600287
+v -0.39067694 0.01354011 -0.48761824
+v -0.25795097 0.01501652 -0.38430851
+v -0.26787425 0.05482423 -0.37380912
+v -0.42367355 -0.02721272 -0.40514692
+v -0.42311507 -0.00149702 -0.37765862
+v -0.44142629 0.00027573 -0.48522559
+v -0.42898092 -0.02620015 -0.47867894
+v -0.40425175 0.05278412 -0.44477362
+v -0.42652099 0.03677190 -0.41784952
+v -0.33888940 -0.03307660 -0.43837149
+v -0.32266282 0.06565282 -0.37888429
+v -0.36909478 0.03715811 -0.46421955
+v -0.43361527 0.01327542 -0.49192280
+v -0.27387143 0.01338722 -0.39903992
+v -0.41343302 -0.03458977 -0.43230184
+v -0.42255446 0.01661066 -0.37959561
+v -0.41119932 -0.03097698 -0.38219132
+v -0.43732460 -0.00169803 -0.42242387
+v -0.43593261 0.02839861 -0.47038045
+v -0.43748816 -0.01369433 -0.47102320
+v -0.36823147 0.04993186 -0.43925594
+v -0.35723554 0.06649351 -0.38960030
+v -0.40234024 0.05050478 -0.40490820
+v -0.41462155 0.03422160 -0.48127963
+v -0.42136173 0.03307774 -0.39170010
+v -0.43569596 0.01506648 -0.42293080
+v -0.43685390 0.01527628 -0.48641637
+v -0.35625778 0.06415366 -0.37488583
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 8 2 1
+f 9 5 6
+f 12 8 1
+f 12 6 8
+f 12 9 6
+f 13 4 2
+f 14 9 7
+f 14 5 9
+f 15 1 7
+f 15 7 9
+f 16 6 5
+f 16 8 6
+f 21 12 1
+f 21 9 12
+f 22 13 2
+f 22 2 8
+f 23 4 13
+f 24 16 5
+f 25 13 22
+f 26 16 10
+f 26 13 16
+f 26 23 13
+f 26 10 23
+f 28 3 4
+f 30 14 7
+f 30 29 19
+f 30 27 17
+f 30 7 27
+f 30 19 5
+f 30 5 14
+f 32 20 11
+f 32 31 20
+f 33 15 9
+f 33 9 21
+f 33 21 1
+f 33 1 15
+f 34 23 10
+f 34 4 23
+f 35 10 16
+f 35 16 24
+f 36 24 5
+f 36 5 19
+f 36 19 29
+f 37 16 13
+f 37 13 25
+f 37 8 16
+f 37 25 22
+f 37 22 8
+f 38 27 7
+f 38 7 3
+f 39 28 4
+f 39 4 18
+f 40 28 27
+f 40 3 28
+f 40 38 3
+f 40 27 38
+f 41 17 27
+f 41 27 28
+f 41 29 17
+f 41 11 29
+f 41 28 39
+f 42 29 11
+f 42 11 20
+f 43 30 17
+f 43 17 29
+f 43 29 30
+f 44 31 4
+f 44 10 35
+f 44 35 20
+f 44 20 31
+f 44 34 10
+f 44 4 34
+f 45 4 31
+f 46 32 18
+f 46 31 32
+f 46 45 31
+f 47 35 24
+f 47 20 35
+f 47 36 20
+f 47 24 36
+f 48 39 18
+f 48 18 32
+f 48 32 11
+f 49 41 39
+f 49 11 41
+f 49 48 11
+f 49 39 48
+f 50 36 29
+f 50 29 42
+f 50 42 20
+f 50 20 36
+f 51 18 4
+f 51 4 45
+f 51 46 18
+f 51 45 46
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_13.obj b/carrot/carrot_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51959eb6d282fef4668bd15fa8b42133c798f94
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.11816957 -0.07311962 0.18119485
+v 0.17382037 -0.05001827 0.18009768
+v 0.18585572 -0.01338579 0.21206014
+v 0.09394348 0.07043311 0.18446511
+v 0.08306931 0.06385786 0.17951870
+v 0.17521458 0.05142637 0.18187541
+v 0.08304027 -0.00186285 0.20962167
+v 0.16278384 -0.05858262 0.18059768
+v 0.06689104 -0.03280757 0.18055615
+v 0.18659945 0.02622338 0.21265910
+v 0.13352296 0.07505272 0.18171700
+v 0.10470695 -0.06563791 0.19368517
+v 0.10089612 0.06993980 0.19127074
+v 0.06028916 -0.00675057 0.18874480
+v 0.16470228 0.06422945 0.18548610
+v 0.14462602 -0.04108604 0.20500021
+v 0.10793127 -0.06976372 0.18448033
+v 0.08964215 -0.02791985 0.20143301
+v 0.08967058 0.05958395 0.18708540
+v 0.14462952 0.05172411 0.20514867
+v 0.06665517 -0.00265624 0.19600023
+v 0.12215986 -0.04702111 0.20108214
+v 0.16039338 -0.05142470 0.18883824
+v 0.10750465 0.04826648 0.20148622
+v 0.15900518 0.06001956 0.19190916
+v 0.13185898 0.06775840 0.19048276
+f 6 2 5
+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 10 7 3
+f 11 6 5
+f 11 5 4
+f 12 1 8
+f 13 4 5
+f 13 11 4
+f 14 9 7
+f 14 5 9
+f 15 10 6
+f 15 6 11
+f 16 3 7
+f 17 12 9
+f 17 9 1
+f 17 1 12
+f 18 12 7
+f 18 7 9
+f 18 9 12
+f 19 13 5
+f 19 5 7
+f 19 7 13
+f 20 7 10
+f 21 14 7
+f 21 7 5
+f 21 5 14
+f 22 16 7
+f 22 7 12
+f 22 12 16
+f 23 8 3
+f 23 3 16
+f 23 16 12
+f 23 12 8
+f 24 20 13
+f 24 13 7
+f 24 7 20
+f 25 20 10
+f 25 10 15
+f 25 15 11
+f 26 11 13
+f 26 13 20
+f 26 25 11
+f 26 20 25
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_14.obj b/carrot/carrot_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1a1fe5b150e880b6e071d02c7e8b1371cbf0e3
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15545839 0.03331787 0.03159122
+v 0.16859401 0.03977873 0.05062748
+v 0.02404806 0.08924925 0.06483276
+v 0.04920533 0.10276652 0.05039563
+v 0.08031910 0.07086528 -0.02704796
+v 0.15952041 0.07145970 0.05807075
+v 0.05311967 0.04999735 -0.06272017
+v 0.08436478 0.09820337 0.05741070
+v 0.14795958 0.05996877 0.03800217
+v 0.09748991 0.03400520 -0.02950343
+v 0.02810759 0.07818276 -0.03577235
+v 0.10057766 0.07965449 0.01479208
+v 0.04098983 0.09904300 0.02836093
+v 0.15201970 0.07178395 0.04948197
+v 0.09020737 0.06128987 -0.02211409
+v 0.08446542 0.09459223 0.04441618
+v 0.02847438 0.09486056 0.00911207
+v 0.12824186 0.07864872 0.04347058
+v 0.02620238 0.08540642 -0.01765950
+f 1 2 3
+f 6 3 2
+f 8 4 3
+f 8 3 6
+f 9 2 1
+f 10 7 5
+f 10 1 3
+f 10 3 7
+f 10 9 1
+f 11 7 3
+f 11 5 7
+f 13 4 8
+f 14 9 5
+f 14 6 2
+f 14 2 9
+f 14 5 12
+f 15 10 5
+f 15 5 9
+f 15 9 10
+f 16 12 5
+f 16 13 8
+f 16 5 13
+f 17 13 5
+f 17 3 4
+f 17 4 13
+f 18 14 12
+f 18 12 16
+f 18 6 14
+f 18 16 8
+f 18 8 6
+f 19 17 5
+f 19 5 11
+f 19 11 3
+f 19 3 17
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_15.obj b/carrot/carrot_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4893ebf14d4ef6fffdaf77f6439bb44fa8610d73
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.42809441 0.04755115 0.37555538
+v 0.42583857 0.04649955 0.36808512
+v 0.42861271 0.05542479 0.37505383
+v 0.41773859 0.05806721 0.37627396
+v 0.30217507 0.02335479 0.28028755
+v 0.42480545 0.05761890 0.37873818
+v 0.41596359 0.04617160 0.37491543
+v 0.33720755 0.04204698 0.29395961
+v 0.30813110 0.02482473 0.28771405
+v 0.33908352 0.02867361 0.28840308
+v 0.30200648 0.04434913 0.28186041
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 9 7 4
+f 9 5 7
+f 10 8 2
+f 10 2 5
+f 11 5 9
+f 11 10 5
+f 11 8 10
+f 11 9 4
+f 11 3 8
+f 11 6 3
+f 11 4 6
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_16.obj b/carrot/carrot_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb31c00d71fcd7018ce01987216af59b90d0ee4
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02757191 -0.08788758 0.00513059
+v -0.02647768 -0.08479040 0.01953293
+v -0.13411458 -0.07220277 -0.05449773
+v -0.06317942 0.07920158 -0.04257069
+v -0.02329110 0.01924489 0.10739101
+v -0.04550212 -0.09575261 -0.05357301
+v -0.04400995 -0.07326285 0.05331829
+v -0.02086773 -0.03208188 0.10515811
+v -0.14469521 0.02653730 -0.04688387
+v -0.07394144 -0.08684219 -0.05515953
+v -0.02910521 -0.07428698 0.06654820
+v -0.12115798 -0.07201200 -0.03637741
+v -0.06833281 0.03975993 0.03834611
+v -0.12142230 -0.01408597 -0.00544547
+v -0.04243633 0.02892696 0.07716394
+v -0.07500552 -0.00040328 0.05486434
+v -0.07363112 -0.01287887 0.05323265
+v -0.03041898 0.01518720 0.10100926
+v -0.12191610 0.00033306 -0.00458364
+v -0.02823984 -0.02806307 0.09873940
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 7 1
+f 11 1 2
+f 11 8 7
+f 11 2 8
+f 12 3 6
+f 12 6 7
+f 12 7 8
+f 13 9 5
+f 13 4 9
+f 14 9 3
+f 14 3 12
+f 15 13 5
+f 15 5 4
+f 15 4 13
+f 17 14 12
+f 17 16 14
+f 18 8 5
+f 18 5 9
+f 18 9 16
+f 19 16 9
+f 19 9 14
+f 19 14 16
+f 20 17 12
+f 20 12 8
+f 20 16 17
+f 20 18 16
+f 20 8 18
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_17.obj b/carrot/carrot_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efce43eea281f48a654c6aa3f3bedcb50a42cde
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.28805048 -0.06596300 -0.29590768
+v -0.28909660 -0.05098325 -0.37052371
+v -0.28427367 -0.05618849 -0.25301301
+v -0.28322298 0.06809335 -0.27009211
+v -0.41431097 0.03250594 -0.38008827
+v -0.38897236 -0.03940958 -0.37402324
+v -0.29315386 0.06548412 -0.36328812
+v -0.33328665 0.00422127 -0.26309530
+v -0.41565598 -0.01716360 -0.37886074
+v -0.29918398 -0.05154899 -0.25222613
+v -0.34329371 0.06938836 -0.37390808
+v -0.30611785 0.05783679 -0.26054093
+v -0.39353787 0.00173855 -0.33905874
+v -0.34728855 -0.04390856 -0.30892897
+v -0.39204118 0.01348099 -0.34049937
+v -0.38585976 0.04853711 -0.36076893
+v -0.31185739 0.06331810 -0.28674360
+v -0.28668239 0.06121721 -0.25161127
+v -0.30134458 -0.06115594 -0.29716662
+v -0.38226447 -0.03705171 -0.34915122
+v -0.33301904 0.05599855 -0.29256863
+v -0.38740073 0.05107697 -0.37454897
+v -0.37639707 0.04503766 -0.34046508
+v -0.34091641 0.06484246 -0.34534758
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 9 5 2
+f 9 2 6
+f 10 1 3
+f 11 4 7
+f 11 7 2
+f 11 2 5
+f 13 5 9
+f 13 10 8
+f 13 9 10
+f 15 8 12
+f 15 13 8
+f 15 5 13
+f 17 12 4
+f 17 4 11
+f 18 12 8
+f 18 8 10
+f 18 10 3
+f 18 3 4
+f 18 4 12
+f 19 14 6
+f 19 6 1
+f 19 1 10
+f 19 10 14
+f 20 14 10
+f 20 10 9
+f 20 9 6
+f 20 6 14
+f 21 15 12
+f 21 5 15
+f 21 12 17
+f 22 11 5
+f 22 5 16
+f 22 16 21
+f 23 21 16
+f 23 16 5
+f 23 5 21
+f 24 21 17
+f 24 17 11
+f 24 22 21
+f 24 11 22
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_18.obj b/carrot/carrot_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a128f5f2e5f84cd29408a42a9d7ba3770bccf881
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.18679972 -0.06920686 -0.24505197
+v -0.13987200 -0.05822726 -0.24644141
+v -0.18692392 0.07122180 -0.24610522
+v -0.28186068 0.06419472 -0.25616521
+v -0.25014840 -0.00324826 -0.37826195
+v -0.28427367 -0.05618849 -0.25301301
+v -0.14025556 0.06036348 -0.24679793
+v -0.29202428 -0.05405043 -0.36518577
+v -0.29021118 0.06250046 -0.36854600
+v -0.15197770 0.01547895 -0.28084641
+v -0.24466822 -0.04376376 -0.35420634
+v -0.29236551 -0.06779349 -0.33426059
+v -0.29188229 0.07074200 -0.35040860
+v -0.25240403 0.05729808 -0.35942588
+v -0.15248471 -0.01413646 -0.27975787
+v -0.26313983 -0.04819507 -0.36259932
+v -0.26617251 -0.06370627 -0.25501224
+v -0.26300258 0.06485664 -0.34786546
+v -0.25133797 0.01870850 -0.37690476
+v -0.24282831 0.04581260 -0.35666181
+v -0.24061670 -0.00011429 -0.37164798
+v -0.22253303 -0.05021595 -0.32972831
+v -0.28198448 -0.06541554 -0.28486762
+v -0.14782942 0.06020365 -0.25443070
+v -0.24183089 0.01555726 -0.37029176
+v -0.22912472 -0.01366857 -0.35460900
+v -0.27792329 -0.06486581 -0.33296737
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 9 5 8
+f 10 7 2
+f 12 2 1
+f 13 4 3
+f 13 9 8
+f 13 8 12
+f 13 12 6
+f 13 6 4
+f 14 9 13
+f 15 10 2
+f 16 8 5
+f 16 5 11
+f 16 12 8
+f 17 1 6
+f 18 13 3
+f 18 3 7
+f 18 14 13
+f 19 5 9
+f 19 9 14
+f 20 7 10
+f 21 10 15
+f 21 5 19
+f 21 11 5
+f 22 16 11
+f 23 12 1
+f 23 1 17
+f 23 17 6
+f 23 6 12
+f 24 18 7
+f 24 14 18
+f 24 20 14
+f 24 7 20
+f 25 19 14
+f 25 14 20
+f 25 20 10
+f 25 21 19
+f 25 10 21
+f 26 21 15
+f 26 15 2
+f 26 11 21
+f 26 22 11
+f 26 2 22
+f 27 22 2
+f 27 2 12
+f 27 12 16
+f 27 16 22
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_19.obj b/carrot/carrot_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf8b6d9f0a26fc0f77a560dee2ec926af8c4d6d
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.11997332 -0.08185201 0.05329328
+v 0.17129753 -0.04788766 0.06109840
+v 0.17232539 0.04930487 0.06042763
+v 0.16487242 0.05305427 0.05384591
+v 0.12651776 0.04136060 0.00232146
+v 0.11604751 -0.07207361 0.01042898
+v 0.14626291 0.05097703 0.03089528
+v 0.16602087 -0.01475574 0.03535268
+v 0.15905621 -0.06730503 0.05761163
+v 0.16315753 0.02927980 0.03819895
+v 0.14812429 -0.02887954 0.02232953
+v 0.14887667 0.03011239 0.02206661
+v 0.12354035 -0.07081163 0.01702114
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 9 2 1
+f 9 8 2
+f 10 7 4
+f 10 4 3
+f 10 5 7
+f 10 3 8
+f 11 6 5
+f 11 5 8
+f 12 10 8
+f 12 8 5
+f 12 5 10
+f 13 6 11
+f 13 9 1
+f 13 1 6
+f 13 11 8
+f 13 8 9
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_2.obj b/carrot/carrot_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9270aff3983c6ceec2b1d7c1e0f8b1de3d18ce69
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02556600 -0.09967349 0.01245326
+v 0.01901858 -0.06950526 -0.08756782
+v 0.02946278 -0.02223868 0.00757576
+v -0.14816120 -0.02700238 -0.04449262
+v -0.14170949 -0.08315862 -0.16885911
+v -0.07722575 -0.03770363 0.03333301
+v -0.05654232 -0.06630337 -0.16248079
+v -0.13411458 -0.07220277 -0.05449773
+v -0.02975697 -0.09749280 -0.03777015
+v 0.01677518 -0.01524539 -0.11537567
+v -0.09525290 -0.06928473 -0.00458450
+v -0.13177711 -0.07930218 -0.10106258
+v -0.00949492 -0.09475862 0.00312763
+v -0.03243433 -0.05984147 -0.14222360
+v -0.13916123 -0.02120085 -0.26314090
+v -0.04269018 -0.08286063 0.00468648
+v -0.11668345 -0.07950148 -0.07073207
+v -0.08971737 -0.07431259 -0.00920448
+v -0.13987200 -0.05822726 -0.24644141
+v -0.13049497 -0.01776223 -0.25647915
+v -0.14559117 -0.04851308 -0.25643974
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 4 5
+f 9 7 1
+f 9 5 7
+f 10 3 2
+f 10 4 3
+f 11 6 4
+f 11 4 8
+f 12 8 5
+f 12 5 9
+f 13 9 1
+f 13 8 9
+f 14 10 2
+f 14 2 7
+f 16 1 6
+f 16 6 11
+f 16 13 1
+f 17 12 9
+f 17 9 8
+f 17 8 12
+f 18 11 8
+f 18 8 13
+f 18 16 11
+f 18 13 16
+f 19 7 5
+f 20 15 4
+f 20 4 10
+f 20 10 14
+f 20 14 7
+f 20 19 15
+f 20 7 19
+f 21 19 5
+f 21 5 4
+f 21 4 15
+f 21 15 19
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_20.obj b/carrot/carrot_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34615ecf3bf829d75839691f84216ce5f59b15ed
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.17280763 -0.07502335 0.14124115
+v 0.21172723 0.00026979 0.08059466
+v 0.21028135 -0.02034454 0.13764293
+v 0.17476154 0.07729586 0.15760262
+v 0.17352642 0.01941594 0.04434820
+v 0.20927665 0.03586321 0.13894522
+v 0.17769817 -0.06454258 0.15812241
+v 0.19536327 -0.05972969 0.09676961
+v 0.17129753 -0.04788766 0.06109840
+v 0.19782558 0.06980385 0.10193248
+v 0.19686535 0.05721404 0.15333553
+v 0.20873561 -0.01670509 0.08711136
+v 0.19531073 -0.05240501 0.13866522
+v 0.17357163 0.07085230 0.07416024
+v 0.17526326 -0.06861060 0.08710388
+v 0.17253678 -0.01801562 0.04500405
+v 0.20947395 0.01456780 0.08290521
+v 0.19812342 -0.04520250 0.15186907
+v 0.18709497 -0.06453667 0.08965669
+v 0.18047868 -0.06786234 0.13877072
+v 0.18115418 0.01557917 0.05088032
+v 0.20824401 0.03360875 0.11496087
+v 0.18531166 -0.05730132 0.15589645
+v 0.17996902 -0.01415371 0.05151996
+f 6 3 2
+f 7 4 1
+f 9 1 4
+f 11 4 7
+f 11 10 4
+f 11 6 10
+f 12 2 3
+f 12 3 8
+f 14 9 4
+f 14 4 10
+f 15 1 9
+f 16 14 5
+f 16 9 14
+f 17 14 10
+f 18 3 6
+f 18 6 11
+f 18 13 8
+f 18 8 3
+f 19 9 2
+f 19 2 12
+f 19 12 8
+f 19 15 9
+f 19 8 1
+f 19 1 15
+f 20 13 7
+f 20 7 1
+f 20 1 8
+f 20 8 13
+f 21 16 5
+f 21 17 2
+f 21 5 14
+f 21 14 17
+f 22 17 10
+f 22 10 6
+f 22 6 2
+f 22 2 17
+f 23 18 11
+f 23 11 7
+f 23 7 13
+f 23 13 18
+f 24 21 2
+f 24 16 21
+f 24 2 9
+f 24 9 16
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_21.obj b/carrot/carrot_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf644025af49aa91a750f22d3ee7989033bb1ba5
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44472075 -0.02789851 0.36343531
+v 0.44624132 -0.01396971 0.35202417
+v 0.44471200 -0.01400077 0.36346375
+v 0.30253144 -0.00890855 0.27934597
+v 0.35252664 -0.02504125 0.29624660
+v 0.32611975 -0.01173833 0.29520154
+v 0.44476169 -0.02385504 0.35473770
+v 0.35504716 -0.01216354 0.29190480
+v 0.31077834 -0.03071644 0.28547833
+v 0.32609086 -0.03093763 0.29512474
+v 0.30962926 -0.01041424 0.28474321
+v 0.30350489 -0.02981487 0.27981992
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 10 9 5
+f 10 5 1
+f 10 1 6
+f 10 6 9
+f 11 9 6
+f 11 4 9
+f 11 6 3
+f 11 3 4
+f 12 8 5
+f 12 5 9
+f 12 9 4
+f 12 4 8
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_22.obj b/carrot/carrot_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8111d74bfd8632125f8cdf931994916af7750fe
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.28324342 -0.06867371 -0.29916584
+v -0.29038983 -0.04564531 -0.38331733
+v -0.30372033 -0.05202424 -0.26522286
+v -0.32707311 -0.04787170 -0.28568124
+v -0.37995834 -0.05085378 -0.41595975
+v -0.31276707 -0.04984948 -0.26849689
+v -0.29882670 -0.05463960 -0.26857017
+v -0.29236551 -0.06779349 -0.33426059
+v -0.31088795 -0.06445090 -0.32969505
+v -0.36113223 -0.04497899 -0.34252800
+v -0.35061092 -0.04596913 -0.41391404
+v -0.29653752 -0.06386665 -0.30042478
+v -0.31861257 -0.06544448 -0.35246453
+v -0.37722294 -0.04688482 -0.38739369
+v -0.29331751 -0.04871250 -0.37797939
+v -0.32558385 -0.04826908 -0.28446105
+v -0.30738301 -0.06489063 -0.34854133
+v -0.35573478 -0.04792514 -0.34514074
+v -0.37832876 -0.05128857 -0.41416034
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 10 4 2
+f 11 10 2
+f 12 9 1
+f 12 1 6
+f 13 8 1
+f 13 1 9
+f 14 13 9
+f 14 11 5
+f 14 10 11
+f 15 11 2
+f 15 2 8
+f 15 8 11
+f 16 12 6
+f 16 6 4
+f 16 9 12
+f 16 4 10
+f 17 11 8
+f 17 8 13
+f 18 14 9
+f 18 10 14
+f 18 16 10
+f 18 9 16
+f 19 14 5
+f 19 13 14
+f 19 17 13
+f 19 5 11
+f 19 11 17
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_23.obj b/carrot/carrot_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5fcdb414178ccc1c0fd50f131a13526d966de5
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00394950 -0.03590544 -0.12559830
+v 0.00455766 -0.03273259 -0.11878232
+v -0.04645938 0.06774958 -0.12855404
+v -0.00225832 -0.02947778 -0.12694178
+v 0.00688856 0.01956679 -0.12099351
+v -0.05367122 -0.01869559 -0.18173213
+v -0.00815451 0.04992313 -0.12110739
+v 0.00010190 0.01623040 -0.12901856
+v -0.02629816 -0.03178759 -0.14930105
+v -0.05432939 0.04966585 -0.16618915
+v -0.04507999 -0.01554452 -0.17491805
+v -0.01920884 0.06373906 -0.12516643
+v -0.05462236 0.01922232 -0.18104702
+v -0.04972003 0.06227400 -0.15555816
+v -0.04625118 0.01597076 -0.17425094
+f 1 2 3
+f 2 1 4
+f 7 3 2
+f 7 2 5
+f 8 5 2
+f 8 2 4
+f 9 1 3
+f 9 3 6
+f 9 4 1
+f 10 6 3
+f 10 7 5
+f 11 8 4
+f 11 9 6
+f 11 4 9
+f 12 3 7
+f 12 7 10
+f 13 10 5
+f 13 5 8
+f 13 11 6
+f 13 6 10
+f 14 12 10
+f 14 10 3
+f 14 3 12
+f 15 13 8
+f 15 8 11
+f 15 11 13
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_24.obj b/carrot/carrot_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb022f4f233bf6ee8e74749ea55bfade076f19a3
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.11848147 0.04271411 0.20446455
+v 0.14626291 0.05097703 0.03089528
+v 0.12391451 0.09983028 0.12370081
+v 0.04920533 0.10276652 0.05039563
+v 0.05065395 0.03464759 0.16709468
+v 0.11594582 0.08661913 0.05642926
+v 0.12412821 0.08381647 0.16884850
+v 0.06680544 0.03403171 0.18106275
+v 0.02404806 0.08924925 0.06483276
+v 0.09790115 0.09369507 0.05865103
+v 0.05106132 0.09693869 0.07875425
+v 0.05174151 0.07080820 0.15027055
+v 0.11391865 0.09605765 0.08823431
+v 0.07968506 0.09488697 0.10679012
+v 0.04991180 0.08066789 0.12204905
+v 0.08451125 0.07022927 0.17760401
+v 0.11880504 0.07695345 0.18338099
+v 0.10975998 0.08065588 0.16772373
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 4 2
+f 9 2 5
+f 10 6 4
+f 11 3 4
+f 11 4 9
+f 12 5 8
+f 12 9 5
+f 13 10 4
+f 13 4 3
+f 13 3 6
+f 13 6 10
+f 14 7 3
+f 14 3 11
+f 15 11 9
+f 15 9 12
+f 16 12 8
+f 16 8 1
+f 16 14 11
+f 16 15 12
+f 16 11 15
+f 17 16 1
+f 17 1 7
+f 18 7 14
+f 18 14 16
+f 18 17 7
+f 18 16 17
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_25.obj b/carrot/carrot_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..def5b8b0f9d00d23d7d95c7716527df9bde41f73
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.03680072 0.01841455 0.09093358
+v -0.02994794 0.08086462 0.00688979
+v -0.02155746 0.04867119 0.09086061
+v -0.02695102 0.06992134 0.06558482
+v -0.10384683 0.02185726 0.00504889
+v -0.02967285 0.02247225 0.09731532
+v -0.09722092 0.01832056 0.01502818
+v -0.07100822 0.06528804 0.01926466
+v -0.06381995 0.01675388 0.05801872
+v -0.03691515 0.06771957 0.06128515
+v -0.09668577 0.04897464 -0.00087613
+v -0.07176649 0.06780230 0.00458287
+v -0.05080154 0.06654964 0.04513085
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 9 7 2
+f 9 2 1
+f 9 5 7
+f 10 4 2
+f 10 3 4
+f 10 6 3
+f 11 2 5
+f 11 1 6
+f 11 9 1
+f 11 5 9
+f 12 11 8
+f 12 8 2
+f 12 2 11
+f 13 8 11
+f 13 10 2
+f 13 2 8
+f 13 11 6
+f 13 6 10
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_26.obj b/carrot/carrot_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a31ecd77bd53ccb796284d32bc50cff2ef9dd6f
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.13847414 0.01704068 -0.03421252
+v -0.12722786 0.07158340 -0.18515423
+v -0.12824171 0.06002533 -0.04495667
+v -0.16596074 0.07939709 -0.17563233
+v -0.16543996 0.02229944 -0.06987769
+v -0.13922320 0.07785693 -0.17239860
+v -0.12779080 0.03417990 -0.03051559
+v -0.15879127 0.01935161 -0.06018125
+v -0.18062652 0.07122786 -0.16386295
+v -0.13278417 0.06764774 -0.08682994
+v -0.13137133 0.02062121 -0.02755308
+v -0.15556442 0.05950209 -0.07794499
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 3
+f 9 4 2
+f 9 2 5
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 9 5
+f 12 3 4
+f 12 4 9
+f 12 8 3
+f 12 5 8
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_27.obj b/carrot/carrot_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed84911b188340980d4d1af997ac0cca2780d131
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05462236 0.01922232 -0.18104702
+v -0.02786529 0.03227600 -0.14814014
+v -0.14994676 0.06984917 -0.11870646
+v -0.13517865 0.07641048 -0.13039012
+v -0.14025556 0.06036348 -0.24679793
+v -0.04892938 0.06908216 -0.12504491
+v -0.13024891 0.01892341 -0.25704689
+v -0.14059428 0.06738400 -0.21598854
+v -0.05729389 0.06211417 -0.16319093
+v -0.14533299 0.04962052 -0.25700352
+v -0.04999819 0.06586645 -0.13988860
+v -0.13867225 0.02244690 -0.26369961
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 3
+f 8 3 4
+f 8 6 5
+f 8 4 6
+f 9 5 6
+f 9 7 5
+f 9 2 7
+f 10 8 5
+f 10 3 8
+f 11 9 6
+f 11 6 2
+f 11 2 9
+f 12 7 3
+f 12 3 10
+f 12 10 5
+f 12 5 7
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_28.obj b/carrot/carrot_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97648710cd674fd74aad3059ae70039b67b91267
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04629479 -0.02223868 -0.05303030
+v -0.06048530 -0.01542262 -0.18980594
+v -0.06141844 0.01596321 -0.18938666
+v -0.06317942 0.07920158 -0.04257069
+v -0.14816120 -0.02700238 -0.04449262
+v -0.14582297 -0.01766865 -0.27144938
+v -0.13690164 0.01543943 -0.26562029
+v -0.13715671 -0.01423003 -0.26478764
+v -0.14532497 0.01896292 -0.27227301
+v -0.14469521 0.02653730 -0.04688387
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 3 2
+f 8 7 2
+f 8 2 6
+f 8 6 7
+f 9 4 3
+f 9 3 7
+f 9 7 6
+f 9 6 5
+f 10 9 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_29.obj b/carrot/carrot_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc28088bc5125fb00c196c28b3bc60eb2b728516
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.12095373 -0.00521687 0.21317725
+v 0.13383820 -0.01356137 -0.00364769
+v 0.12651776 0.04136060 0.00232146
+v 0.05505989 0.08183299 -0.00866020
+v 0.04461430 -0.00708716 0.00757576
+v 0.11848147 0.04271411 0.20446455
+v 0.05663607 0.00064470 0.18963423
+v 0.12194041 0.03476076 0.20719236
+v 0.05710425 0.03067488 0.17461245
+v 0.07335126 0.00147098 0.20353885
+v 0.08940723 0.02944312 0.20254859
+v 0.05691576 0.00085799 0.18997032
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 8 3 6
+f 9 6 4
+f 9 4 5
+f 9 5 7
+f 10 7 1
+f 11 10 1
+f 11 1 8
+f 11 8 6
+f 11 6 9
+f 11 9 10
+f 12 10 9
+f 12 9 7
+f 12 7 10
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_3.obj b/carrot/carrot_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5921e397464efefb0edb00fe33f07bee5d7417a
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18243906 -0.06909195 0.12927042
+v 0.20770068 -0.00890464 0.14367281
+v 0.02480606 -0.01982693 0.15335708
+v 0.04289901 -0.07509229 0.13162240
+v 0.13383820 -0.01356137 -0.00364769
+v 0.18291461 -0.00805607 0.05139554
+v 0.05049653 -0.08803279 0.00021312
+v 0.11870787 -0.06689322 0.00896262
+v 0.04461430 -0.00708716 0.00757576
+v 0.16751494 -0.06122062 0.06425098
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 3
+f 8 5 6
+f 8 7 5
+f 8 1 7
+f 9 6 5
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 9 5 7
+f 10 8 6
+f 10 6 1
+f 10 1 8
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_30.obj b/carrot/carrot_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abce62e489636153b0f0da41fb33b6c706bc536
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02946278 -0.02223868 0.00757576
+v 0.04897380 0.03422566 -0.07416899
+v 0.02946278 0.02321587 0.00757576
+v -0.07543561 0.03617939 0.03168667
+v -0.02629816 -0.03178759 -0.14930105
+v -0.07722575 -0.03770363 0.03333301
+v 0.01677518 -0.01524539 -0.11537567
+v -0.02786529 0.03227600 -0.14814014
+v 0.01604037 0.01564178 -0.11424571
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 7 5
+f 8 6 4
+f 8 5 6
+f 9 8 2
+f 9 2 7
+f 9 7 8
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_31.obj b/carrot/carrot_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a854b2006ac681836ac80c91bd2068d824a76
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.17861290 -0.01913208 0.19437856
+v 0.18291461 -0.00805607 0.05139554
+v 0.17639053 0.06972194 0.17588203
+v 0.14894153 0.09873310 0.14421271
+v 0.11847322 -0.01319015 0.21066860
+v 0.17381535 0.07892011 0.10392455
+v 0.15351026 -0.02301910 0.02541125
+v 0.11880504 0.07695345 0.18338099
+v 0.16909614 0.08095694 0.16521263
+v 0.16607091 0.07117654 0.06557147
+v 0.11594582 0.08661913 0.05642926
+v 0.11514081 0.09947937 0.10245764
+v 0.12948219 0.08211083 0.05766959
+v 0.12503928 0.09529181 0.13723722
+v 0.12412821 0.08381647 0.16884850
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 9 6 4
+f 9 3 6
+f 9 8 3
+f 9 4 8
+f 10 6 2
+f 10 2 7
+f 11 7 5
+f 11 6 10
+f 12 11 5
+f 12 5 8
+f 12 4 6
+f 12 6 11
+f 13 11 10
+f 13 10 7
+f 13 7 11
+f 14 12 8
+f 14 4 12
+f 15 14 8
+f 15 8 4
+f 15 4 14
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_4.obj b/carrot/carrot_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578b36be27bc6b39a78e8dd99b6ee1a11442a4a6
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34043199 0.01338101 0.49593168
+v 0.34697463 0.03939729 0.49160315
+v 0.33970531 0.03403747 0.49615553
+v 0.25169655 0.00657949 0.32060960
+v 0.27700462 0.00734557 0.32950490
+v 0.26611681 0.03752232 0.32149043
+v 0.33378076 0.01335724 0.49984706
+v 0.33026488 0.01198568 0.45424448
+v 0.27801088 0.04235808 0.32939195
+v 0.27561690 0.03210646 0.36267919
+v 0.33669422 0.03181732 0.49804120
+v 0.25418655 0.02079598 0.32007757
+v 0.26779182 0.03466616 0.33588005
+f 1 2 3
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 5 6
+f 9 8 5
+f 9 2 8
+f 11 7 1
+f 11 1 3
+f 11 10 7
+f 11 6 10
+f 11 9 6
+f 11 3 9
+f 12 6 4
+f 12 4 7
+f 12 7 10
+f 13 12 10
+f 13 10 6
+f 13 6 12
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_5.obj b/carrot/carrot_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ffc6dc717e05c60ff03236b77b251e740d5467a
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02917343 -0.09699573 0.00793793
+v 0.15593463 -0.00213835 0.01592552
+v 0.14142370 0.03386179 0.01548490
+v 0.04063923 0.08487420 -0.00979620
+v 0.01988081 -0.03281455 -0.10380687
+v 0.08560640 -0.08256602 0.01316129
+v 0.01961843 0.06383083 -0.08814758
+v 0.12599162 -0.06311063 0.01551997
+v 0.02632915 -0.06982034 -0.07983852
+v 0.02035109 -0.06334215 -0.08913779
+v 0.02810759 0.07818276 -0.03577235
+v 0.07251418 0.07037697 -0.03446462
+v 0.07536913 -0.00025366 -0.06776417
+v 0.11053840 -0.07169879 0.00266853
+v 0.02525592 -0.08344976 -0.03261316
+v 0.02650243 0.06725957 -0.07912755
+v 0.14970165 0.00150141 0.00638418
+v 0.02262705 0.01935856 -0.10623037
+v 0.06509988 0.06977558 -0.04205165
+v 0.11604751 -0.07207361 0.01042898
+v 0.03427188 -0.06987085 -0.07252843
+v 0.15667118 0.00339560 0.01552434
+v 0.11943427 -0.05995806 0.00583366
+v 0.13484198 0.03065632 0.00596029
+v 0.03169905 0.01592797 -0.09964368
+v 0.03466144 0.06759618 -0.07205904
+f 1 3 4
+f 6 3 1
+f 8 2 3
+f 8 3 6
+f 9 6 1
+f 10 7 5
+f 11 7 1
+f 11 1 4
+f 12 4 3
+f 13 10 5
+f 15 1 7
+f 15 7 10
+f 15 10 9
+f 15 9 1
+f 16 11 4
+f 16 7 11
+f 18 5 7
+f 19 4 12
+f 20 14 8
+f 20 8 6
+f 20 6 14
+f 21 9 10
+f 21 10 13
+f 21 13 14
+f 21 14 6
+f 21 6 9
+f 22 3 2
+f 22 2 17
+f 23 14 13
+f 23 13 17
+f 23 8 14
+f 23 17 2
+f 23 2 8
+f 24 17 13
+f 24 12 3
+f 24 22 17
+f 24 3 22
+f 24 19 12
+f 24 13 19
+f 25 13 5
+f 25 5 18
+f 25 18 7
+f 25 7 13
+f 26 19 13
+f 26 13 7
+f 26 7 16
+f 26 16 4
+f 26 4 19
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_6.obj b/carrot/carrot_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4517bb41f70da95de622861bc6bb59eb3ef9972a
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.12385248 -0.09635266 0.12247915
+v 0.17407230 -0.06437320 0.07393730
+v 0.17567127 -0.06229633 0.17229357
+v 0.08968131 -0.06936491 0.17488284
+v 0.05049653 -0.08803279 0.00021312
+v 0.11870787 -0.06689322 0.00896262
+v 0.12418898 -0.07957745 0.16732379
+v 0.16564662 -0.08331968 0.13887623
+v 0.04831398 -0.09718886 0.07721961
+v 0.04289901 -0.07509229 0.13162240
+v 0.08244818 -0.09416620 0.04290691
+v 0.07905055 -0.09320360 0.10614476
+v 0.17287257 -0.07759392 0.11874515
+v 0.16022253 -0.08121615 0.15804128
+v 0.04098008 -0.10058139 0.02727613
+v 0.11604751 -0.07207361 0.01042898
+v 0.09398898 -0.07908031 0.15198553
+v 0.11270199 -0.09384161 0.08816763
+v 0.17052161 -0.06935773 0.16676107
+v 0.04328167 -0.09338830 0.00924377
+v 0.09971464 -0.07895859 0.01446713
+v 0.17307559 -0.06592085 0.07363416
+v 0.09260717 -0.07189544 0.17004784
+v 0.06919657 -0.09336653 0.02988781
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 12 9 1
+f 13 2 3
+f 13 3 8
+f 13 8 1
+f 14 7 1
+f 14 1 8
+f 14 3 7
+f 15 9 10
+f 15 11 1
+f 15 1 9
+f 16 5 6
+f 17 12 1
+f 17 1 7
+f 18 13 1
+f 18 1 11
+f 19 14 8
+f 19 8 3
+f 19 3 14
+f 20 15 10
+f 20 10 5
+f 20 5 15
+f 21 15 5
+f 21 16 11
+f 21 5 16
+f 22 16 6
+f 22 6 2
+f 22 2 13
+f 22 11 16
+f 22 18 11
+f 22 13 18
+f 23 17 7
+f 23 7 4
+f 23 12 17
+f 23 4 9
+f 23 9 12
+f 24 21 11
+f 24 11 15
+f 24 15 21
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_7.obj b/carrot/carrot_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688c65632eda67284c7a55f393c3f0cd53a901cb
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04831398 -0.09718886 0.07721961
+v 0.03967425 -0.09606606 0.01375910
+v 0.05037242 0.09987909 0.06487738
+v 0.03985382 0.09431593 0.01497514
+v -0.04347716 -0.05108613 0.06585702
+v -0.02757191 -0.08788758 0.00513059
+v 0.05374742 0.01759082 0.17858516
+v -0.02491649 0.08356807 0.00400236
+v 0.00405839 -0.09928229 0.00422186
+v -0.03756799 -0.07336730 0.06080800
+v 0.05357100 -0.01647813 0.17828448
+v 0.01473164 0.09831449 0.00951711
+v -0.01556138 0.06951862 0.08612636
+v 0.05140554 -0.07017038 0.14961795
+v -0.01650053 -0.00188022 0.12936062
+v 0.05174151 0.07080820 0.15027055
+v -0.02374941 0.08068065 0.01848412
+v 0.01868341 -0.07913662 0.10641140
+v 0.04355190 -0.01317719 0.17191847
+v 0.00096071 -0.05893564 0.11480056
+v 0.04280808 0.07096603 0.14281911
+v 0.04251374 -0.07095141 0.14219837
+v -0.03007829 -0.07348873 0.06951586
+v 0.04404622 0.01423400 0.17213486
+v 0.00239159 0.05937364 0.11416637
+v 0.01376599 -0.05864415 0.12548238
+v -0.00146322 0.02979040 0.12633965
+f 1 2 3
+f 3 2 4
+f 8 6 5
+f 9 2 1
+f 9 6 8
+f 9 4 2
+f 10 5 6
+f 10 9 1
+f 10 6 9
+f 11 1 3
+f 11 3 7
+f 12 3 4
+f 12 9 8
+f 12 4 9
+f 13 12 8
+f 13 3 12
+f 14 1 11
+f 15 5 10
+f 15 13 5
+f 16 7 3
+f 17 13 8
+f 17 8 5
+f 17 5 13
+f 18 1 14
+f 19 11 7
+f 21 16 3
+f 21 3 13
+f 21 7 16
+f 22 18 14
+f 22 14 11
+f 23 10 1
+f 23 1 18
+f 23 18 22
+f 23 22 20
+f 23 20 15
+f 23 15 10
+f 24 19 7
+f 24 15 19
+f 25 21 13
+f 25 13 15
+f 26 19 15
+f 26 15 20
+f 26 20 22
+f 26 22 11
+f 26 11 19
+f 27 15 24
+f 27 25 15
+f 27 21 25
+f 27 24 7
+f 27 7 21
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_8.obj b/carrot/carrot_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e24c7aa2ff827c34f35e71bc15e8ed0e66bf04
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02946278 0.02321587 0.00757576
+v 0.02262705 0.01935856 -0.10623037
+v 0.02650243 0.06725957 -0.07912755
+v 0.02847438 0.09486056 0.00911207
+v -0.14994676 0.06984917 -0.11870646
+v -0.12471189 0.01765871 -0.01791154
+v -0.01950932 0.06414217 -0.12379047
+v 0.00688856 0.01956679 -0.12099351
+v -0.11094964 0.01827673 -0.00161056
+v -0.08890577 0.08288609 -0.10102169
+v -0.13517865 0.07641048 -0.13039012
+v 0.00053395 0.04674583 -0.11432073
+v -0.07176649 0.06780230 0.00458287
+v 0.01600907 0.04690492 -0.09950902
+v -0.12077434 0.06065445 -0.03626975
+v -0.02491649 0.08356807 0.00400236
+v -0.09310524 0.06253332 -0.00383863
+f 1 2 3
+f 1 3 4
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 6 2
+f 9 2 1
+f 10 4 7
+f 11 8 5
+f 11 7 8
+f 11 10 7
+f 11 4 10
+f 12 8 7
+f 12 7 3
+f 12 2 8
+f 13 9 1
+f 13 1 4
+f 14 12 3
+f 14 3 2
+f 14 2 12
+f 15 5 6
+f 15 6 9
+f 16 11 5
+f 16 5 13
+f 16 13 4
+f 16 4 11
+f 17 15 9
+f 17 9 13
+f 17 13 5
+f 17 5 15
\ No newline at end of file
diff --git a/carrot/carrot_1/collision/model_normalized_collision_9.obj b/carrot/carrot_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6bda04f4135b67216c671f41c751dc45f1c6af
--- /dev/null
+++ b/carrot/carrot_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.37777044 -0.10264890 0.47045732
+v 0.37344822 -0.09870210 0.47306561
+v 0.26613420 -0.04318223 0.32278135
+v 0.25883596 -0.02483695 0.32345815
+v 0.28432727 -0.02833554 0.31931150
+v 0.27364475 -0.03315731 0.34515829
+v 0.28568785 -0.05321071 0.35153741
+v 0.37479118 -0.08628352 0.47207012
+v 0.27113924 -0.04578659 0.29803801
+v 0.27239765 -0.04583889 0.33298211
+v 0.27092493 -0.03130124 0.34165671
+v 0.36616822 -0.09372968 0.46514252
+v 0.35924816 -0.07484393 0.44062351
+v 0.28760590 -0.05393674 0.32411494
+v 0.27025415 -0.02212900 0.29649137
+v 0.27441489 -0.02246997 0.30308014
+v 0.34870179 -0.08564610 0.43994800
+v 0.36106501 -0.08096789 0.46170360
+v 0.29869823 -0.03950563 0.35153872
+v 0.34699044 -0.06721216 0.42079000
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 3
+f 9 3 4
+f 10 4 3
+f 10 3 7
+f 11 4 10
+f 11 10 7
+f 11 7 6
+f 12 6 7
+f 13 8 1
+f 13 11 8
+f 14 1 9
+f 14 13 1
+f 15 9 4
+f 15 14 9
+f 16 11 5
+f 16 4 11
+f 16 15 4
+f 16 14 15
+f 16 5 13
+f 16 13 14
+f 17 12 7
+f 17 7 2
+f 17 2 12
+f 18 12 2
+f 18 2 8
+f 18 8 11
+f 18 11 6
+f 18 6 12
+f 19 5 11
+f 20 13 5
+f 20 5 19
+f 20 19 11
+f 20 11 13
\ No newline at end of file
diff --git a/carrot/carrot_1/model.xml b/carrot/carrot_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c086602f15b381fe28590a18d495a6ccf4839fc8
--- /dev/null
+++ b/carrot/carrot_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="carrot_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.6532814824381881 0.6532814824381881 0.2705980500730984 -0.2705980500730984"/>
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diff --git a/carrot/carrot_1/visual/image0.png b/carrot/carrot_1/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3f9133fce55338f4cb0ec8d746bfc2a21e06899
--- /dev/null
+++ b/carrot/carrot_1/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0373e3733a0b6bf9dc080a89aa6a180977f426480d2e79597f5a976321fb62
+size 82892
diff --git a/carrot/carrot_1/visual/material.mtl b/carrot/carrot_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/carrot/carrot_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/carrot/carrot_1/visual/material_0.png b/carrot/carrot_1/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3f9133fce55338f4cb0ec8d746bfc2a21e06899
--- /dev/null
+++ b/carrot/carrot_1/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0373e3733a0b6bf9dc080a89aa6a180977f426480d2e79597f5a976321fb62
+size 82892
diff --git a/carrot/carrot_1/visual/model_normalized_0.obj b/carrot/carrot_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1408a8e0592bd81ed967d76e1e03ca8116ac17
--- /dev/null
+++ b/carrot/carrot_1/visual/model_normalized_0.obj
@@ -0,0 +1,741 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.16545369 0.02590515 0.19631800
+v 0.20369896 0.02648071 0.22587332
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+v 0.23647258 0.00758969 0.19415786
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+v 0.24728405 0.03224058 0.29988675
+v 0.26169567 0.04305853 0.29101656
+v 0.15874834 0.00505265 0.20153874
+v 0.19807592 0.00758969 0.23131478
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+v 0.27499823 -0.04770842 0.33653955
+v 0.37264959 -0.09797285 0.47354752
+v 0.37094225 -0.08641019 0.47485794
+v 0.24341665 0.00589581 0.30252973
+v 0.33385080 0.01336302 0.50000000
+v 0.33669421 0.03181732 0.49804122
+v 0.28875569 -0.05450582 0.32593575
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+v 0.33385080 0.01336302 0.50000000
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+v 0.26094348 0.00594630 0.29188849
+v 0.26169567 0.04305853 0.29101656
+v 0.24341665 0.00589581 0.30252973
+v 0.34697463 0.03939729 0.49160313
+v 0.22297782 0.00796751 0.21885276
+v 0.21727425 0.03430555 0.21273636
+v 0.22297782 0.00796751 0.21885276
+v 0.23647258 0.00758969 0.19415786
+v 0.43095646 0.04755115 0.37278574
+v 0.42293228 0.04755115 0.38055084
+v 0.37791442 -0.08646573 0.47082628
+v 0.37094225 -0.08641019 0.47485794
+v 0.37264959 -0.09797285 0.47354752
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+v 0.28875569 -0.05450582 0.32593575
+v 0.28879903 -0.03098166 0.32663392
+v 0.37777045 -0.10264890 0.47045730
+v 0.27019680 -0.03090003 0.34068699
+v 0.22297782 0.00796751 0.21885276
+v 0.19807592 0.00758969 0.23131478
+v 0.21727425 0.03430555 0.21273636
+v 0.42295466 0.05868549 0.38052921
+v 0.32043034 -0.02545403 0.27589263
+v 0.32273025 -0.01152348 0.27060003
+v 0.44780995 -0.01400077 0.35305830
+v 0.44690495 -0.02382747 0.35609685
+v 0.31487983 -0.03122484 0.28866911
+v 0.44780995 -0.01400077 0.35305830
+v 0.44471199 -0.01400077 0.36346376
+v 0.44472074 -0.02789851 0.36343532
+v 0.44690495 -0.02382747 0.35609685
+v 0.31485821 -0.01152348 0.28871934
+v 0.31487983 -0.03122484 0.28866911
+v 0.44472074 -0.02789851 0.36343532
+v 0.32273025 -0.01152348 0.27060003
+v 0.42861271 0.05542479 0.37505384
+v 0.42295466 0.05868549 0.38052921
+v 0.23647258 0.00758969 0.19415786
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+vt 0.14377000 0.00022000
+vt 0.44546000 0.00922000
+vt 0.21052000 0.99697000
+vt 0.45044000 0.99978000
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
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\ No newline at end of file
diff --git a/carrot/carrot_4/.DS_Store b/carrot/carrot_4/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..b5783819e4984ac7fbc81ba7e9cd7612d7483754
Binary files /dev/null and b/carrot/carrot_4/.DS_Store differ
diff --git a/carrot/carrot_4/collision/model_normalized_collision_0.obj b/carrot/carrot_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8b6387d87047923864ffb4e3ce13c48161b070
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03160494 0.23187144 0.06099780
+v 0.07479326 0.23487220 0.01760490
+v 0.04691261 0.35525650 0.06293431
+v -0.06767620 0.35468684 0.04458766
+v -0.06086785 0.27566170 0.04212234
+v 0.07488125 0.35604293 0.01790331
+v -0.02563975 0.35628958 0.07717959
+v 0.06258580 0.23546012 0.03850378
+v 0.01241444 0.23633518 0.06645423
+v 0.07590143 0.34020292 0.01468513
+v -0.02482310 0.31326930 0.07469157
+v 0.02624996 0.35574422 0.07613148
+v 0.04692302 0.31165235 0.06197717
+v 0.05893319 0.35474499 0.05145751
+v 0.07625015 0.26541148 0.01554007
+v -0.02725667 0.28265255 0.06854601
+v 0.01096692 0.31203875 0.07799214
+v 0.03722596 0.23638800 0.05913532
+v 0.05783123 0.29647504 0.05150417
+v 0.07258156 0.34058617 0.02681080
+v 0.02583387 0.32769437 0.07580085
+v 0.07250179 0.26541590 0.02397676
+f 7 6 4
+f 8 1 2
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+f 9 2 1
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+f 10 4 6
+f 11 7 4
+f 11 4 5
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+f 21 12 17
+f 21 17 1
+f 21 1 18
+f 21 13 3
+f 21 3 12
+f 22 20 19
+f 22 2 20
+f 22 19 8
+f 22 8 2
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_1.obj b/carrot/carrot_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d52823b87fdd3a6553191c164892559d641a43
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02249322 -0.01053907 0.03196332
+v 0.08254113 0.03796131 -0.02411882
+v 0.07924639 0.15897884 0.00050359
+v -0.05580836 0.15301792 0.01750910
+v -0.02301111 -0.00860159 -0.05601194
+v 0.07963406 0.03847110 -0.00034390
+v -0.04156953 -0.00740963 0.00167298
+v -0.04255553 0.15635184 -0.05325662
+v -0.04159349 -0.00740202 -0.02643124
+v 0.07797648 0.15858388 -0.02327790
+v -0.05378544 0.09937695 0.00084683
+v -0.05249835 0.09956667 -0.02473427
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 8 4 3
+f 9 5 1
+f 9 1 7
+f 9 8 5
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 8
+f 11 9 7
+f 11 7 4
+f 12 11 4
+f 12 4 8
+f 12 8 9
+f 12 9 11
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_10.obj b/carrot/carrot_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d273159dbd86fcaf130d5b28cafb85142bb661
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02870156 0.23535992 0.06010854
+v -0.02531964 0.26750643 0.06602989
+v -0.07497284 0.45186249 0.02673827
+v -0.04206768 0.48748125 0.01541460
+v -0.04516143 0.42128393 -0.06285652
+v -0.04085318 0.44646506 0.06856479
+v -0.02021350 0.47701814 0.03168949
+v -0.06946729 0.22729682 -0.01685749
+v -0.07753035 0.44509543 -0.01072479
+v -0.05107249 0.47265827 0.04443139
+v -0.04684229 0.29732392 0.06225371
+v -0.04635505 0.48101407 -0.01509900
+v -0.02973968 0.41634505 0.07422492
+v -0.05540751 0.27798439 -0.05643908
+v -0.07471338 0.25158483 -0.01173038
+v -0.05323505 0.48011391 0.01653490
+v -0.05158927 0.44626686 0.06345697
+v -0.04003057 0.47796389 0.04320786
+v -0.03719522 0.46841185 0.05508839
+v -0.06391911 0.23325370 -0.03956314
+v -0.07956753 0.41498826 -0.02339735
+v -0.07281616 0.29711710 0.02655518
+v -0.05639968 0.46971349 0.04224539
+v -0.07636693 0.45597965 0.01504050
+v -0.06924207 0.23588386 -0.02605349
+v -0.06020094 0.29917250 0.04986415
+v -0.05907723 0.23747046 0.03532788
+v -0.06049539 0.45316629 0.04967993
+v -0.07378662 0.26660490 -0.02292017
+v -0.07204158 0.25261506 0.01242539
+v -0.04737372 0.23746284 0.04763550
+f 5 2 1
+f 7 2 5
+f 11 1 2
+f 12 7 5
+f 12 4 7
+f 12 5 9
+f 13 2 7
+f 13 11 2
+f 14 5 1
+f 16 10 4
+f 16 4 12
+f 17 13 6
+f 17 11 13
+f 18 7 4
+f 18 4 10
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+f 19 6 13
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+f 20 14 1
+f 20 1 8
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+f 24 12 9
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+f 24 22 3
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+f 28 23 3
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+f 30 22 15
+f 30 15 8
+f 30 8 27
+f 31 27 1
+f 31 1 11
+f 31 11 26
+f 31 26 27
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_11.obj b/carrot/carrot_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d189235350a48fdfd253bff4fb708279bd8eab
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00217569 -0.08294379 0.03939326
+v -0.00844366 -0.08253615 0.03546883
+v -0.02301111 -0.00860159 -0.05601194
+v -0.03473541 0.03953937 0.02561111
+v -0.00866472 0.03972125 0.04709319
+v -0.04206208 -0.08339690 -0.02697986
+v -0.03045789 -0.08269083 0.01941857
+v 0.00157533 0.03901459 0.05045135
+v -0.04367492 0.03819921 0.00228024
+v -0.02787998 -0.08077499 -0.05346937
+v -0.01899071 -0.06708602 0.03024188
+v 0.00192465 0.00893689 0.04787154
+v -0.04159349 -0.00740202 -0.02643124
+f 5 2 1
+f 7 6 1
+f 7 1 2
+f 9 8 3
+f 9 4 5
+f 9 5 8
+f 9 7 4
+f 9 6 7
+f 10 3 1
+f 10 1 6
+f 11 5 4
+f 11 4 7
+f 11 7 2
+f 11 2 5
+f 12 8 5
+f 12 5 1
+f 12 1 3
+f 12 3 8
+f 13 9 3
+f 13 6 9
+f 13 10 6
+f 13 3 10
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_12.obj b/carrot/carrot_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316b6720556d97e82fb6f810e4c67f6f655bdb14
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00129747 -0.14445061 -0.07722307
+v -0.00877714 -0.14420394 -0.07401478
+v 0.00045518 0.03789975 -0.07012881
+v -0.04349402 0.03817557 -0.02686530
+v -0.04206208 -0.08339690 -0.02697986
+v -0.03333150 0.03846658 -0.04763502
+v -0.04231656 -0.14421196 -0.04129172
+v 0.00315454 -0.08457713 -0.07327983
+v -0.02026922 0.03833863 -0.05988959
+v -0.03572150 -0.14446476 -0.05077082
+v -0.02088460 -0.14360979 -0.06496818
+v -0.02443138 0.03695577 -0.05642219
+f 1 2 3
+f 5 3 4
+f 6 4 3
+f 7 1 5
+f 7 5 4
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 5
+f 9 6 3
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 10 7 6
+f 11 9 2
+f 11 2 10
+f 12 11 10
+f 12 10 6
+f 12 6 9
+f 12 9 11
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_13.obj b/carrot/carrot_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27997ebc1692dfb0897af230ae544fe25d138078
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02485373 0.14517225 0.05135311
+v 0.05565383 0.18975567 0.04370229
+v 0.02473271 0.23586363 0.06393360
+v -0.04737372 0.23746284 0.04763550
+v -0.03839903 0.14499175 0.04142815
+v 0.05700046 0.23509118 0.04559609
+v -0.02487689 0.23726978 0.06164669
+v 0.01682017 0.15831971 0.05996457
+v -0.03395457 0.14628855 0.04525121
+v 0.05175298 0.23586591 0.05017903
+v -0.05246940 0.22111467 0.04061175
+v 0.05039413 0.19052042 0.04763271
+v -0.01070971 0.19101602 0.06081476
+v -0.02996109 0.14402166 0.04756710
+v -0.05368495 0.23602928 0.04204555
+v 0.02465358 0.20570120 0.06187585
+v 0.01448042 0.15929289 0.06040096
+v 0.01244099 0.19038307 0.06265582
+f 7 4 1
+f 9 1 4
+f 9 4 5
+f 10 2 6
+f 10 7 3
+f 10 6 4
+f 10 4 7
+f 11 6 2
+f 11 2 5
+f 12 8 2
+f 12 2 10
+f 13 7 1
+f 14 5 2
+f 14 2 8
+f 14 8 1
+f 14 9 5
+f 14 1 9
+f 15 11 5
+f 15 5 4
+f 15 4 6
+f 15 6 11
+f 16 3 8
+f 16 8 12
+f 16 12 10
+f 16 10 3
+f 17 13 1
+f 17 1 8
+f 17 8 3
+f 18 3 7
+f 18 7 13
+f 18 17 3
+f 18 13 17
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_14.obj b/carrot/carrot_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1d1891a4b3ca43b67479759d9473501fac4d83
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.03244072 -0.49244642 -0.02004249
+v 0.04439716 -0.43497885 -0.04547910
+v 0.04761166 -0.33747178 0.00227308
+v -0.03347308 -0.33932347 -0.01671325
+v -0.01960233 -0.41218744 -0.05550472
+v 0.00142848 -0.33952094 0.01197628
+v 0.04076144 -0.44059401 -0.00863381
+v 0.00623648 -0.49729427 -0.04221975
+v 0.03905679 -0.34074326 -0.06141853
+v 0.02032911 -0.49162267 -0.00852380
+v 0.02021395 -0.49695680 -0.04117382
+v -0.01298858 -0.47509653 -0.02835918
+v 0.05186985 -0.33955379 -0.04979648
+v 0.02086153 -0.43893581 -0.05541531
+v -0.02007706 -0.34030879 -0.06034722
+v 0.03200848 -0.48679547 -0.01257459
+v 0.03628299 -0.42646681 0.00103515
+v 0.02896556 -0.49386742 -0.03311656
+v -0.02915647 -0.38301761 -0.03749799
+v -0.01215254 -0.47529411 -0.03861449
+v -0.00291665 -0.49174113 -0.02090416
+v 0.03550442 -0.42929930 -0.05457022
+v -0.00695942 -0.44002687 -0.05580596
+v -0.03159142 -0.34009327 -0.04732932
+v 0.02658764 -0.44230442 0.00022790
+v -0.01492230 -0.45705627 -0.04196048
+v -0.00312820 -0.49542694 -0.03680772
+v 0.00403611 -0.47549242 -0.00879980
+v -0.01577158 -0.42845706 -0.01319253
+v -0.00348364 -0.48721918 -0.04321658
+v -0.02993924 -0.36771048 -0.04499968
+v 0.00802939 -0.44101390 -0.00088326
+v 0.01092165 -0.49103750 -0.00983827
+v -0.01472010 -0.45636199 -0.02169307
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 11 10 8
+f 11 1 10
+f 13 3 2
+f 14 11 8
+f 15 13 9
+f 15 3 13
+f 16 10 1
+f 16 1 7
+f 17 7 3
+f 17 3 6
+f 17 16 7
+f 17 10 16
+f 18 11 2
+f 18 2 1
+f 18 1 11
+f 19 12 4
+f 20 12 19
+f 22 13 2
+f 22 9 13
+f 22 14 9
+f 22 2 11
+f 22 11 14
+f 23 14 8
+f 23 5 15
+f 23 15 9
+f 23 9 14
+f 24 4 3
+f 24 3 15
+f 24 15 5
+f 25 17 6
+f 25 10 17
+f 26 20 19
+f 26 19 5
+f 26 5 20
+f 27 8 10
+f 27 21 12
+f 27 12 20
+f 29 21 28
+f 29 28 6
+f 29 6 4
+f 30 20 5
+f 30 5 23
+f 30 27 20
+f 30 23 8
+f 30 8 27
+f 31 19 4
+f 31 4 24
+f 31 24 5
+f 31 5 19
+f 32 25 6
+f 32 10 25
+f 32 6 28
+f 33 27 10
+f 33 21 27
+f 33 28 21
+f 33 32 28
+f 33 10 32
+f 34 29 4
+f 34 4 12
+f 34 12 21
+f 34 21 29
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_15.obj b/carrot/carrot_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5207960f4df530b214668d2020cf703347cfe514
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05446210 0.09868796 0.04189502
+v 0.08152321 0.09802841 0.00023396
+v 0.07887304 0.09829339 0.01068257
+v 0.05700046 0.23509118 0.04559609
+v 0.05594583 0.23497279 -0.05308762
+v 0.07576565 0.23509467 0.01545063
+v 0.06092801 0.09890001 0.03485886
+v 0.05769287 0.15882290 -0.05500999
+v 0.06258580 0.23546012 0.03850378
+v 0.07586627 0.23447802 -0.02204976
+v 0.06384663 0.23517423 -0.04552152
+v 0.07488817 0.15840819 -0.03288446
+v 0.06535793 0.15808736 -0.04747056
+v 0.07414808 0.18866493 -0.03196445
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 9 5 4
+f 10 6 2
+f 11 9 6
+f 11 5 9
+f 11 6 10
+f 11 8 5
+f 12 10 2
+f 13 12 2
+f 13 2 8
+f 13 8 11
+f 13 11 12
+f 14 12 11
+f 14 11 10
+f 14 10 12
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_16.obj b/carrot/carrot_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157ac0791ddd7eb5efa944091d0806d0bd6014c2
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.07408851 0.23481149 -0.02691434
+v 0.06384663 0.23517423 -0.04552152
+v 0.07030631 0.37102663 -0.02505510
+v 0.02654390 0.42130764 -0.06232988
+v 0.01480996 0.23490850 -0.07185505
+v 0.04641887 0.38478868 -0.05579897
+v 0.02734038 0.23290811 -0.06844024
+v 0.01374938 0.41592083 -0.06881823
+v 0.05852429 0.36965815 -0.04371255
+v 0.05368321 0.41496305 -0.03780987
+v 0.05008447 0.23537693 -0.05849916
+v 0.01236195 0.25096845 -0.07332419
+v 0.02186341 0.39804344 -0.06919980
+v 0.06647500 0.37145276 -0.03139605
+v 0.04712722 0.41346048 -0.04731195
+v 0.04149322 0.36008606 -0.06228951
+v 0.02430549 0.25101519 -0.07049044
+v 0.03385363 0.41330215 -0.05956277
+v 0.01129253 0.39894843 -0.07232283
+f 1 2 3
+f 5 1 3
+f 7 2 1
+f 7 1 5
+f 9 2 6
+f 10 8 3
+f 10 4 8
+f 11 2 7
+f 12 5 3
+f 12 3 8
+f 13 8 4
+f 14 3 2
+f 14 2 9
+f 14 10 3
+f 14 9 10
+f 15 4 10
+f 15 10 9
+f 15 9 6
+f 16 6 2
+f 16 2 11
+f 16 13 6
+f 17 7 5
+f 17 5 12
+f 17 13 16
+f 17 16 11
+f 17 11 7
+f 18 13 4
+f 18 6 13
+f 18 15 6
+f 18 4 15
+f 19 12 8
+f 19 8 13
+f 19 17 12
+f 19 13 17
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_17.obj b/carrot/carrot_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d65e490aec4cf692a5b9b6ed558dbd07981f5a
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08032474 -0.00707488 -0.02499950
+v 0.07926466 -0.00773741 -0.02847949
+v 0.07629706 0.09973376 -0.03790422
+v 0.07797648 0.15858388 -0.02327790
+v 0.05769287 0.15882290 -0.05500999
+v 0.07728784 -0.00714566 -0.03729417
+v 0.05988641 0.09844789 -0.05710598
+v 0.07309595 0.15964838 -0.03559123
+v 0.07450304 -0.00757101 -0.04206458
+v 0.06817212 0.09803091 -0.05033118
+v 0.07488817 0.15840819 -0.03288446
+v 0.06535793 0.15808736 -0.04747056
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 8 5 4
+f 9 2 1
+f 9 1 7
+f 9 6 2
+f 9 3 6
+f 10 7 5
+f 10 9 7
+f 10 3 9
+f 11 8 4
+f 11 4 3
+f 11 3 8
+f 12 8 3
+f 12 3 10
+f 12 10 5
+f 12 5 8
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_18.obj b/carrot/carrot_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54326bb740f3c40406886f042222fc0b90f1ab5a
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03132920 0.27508920 0.06632206
+v 0.01225964 0.28050429 -0.07394969
+v 0.05072939 0.35818948 0.05949415
+v -0.06767620 0.35468684 0.04458766
+v -0.06086785 0.27566170 0.04212234
+v 0.01205946 0.35519541 -0.07606172
+v -0.06782143 0.27726636 -0.04112527
+v -0.07371639 0.35420036 -0.04217603
+v -0.03698737 0.35425521 -0.07507848
+v -0.03604077 0.28192660 -0.06994035
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 9 8 6
+f 9 6 2
+f 9 7 8
+f 10 9 2
+f 10 2 7
+f 10 7 9
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_19.obj b/carrot/carrot_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beccbc79594b2243555dacef4623d46bcd0b5451
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05793226 -0.00893252 0.02979594
+v 0.07657644 -0.00761765 0.00314211
+v 0.06253059 0.09739607 0.03307293
+v 0.02725167 0.09906623 0.05418367
+v 0.02936138 -0.00740875 0.04572421
+v 0.08035877 0.09872231 0.00420959
+v 0.03895356 0.09935151 0.05045366
+v 0.06539980 -0.00687912 0.02267031
+v 0.02553228 0.02392866 0.04918004
+v 0.05242866 -0.00696842 0.03557567
+v 0.03735111 0.02416260 0.04563268
+v 0.06092801 0.09890001 0.03485886
+v 0.05962483 0.05421797 0.03401054
+f 5 2 1
+f 7 6 4
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 1 8
+f 10 5 1
+f 11 7 4
+f 11 4 5
+f 11 10 7
+f 11 5 10
+f 12 3 6
+f 12 6 7
+f 13 12 7
+f 13 7 10
+f 13 10 8
+f 13 8 3
+f 13 3 12
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_2.obj b/carrot/carrot_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3e1bcbf219c85a544363b9eca8cf99d2f317da
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05893319 0.35474499 0.05145751
+v 0.07605923 0.35536898 -0.00968453
+v 0.06097066 0.41381943 0.03910474
+v -0.02545243 0.41495826 0.07545703
+v -0.07371639 0.35420036 -0.04217603
+v 0.03730840 0.41459114 0.06547740
+v 0.07518519 0.35566336 0.01581315
+v -0.03698737 0.35425521 -0.07507848
+v -0.02563975 0.35628958 0.07717959
+v 0.04532438 0.38504532 0.06277485
+v -0.07262818 0.42160188 -0.03852596
+v 0.07378122 0.38271474 -0.00879815
+v 0.01151744 0.35590705 0.07938317
+v 0.05814822 0.36983444 0.05089150
+v 0.01013596 0.41448336 0.07650312
+v 0.07288840 0.38282319 0.01450642
+v 0.01075896 0.41372714 -0.07003701
+v 0.04691261 0.35525650 0.06293431
+v 0.05784259 0.41227115 -0.03238771
+v -0.04227627 0.41560815 -0.06479255
+v 0.01205946 0.35519541 -0.07606172
+v 0.06407728 0.37075520 -0.03512116
+v -0.01087880 0.41505125 -0.07212032
+v -0.03625773 0.38405128 -0.07142098
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 3 6
+f 11 6 3
+f 11 8 5
+f 11 9 4
+f 11 5 9
+f 12 7 2
+f 13 4 9
+f 13 10 6
+f 13 9 5
+f 13 5 1
+f 14 10 1
+f 14 1 3
+f 14 3 10
+f 15 11 4
+f 15 6 11
+f 15 13 6
+f 15 4 13
+f 16 12 3
+f 16 3 7
+f 16 7 12
+f 18 13 1
+f 18 1 10
+f 18 10 13
+f 19 17 11
+f 19 11 3
+f 19 3 12
+f 20 8 11
+f 21 2 8
+f 22 19 12
+f 22 12 2
+f 22 2 21
+f 22 21 17
+f 22 17 19
+f 23 21 8
+f 23 17 21
+f 23 20 11
+f 23 11 17
+f 24 23 8
+f 24 8 20
+f 24 20 23
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_20.obj b/carrot/carrot_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd37317c93ff65d9ce9d1fbd0785d4f31f974f16
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03045575 0.09534257 0.05295976
+v 0.07954712 0.09918456 0.00698446
+v 0.05700046 0.23509118 0.04559609
+v 0.01834438 0.23336444 0.06495976
+v 0.01392021 0.09901947 0.05639734
+v 0.07745700 0.23461562 0.00591348
+v 0.03895356 0.09935151 0.05045366
+v 0.06145504 0.23154949 0.03965158
+v 0.01477213 0.18946989 0.06223016
+v 0.05039413 0.19052042 0.04763271
+v 0.05446210 0.09868796 0.04189502
+v 0.04970204 0.11424651 0.04521212
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 2 5
+f 7 4 1
+f 8 6 3
+f 8 2 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 3 4
+f 10 4 7
+f 11 7 1
+f 11 1 2
+f 11 8 3
+f 11 2 8
+f 12 10 7
+f 12 7 11
+f 12 11 3
+f 12 3 10
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_21.obj b/carrot/carrot_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbe28540b2fa2d4cba737fc5422c03d96320d1d
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06214806 -0.26270577 -0.00542846
+v 0.06002841 -0.26311272 -0.05102064
+v 0.06256148 -0.14325285 -0.05761458
+v 0.01507551 -0.14419330 0.03821422
+v 0.01370093 -0.26410633 0.02677458
+v 0.06399290 -0.14281317 0.01167730
+v 0.01438503 -0.14437984 -0.07832082
+v 0.04590161 -0.24682886 0.01776284
+v 0.03650914 -0.26303530 -0.07040229
+v 0.05183230 -0.14312491 0.02501153
+v 0.03733215 -0.26236242 0.02019216
+v 0.05730493 -0.24705756 0.00689364
+v 0.03770617 -0.14422699 -0.07458283
+v 0.06007084 -0.20370612 -0.05768315
+v 0.01438273 -0.26405885 -0.07524791
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 4
+f 7 6 3
+f 10 7 4
+f 10 6 7
+f 11 5 1
+f 11 4 5
+f 11 10 4
+f 11 8 10
+f 12 1 6
+f 12 10 8
+f 12 6 10
+f 12 11 1
+f 12 8 11
+f 13 7 3
+f 14 3 2
+f 14 2 9
+f 14 13 3
+f 14 9 13
+f 15 9 2
+f 15 2 5
+f 15 5 7
+f 15 13 9
+f 15 7 13
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_22.obj b/carrot/carrot_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04885ce39dace82bc44f78d59a2443f253cb9fc4
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04427851 -0.34405157 0.00359651
+v 0.02810571 -0.34073111 -0.06628472
+v 0.05039833 -0.26886749 0.00950210
+v -0.04366167 -0.26497348 -0.01292470
+v -0.03347308 -0.33932347 -0.01671325
+v 0.02621752 -0.26354006 -0.07355840
+v -0.02007706 -0.34030879 -0.06034722
+v -0.03129721 -0.26218577 -0.05800488
+v -0.03159142 -0.34009327 -0.04732932
+v 0.00108786 -0.29456912 -0.07186629
+v 0.02496495 -0.29411930 -0.07136786
+v -0.00870722 -0.26323713 -0.07162727
+v -0.00793588 -0.27953812 -0.07100940
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 9 7 1
+f 9 1 5
+f 9 8 7
+f 9 5 4
+f 9 4 8
+f 10 2 7
+f 11 10 6
+f 11 6 2
+f 11 2 10
+f 12 8 6
+f 12 6 10
+f 12 7 8
+f 13 12 10
+f 13 10 7
+f 13 7 12
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_23.obj b/carrot/carrot_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d14cdef092c4bc2eff8e4bdfdf0c15c246e233
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07231937 -0.12854464 0.00077333
+v 0.07539193 -0.12791357 -0.01524070
+v 0.08152321 0.09802841 0.00023396
+v 0.07435944 0.09846872 0.01715539
+v 0.06933467 -0.03762087 0.01439679
+v 0.08081336 -0.00714018 -0.01357030
+v 0.07887304 0.09829339 0.01068257
+v 0.07310765 -0.12776906 -0.00195355
+v 0.08035877 0.09872231 0.00420959
+v 0.07487833 -0.12874008 -0.01236238
+v 0.08054109 -0.00779416 -0.01166678
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 8 7 1
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 8 1
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 11 7 8
+f 11 8 10
+f 11 10 2
+f 11 2 6
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_24.obj b/carrot/carrot_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852ab8b8065f5f082cee1b6f56829bd6cf3fd90e
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06946729 0.22729682 -0.01685749
+v -0.02928089 0.23519231 -0.06904049
+v -0.03034774 0.28033096 -0.07234976
+v -0.07369173 0.28059751 -0.02683492
+v -0.05939407 0.23629231 -0.04679399
+v -0.07563109 0.27775774 -0.01873074
+v -0.07020513 0.23008929 -0.01517312
+v -0.04810942 0.23666816 -0.05830662
+v -0.06924207 0.23588386 -0.02605349
+v -0.06309763 0.28183797 -0.04950288
+v -0.05049140 0.28126141 -0.06092769
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 6 4
+f 9 7 6
+f 9 1 7
+f 10 4 3
+f 10 8 5
+f 10 9 4
+f 10 5 9
+f 11 3 2
+f 11 2 8
+f 11 10 3
+f 11 8 10
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_25.obj b/carrot/carrot_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f8d0e7f5981e7079e69536b8b6a485a1a47713
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02958685 -0.34019566 0.01282476
+v 0.05802502 -0.33859479 -0.03840358
+v 0.06214806 -0.26270577 -0.00542846
+v 0.02882165 -0.26420443 0.02381512
+v 0.02997516 -0.26510426 -0.07238380
+v 0.04761166 -0.33747178 0.00227308
+v 0.02810571 -0.34073111 -0.06628472
+v 0.06002841 -0.26311272 -0.05102064
+v 0.03733215 -0.26236242 0.02019216
+v 0.05788370 -0.33851806 -0.01788365
+v 0.02357731 -0.29297218 0.02162499
+v 0.04962229 -0.26363864 -0.06314507
+v 0.05732990 -0.30947855 -0.00679993
+v 0.04364631 -0.34020080 -0.05888388
+v 0.05680818 -0.30912496 -0.04894671
+f 8 3 2
+f 9 6 3
+f 9 4 1
+f 9 1 6
+f 9 3 8
+f 9 5 4
+f 10 6 1
+f 10 2 3
+f 11 7 1
+f 11 1 4
+f 11 4 5
+f 11 5 7
+f 12 7 5
+f 12 9 8
+f 12 5 9
+f 13 10 3
+f 13 3 6
+f 13 6 10
+f 14 2 10
+f 14 7 12
+f 14 10 1
+f 14 1 7
+f 15 14 12
+f 15 12 8
+f 15 8 2
+f 15 2 14
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_26.obj b/carrot/carrot_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c595f4e2be554edbf0f717e2e4bd8fa17cbc49
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05929760 0.03451563 0.03224491
+v 0.06253059 0.09739607 0.03307293
+v 0.02725167 0.09906623 0.05418367
+v -0.04501758 0.10075868 0.02473853
+v -0.04527938 0.04047552 -0.00195098
+v -0.05378544 0.09937695 0.00084683
+v -0.00866472 0.03972125 0.04709319
+v -0.04117974 0.04086918 0.01269728
+v 0.02590119 0.03898352 0.05032856
+v -0.02294635 0.10053311 0.04723946
+v -0.04159202 0.07109939 0.02298369
+v -0.02993014 0.04079755 0.03283684
+v -0.02152205 0.07062245 0.04412379
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 6 2 5
+f 7 5 1
+f 8 6 5
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 7 3
+f 10 3 4
+f 11 4 6
+f 11 6 8
+f 12 8 5
+f 12 5 7
+f 12 11 8
+f 12 10 4
+f 12 4 11
+f 13 12 7
+f 13 7 10
+f 13 10 12
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_27.obj b/carrot/carrot_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef1c90d0af839726e442fb6b6c138d8d67e2996
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.06782143 0.27726636 -0.04112527
+v -0.04218456 0.28069814 -0.06654498
+v -0.07673314 0.29727497 -0.02352691
+v -0.07262818 0.42160188 -0.03852596
+v -0.06158865 0.32740955 -0.05694154
+v -0.04227627 0.41560815 -0.06479255
+v -0.07369173 0.28059751 -0.02683492
+v -0.06309763 0.28183797 -0.04950288
+v -0.07299115 0.29670924 -0.03591546
+v -0.07956753 0.41498826 -0.02339735
+v -0.06467049 0.38495311 -0.05467175
+v -0.05197835 0.41537770 -0.06043023
+v -0.05049140 0.28126141 -0.06092769
+v -0.07508660 0.41373933 -0.03603818
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 9 7 3
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 4
+f 10 3 6
+f 10 9 3
+f 11 5 9
+f 12 6 2
+f 12 2 5
+f 12 5 11
+f 12 11 4
+f 12 4 6
+f 13 8 5
+f 13 5 2
+f 13 2 1
+f 13 1 8
+f 14 10 4
+f 14 9 10
+f 14 11 9
+f 14 4 11
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_28.obj b/carrot/carrot_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e4931b755c85f369926c890516f646f95ab54e9
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01241444 0.23633518 0.06645423
+v 0.01219202 0.23588013 -0.07236260
+v 0.01312397 0.28172294 0.07284401
+v -0.02725667 0.28265255 0.06854601
+v -0.02870156 0.23535992 0.06010854
+v 0.01225964 0.28050429 -0.07394969
+v -0.02487689 0.23726978 0.06164669
+v -0.02676704 0.28104176 -0.07328734
+v -0.02500145 0.23641075 -0.07048486
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_29.obj b/carrot/carrot_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651add24151c6b9a2a3145135e300782f19b1c3c
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06145504 0.23154949 0.03965158
+v 0.07586627 0.23447802 -0.02204976
+v 0.07518519 0.35566336 0.01581315
+v 0.05072939 0.35818948 0.05949415
+v 0.02734038 0.23290811 -0.06844024
+v 0.07576565 0.23509467 0.01545063
+v 0.03160494 0.23187144 0.06099780
+v 0.04149322 0.36008606 -0.06228951
+v 0.07310329 0.35525564 -0.02013486
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 8 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_3.obj b/carrot/carrot_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afa4c403e7f3a984dca4109e324cb96e85643d5
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02018183 -0.27019829 0.02408125
+v 0.01438273 -0.26405885 -0.07524791
+v 0.02719707 -0.14665789 0.03626201
+v -0.04262670 -0.08315899 -0.00942733
+v -0.04539748 -0.26409384 -0.03455300
+v 0.01438503 -0.14437984 -0.07832082
+v -0.04394256 -0.26375861 -0.01393531
+v -0.02749200 -0.08221049 -0.05402355
+v -0.04482708 -0.11469128 -0.01403066
+v -0.02198011 -0.23267195 -0.06983695
+v -0.04276868 -0.13021090 -0.03660737
+v -0.00877714 -0.14420394 -0.07401478
+v -0.00870722 -0.26323713 -0.07162727
+v -0.04425654 -0.11477737 -0.02559806
+v -0.03129721 -0.26218577 -0.05800488
+v -0.03047746 -0.16024042 -0.05774509
+v -0.04296058 -0.08335045 -0.01258476
+v -0.03812811 -0.08374639 -0.03883762
+v -0.02023296 -0.20527732 -0.06997009
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 9 7 4
+f 9 5 7
+f 12 8 6
+f 12 6 10
+f 13 10 6
+f 13 6 2
+f 13 2 5
+f 14 11 5
+f 14 5 9
+f 15 13 5
+f 15 10 13
+f 16 10 15
+f 16 15 5
+f 16 5 11
+f 17 14 9
+f 17 9 4
+f 17 4 8
+f 18 11 14
+f 18 16 11
+f 18 8 16
+f 18 17 8
+f 18 14 17
+f 19 12 10
+f 19 10 16
+f 19 16 8
+f 19 8 12
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_30.obj b/carrot/carrot_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a25ab743337c48c1b267667296c29baa3e6f9d
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04524123 0.15811548 0.04942822
+v 0.07811827 0.15938243 0.00611823
+v 0.06145504 0.23154949 0.03965158
+v 0.07745700 0.23461562 0.00591348
+v 0.01494782 0.15908983 -0.07270533
+v 0.05126392 0.15857315 -0.06136987
+v 0.01480996 0.23490850 -0.07185505
+v 0.05008447 0.23537693 -0.05849916
+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/carrot/carrot_4/collision/model_normalized_collision_31.obj b/carrot/carrot_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebaa2120aa75ce5f3087a2ca5747f4d365c5330
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00340894 -0.14364163 0.03757913
+v -0.02088460 -0.14360979 -0.06496818
+v -0.01337631 -0.08050607 -0.06545470
+v -0.00844366 -0.08253615 0.03546883
+v -0.00905570 -0.14378406 0.03365365
+v -0.02749200 -0.08221049 -0.05402355
+v 0.00217569 -0.08294379 0.03939326
+v -0.02981709 -0.14284161 -0.05708645
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_4.obj b/carrot/carrot_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5044bdbe5bbb8f076a3c937dd6550a6e944de0
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00688764 -0.38335124 0.00458137
+v 0.04427851 -0.34405157 0.00359651
+v 0.01517141 -0.18955284 0.03515252
+v -0.03045789 -0.08269083 0.01941857
+v -0.04296058 -0.08335045 -0.01258476
+v -0.03122668 -0.21892481 0.01702294
+v 0.02958685 -0.34019566 0.01282476
+v -0.02341467 -0.38421401 -0.01667982
+v 0.05039833 -0.26886749 0.00950210
+v -0.00952665 -0.30608226 0.01577719
+v -0.01467718 -0.08326539 0.03198584
+v -0.04366509 -0.12972930 -0.00024814
+v -0.00451272 -0.38680598 -0.00158179
+v 0.02882165 -0.26420443 0.02381512
+v -0.02058136 -0.27828225 0.01563046
+v 0.00260737 -0.32236874 0.01579967
+v 0.02649412 -0.19336046 0.03295062
+v -0.04262670 -0.08315899 -0.00942733
+v -0.04491884 -0.24888616 -0.01261739
+v -0.01783199 -0.35325676 0.00097191
+v -0.04581243 -0.12977768 -0.01392399
+v -0.04288668 -0.24787856 -0.00438251
+v -0.01833165 -0.38124847 -0.00969643
+v -0.03185098 -0.30441337 0.00325979
+v -0.03175369 -0.35425091 -0.01733657
+v -0.00691747 -0.38623964 -0.00310663
+v -0.02802025 -0.35279455 -0.00991190
+f 7 1 2
+f 8 5 2
+f 9 2 5
+f 11 6 3
+f 11 4 6
+f 11 9 5
+f 12 6 4
+f 13 8 2
+f 13 2 1
+f 14 7 2
+f 14 2 9
+f 14 3 7
+f 15 10 3
+f 15 3 6
+f 16 7 3
+f 16 3 10
+f 16 10 1
+f 16 1 7
+f 17 11 3
+f 17 9 11
+f 17 14 9
+f 17 3 14
+f 18 11 5
+f 18 4 11
+f 18 12 4
+f 20 13 1
+f 20 1 10
+f 20 10 15
+f 21 18 5
+f 21 12 18
+f 21 19 12
+f 22 6 12
+f 22 12 19
+f 24 20 15
+f 24 15 6
+f 24 6 22
+f 25 21 5
+f 25 5 8
+f 25 19 21
+f 25 24 22
+f 25 22 19
+f 26 23 8
+f 26 8 13
+f 26 13 20
+f 26 20 23
+f 27 23 20
+f 27 20 24
+f 27 8 23
+f 27 25 8
+f 27 24 25
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_5.obj b/carrot/carrot_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1bc98ba761de1bc7f45929ff4829dddaca8fc08
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06399290 -0.14281317 0.01167730
+v 0.07475433 -0.14368448 -0.02589731
+v 0.07963406 0.03847110 -0.00034390
+v 0.00157533 0.03901459 0.05045135
+v 0.00129747 -0.14445061 -0.07722307
+v 0.05242866 -0.00696842 0.03557567
+v 0.07456032 -0.14338894 -0.01547426
+v 0.00340894 -0.14364163 0.03757913
+v 0.06318916 0.03779361 -0.05743990
+v 0.06539980 -0.00687912 0.02267031
+v 0.02590119 0.03898352 0.05032856
+v 0.08254113 0.03796131 -0.02411882
+v 0.07793230 -0.00710002 -0.00124008
+v 0.03742813 -0.14306935 0.03327553
+v 0.06256148 -0.14325285 -0.05761458
+v 0.00377092 0.03800822 -0.07089383
+v 0.05095079 -0.09707625 0.03048766
+v 0.02676697 -0.00612946 0.04656762
+v 0.03770617 -0.14422699 -0.07458283
+v 0.07371447 -0.12802565 -0.03876491
+v 0.06105836 -0.12678133 0.01755263
+v 0.02826132 0.03763469 -0.07261109
+v 0.07728784 -0.00714566 -0.03729417
+v 0.03940590 0.00726412 -0.07093297
+f 8 5 2
+f 8 4 5
+f 10 3 6
+f 11 6 3
+f 11 4 8
+f 12 7 2
+f 12 3 7
+f 12 9 3
+f 13 7 3
+f 13 1 7
+f 13 10 1
+f 13 3 10
+f 14 7 1
+f 14 8 2
+f 14 2 7
+f 16 5 4
+f 16 3 9
+f 16 11 3
+f 16 4 11
+f 17 10 6
+f 17 6 11
+f 17 11 14
+f 18 14 11
+f 18 11 8
+f 18 8 14
+f 19 15 2
+f 19 2 5
+f 19 9 15
+f 20 12 2
+f 20 2 15
+f 21 1 10
+f 21 10 17
+f 21 17 14
+f 21 14 1
+f 22 16 9
+f 22 19 5
+f 22 5 16
+f 23 20 15
+f 23 15 9
+f 23 9 12
+f 23 12 20
+f 24 22 9
+f 24 9 19
+f 24 19 22
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_6.obj b/carrot/carrot_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4873df6db7b25d6d892bfe288d4ad2b9a67ab96
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03045575 0.09534257 0.05295976
+v 0.01413802 0.11368619 -0.07282879
+v 0.01219202 0.23588013 -0.07236260
+v -0.05368495 0.23602928 0.04204555
+v -0.04501758 0.10075868 0.02473853
+v 0.01834438 0.23336444 0.06495976
+v -0.01324809 0.09875523 -0.06768242
+v -0.02294635 0.10053311 0.04723946
+v -0.06339656 0.23659434 0.02827916
+v -0.01386407 0.23643793 -0.07290330
+v -0.04529145 0.13154289 0.03217005
+v -0.02544335 0.16019563 0.05260905
+v 0.01392021 0.09901947 0.05639734
+v -0.05736813 0.16103830 -0.03528824
+v 0.00235715 0.11374040 -0.07220031
+v -0.05679035 0.17688332 0.02479928
+v 0.01448042 0.15929289 0.06040096
+v -0.04321377 0.10087508 -0.04450479
+v -0.05939407 0.23629231 -0.04679399
+v -0.01138888 0.15962180 -0.07088362
+v -0.05894055 0.13125798 -0.00956889
+v -0.04810942 0.23666816 -0.05830662
+v -0.05846271 0.22239404 -0.04552787
+v -0.05837250 0.13164692 -0.00168400
+v -0.03210643 0.10040277 -0.05652165
+v -0.05692142 0.14702517 0.01251997
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 6 3
+f 9 4 6
+f 10 3 2
+f 10 9 3
+f 11 8 4
+f 11 5 8
+f 11 4 9
+f 12 6 4
+f 12 4 8
+f 13 8 1
+f 13 1 6
+f 13 12 8
+f 15 10 2
+f 15 2 7
+f 16 11 9
+f 16 5 11
+f 17 13 6
+f 17 6 12
+f 17 12 13
+f 18 7 5
+f 20 15 7
+f 20 7 10
+f 20 10 15
+f 21 18 5
+f 21 14 18
+f 21 19 14
+f 21 9 19
+f 22 19 9
+f 22 9 10
+f 22 10 7
+f 23 19 18
+f 23 18 14
+f 23 14 19
+f 24 21 5
+f 24 9 21
+f 25 22 7
+f 25 7 18
+f 25 18 19
+f 25 19 22
+f 26 24 5
+f 26 5 16
+f 26 16 9
+f 26 9 24
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_7.obj b/carrot/carrot_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89185df85d654bae2a5910a7a0f943cf3a738ccb
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.06097066 0.41381943 0.03910474
+v 0.06246828 0.41361235 -0.02323543
+v 0.04405178 0.47929007 0.00571450
+v -0.03645571 0.49178490 0.01494091
+v -0.08149086 0.41537050 -0.01129937
+v -0.00268070 0.46855634 -0.05492188
+v 0.02328377 0.46329399 0.06313452
+v 0.05773868 0.44336313 0.03048336
+v -0.07508660 0.41373933 -0.03603818
+v 0.03115037 0.46463357 -0.04512746
+v 0.01450776 0.48539709 -0.02451087
+v 0.00477111 0.49183195 0.02546356
+v -0.04107052 0.41613590 0.07017289
+v 0.05566760 0.44127901 -0.02152629
+v 0.04493146 0.45544893 0.05038594
+v 0.03385363 0.41330215 -0.05956277
+v -0.07485490 0.45649170 -0.01954049
+v -0.03919916 0.48750143 -0.01836700
+v 0.00870848 0.47491170 -0.04804909
+v 0.03315994 0.47569294 -0.03244667
+v 0.04135163 0.47975344 0.02999849
+v -0.02387769 0.46103008 0.06849568
+v 0.03730840 0.41459114 0.06547740
+v 0.04177453 0.44120378 -0.04418756
+v 0.05814854 0.42795397 0.03912742
+v -0.05197835 0.41537770 -0.06043023
+v 0.01890249 0.45500616 -0.05546414
+v -0.07636693 0.45597965 0.01504050
+v -0.05014120 0.47761544 -0.03411306
+v 0.04198831 0.46421970 -0.03130824
+v 0.02197598 0.47928202 0.04926730
+v 0.01054824 0.49004796 0.02696139
+v -0.04003057 0.47796389 0.04320786
+v 0.03333791 0.45682169 0.06144502
+v 0.05117715 0.41489907 0.05350853
+v 0.03203363 0.42791725 -0.05743502
+v 0.04712722 0.41346048 -0.04731195
+v -0.06106833 0.45580733 -0.04184735
+v -0.07723549 0.44563420 0.01587886
+v -0.05158927 0.44626686 0.06345697
+v -0.03964110 0.47481536 -0.04454111
+v -0.01022331 0.47545657 0.05130116
+v -0.07278104 0.42846924 -0.03509232
+v -0.06076106 0.46587579 -0.03310522
+v -0.04773491 0.44885301 0.06516434
+v -0.02698164 0.46955239 -0.05315866
+v -0.05087258 0.44099492 -0.05506925
+f 8 1 2
+f 12 11 4
+f 12 3 11
+f 13 5 9
+f 14 8 2
+f 14 3 8
+f 16 2 1
+f 16 1 9
+f 17 9 5
+f 18 4 11
+f 19 18 11
+f 20 11 3
+f 20 19 11
+f 20 10 19
+f 21 15 8
+f 21 8 3
+f 23 22 13
+f 23 7 22
+f 23 13 9
+f 23 9 1
+f 24 14 2
+f 25 1 8
+f 25 8 15
+f 26 16 9
+f 26 6 16
+f 27 16 6
+f 27 19 10
+f 27 6 19
+f 28 17 5
+f 28 4 17
+f 29 17 4
+f 29 4 18
+f 30 10 20
+f 30 24 10
+f 30 14 24
+f 30 20 3
+f 30 3 14
+f 31 22 7
+f 32 21 3
+f 32 3 12
+f 32 31 21
+f 32 12 31
+f 33 12 4
+f 33 4 28
+f 33 31 12
+f 34 7 23
+f 34 31 7
+f 34 15 21
+f 34 21 31
+f 35 23 1
+f 35 34 23
+f 35 15 34
+f 35 25 15
+f 35 1 25
+f 36 10 24
+f 36 27 10
+f 36 16 27
+f 37 24 2
+f 37 2 16
+f 37 36 24
+f 37 16 36
+f 38 26 9
+f 39 28 5
+f 39 5 13
+f 40 33 28
+f 40 39 13
+f 40 28 39
+f 41 38 29
+f 41 29 18
+f 41 18 19
+f 42 33 22
+f 42 22 31
+f 42 31 33
+f 43 38 9
+f 43 9 17
+f 43 17 38
+f 44 38 17
+f 44 17 29
+f 44 29 38
+f 45 40 13
+f 45 13 22
+f 45 22 33
+f 45 33 40
+f 46 41 19
+f 46 19 6
+f 46 6 26
+f 47 46 26
+f 47 26 38
+f 47 38 41
+f 47 41 46
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_8.obj b/carrot/carrot_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cfaa5ca2472fe17b87f7cf939d21f64bdd2622
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.08107543 0.03797091 -0.02896276
+v 0.06318916 0.03779361 -0.05743990
+v 0.07309595 0.15964838 -0.03559123
+v -0.04255553 0.15635184 -0.05325662
+v -0.04349402 0.03817557 -0.02686530
+v 0.01494782 0.15908983 -0.07270533
+v 0.06817212 0.09803091 -0.05033118
+v 0.02826132 0.03763469 -0.07261109
+v -0.05249835 0.09956667 -0.02473427
+v -0.02899391 0.15778766 -0.06379053
+v 0.08042486 0.09885369 -0.02936129
+v 0.05126392 0.15857315 -0.06136987
+v -0.04651332 0.05500897 -0.02420201
+v -0.03333150 0.03846658 -0.04763502
+v 0.00235715 0.11374040 -0.07220031
+v 0.06195874 0.08239148 -0.05631711
+v 0.02609655 0.11353287 -0.07109877
+v -0.04783245 0.10074340 -0.03589909
+v -0.02026922 0.03833863 -0.05988959
+v 0.01628387 0.03778108 -0.07297301
+v -0.04328640 0.05495528 -0.03401707
+v -0.02386025 0.09953266 -0.06323017
+v 0.00373454 0.05335212 -0.07100966
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 3 4
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 1 7
+f 11 3 9
+f 12 6 3
+f 12 3 7
+f 12 2 8
+f 13 9 5
+f 13 5 1
+f 13 11 9
+f 13 1 11
+f 15 10 6
+f 16 12 7
+f 16 7 2
+f 16 2 12
+f 17 12 8
+f 17 8 6
+f 17 6 12
+f 18 9 4
+f 18 4 14
+f 19 14 4
+f 19 5 14
+f 20 15 6
+f 20 6 8
+f 20 8 5
+f 20 5 19
+f 21 18 14
+f 21 14 5
+f 21 5 9
+f 21 9 18
+f 22 19 4
+f 22 4 10
+f 23 20 19
+f 23 19 22
+f 23 15 20
+f 23 22 10
+f 23 10 15
\ No newline at end of file
diff --git a/carrot/carrot_4/collision/model_normalized_collision_9.obj b/carrot/carrot_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870fed0db2719e1dca06641cb2f517ab464e8b5b
--- /dev/null
+++ b/carrot/carrot_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02950827 -0.21926803 0.03015924
+v 0.04234630 -0.18897906 0.02759862
+v -0.00905570 -0.14378406 0.03365365
+v -0.04558548 -0.14218653 -0.00800022
+v -0.04656995 -0.18918305 -0.00767003
+v 0.04362560 -0.14375703 0.03000217
+v 0.00015823 -0.21939886 0.03138240
+v 0.03742813 -0.14306935 0.03327553
+v -0.01329275 -0.20410845 0.02819342
+v 0.03636053 -0.18798800 0.03072507
+v 0.02719707 -0.14665789 0.03626201
+v -0.00872964 -0.20273669 0.03027758
+v 0.00291575 -0.21815105 0.03203577
+v 0.02649412 -0.19336046 0.03295062
+v 0.02660375 -0.21722329 0.03104360
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 6 2 4
+f 7 5 1
+f 8 6 4
+f 8 4 3
+f 8 2 6
+f 9 3 5
+f 9 5 7
+f 10 1 2
+f 10 2 8
+f 11 10 8
+f 11 8 3
+f 12 9 7
+f 12 7 3
+f 12 3 9
+f 13 7 1
+f 13 11 3
+f 13 3 7
+f 14 1 10
+f 14 10 11
+f 14 11 13
+f 15 14 13
+f 15 13 1
+f 15 1 14
\ No newline at end of file
diff --git a/carrot/carrot_4/model.xml b/carrot/carrot_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..59cdcbbee646846448d47389e2e4b1f00e749051
--- /dev/null
+++ b/carrot/carrot_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="carrot_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.227" 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.227"/>
+        <geom solimp="0.998 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"/>
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diff --git a/carrot/carrot_4/visual/image0.png b/carrot/carrot_4/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..28b3c771795dd30c91815991150c36f18d4902bf
--- /dev/null
+++ b/carrot/carrot_4/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a66da0e5986501782d7fb2fbcdd0572eab7286dac5ec630c6f07bdb3194f38
+size 1213574
diff --git a/carrot/carrot_4/visual/material.mtl b/carrot/carrot_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/carrot/carrot_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.jpeg
\ No newline at end of file
diff --git a/carrot/carrot_4/visual/material_0.jpeg b/carrot/carrot_4/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..8a0cc77f57c48f60aa8b885b415cabd08a7b4cbe
--- /dev/null
+++ b/carrot/carrot_4/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7839f2efdcd80c0dc1a2618b6b1ac534c3994c5a56110da5582fec16e4cf3efe
+size 128576
diff --git a/carrot/carrot_4/visual/model_normalized_0.obj b/carrot/carrot_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c254a01e8fe16b8e6122847777226235b2e4e0b4
--- /dev/null
+++ b/carrot/carrot_4/visual/model_normalized_0.obj
@@ -0,0 +1,5082 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/carrot/carrot_6/collision/model_normalized_collision_0.obj b/carrot/carrot_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6758f9680ac0fdd68e170e5f42d3a6e7ddb83670
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+f 44 12 14
+f 44 14 6
+f 45 30 19
+f 45 19 18
+f 45 18 30
+f 46 32 14
+f 46 14 12
+f 46 12 31
+f 46 31 32
+f 47 34 13
+f 47 22 34
+f 48 26 16
+f 48 16 35
+f 48 9 26
+f 50 21 5
+f 50 10 21
+f 51 13 10
+f 51 50 36
+f 51 10 50
+f 51 47 13
+f 51 36 22
+f 51 22 47
+f 52 41 26
+f 52 17 41
+f 53 28 42
+f 54 52 42
+f 54 17 52
+f 54 42 28
+f 55 43 5
+f 55 5 12
+f 56 12 44
+f 57 44 6
+f 57 6 17
+f 57 56 44
+f 58 48 35
+f 58 35 9
+f 58 9 48
+f 59 35 22
+f 59 9 35
+f 59 53 9
+f 59 28 53
+f 59 49 5
+f 59 5 28
+f 60 5 49
+f 60 50 5
+f 60 36 50
+f 60 22 36
+f 60 59 22
+f 60 49 59
+f 61 52 26
+f 61 26 9
+f 61 9 52
+f 62 52 9
+f 62 42 52
+f 62 53 42
+f 62 9 53
+f 63 54 28
+f 63 28 29
+f 63 29 57
+f 63 57 17
+f 63 17 54
+f 64 55 12
+f 64 29 43
+f 64 43 55
+f 64 12 56
+f 64 57 29
+f 64 56 57
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_1.obj b/carrot/carrot_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8cd7397c30c8ca79bfa3d9aaf941708bdc8957
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09626436 0.02970432 0.14441803
+v 0.07400586 0.02701303 -0.09729418
+v 0.08304047 0.08274670 0.22024826
+v 0.01033248 0.10702078 0.21971207
+v 0.01041838 0.03152017 0.14393939
+v 0.05430794 0.05747292 -0.09802053
+v 0.08324020 0.07027617 0.16086048
+v 0.08745050 0.02654329 0.03919063
+v 0.09743367 0.04527434 0.21990231
+v 0.00649391 0.08121712 -0.03671442
+v 0.06391670 0.05424231 -0.09734451
+v 0.05123221 0.09339546 0.22051292
+v 0.08782339 0.07212859 0.22040911
+v 0.04940229 0.08792815 0.16124832
+v 0.00528575 0.09301026 0.06970464
+v 0.07767648 0.07341327 0.11586746
+v 0.07012849 0.03679965 -0.09987955
+v 0.02849958 0.10075994 0.21651786
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 4 5
+f 9 1 7
+f 10 6 2
+f 10 2 5
+f 11 6 10
+f 12 3 4
+f 12 4 9
+f 13 9 7
+f 13 7 3
+f 13 12 9
+f 13 3 12
+f 15 10 5
+f 15 5 4
+f 15 14 10
+f 16 3 7
+f 16 7 11
+f 16 11 10
+f 16 14 3
+f 16 10 14
+f 17 2 6
+f 17 6 11
+f 17 11 7
+f 17 7 2
+f 18 4 3
+f 18 3 14
+f 18 15 4
+f 18 14 15
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_10.obj b/carrot/carrot_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8ce0ee47f4230115feeea363327474ce80469b
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05132087 -0.09112789 0.33834257
+v 0.06262843 -0.07125269 -0.11299350
+v 0.08277946 -0.08277045 0.19088646
+v 0.06972117 -0.05889236 0.35380266
+v 0.05099789 -0.07576034 -0.11276762
+v 0.08732857 -0.05416499 0.11476282
+v 0.08169823 -0.08129996 0.33698517
+v 0.05517659 -0.07244233 0.35256904
+v 0.06948565 -0.07595267 -0.00593727
+v 0.05119950 -0.09053704 0.12959398
+v 0.07282994 -0.05416282 -0.06715994
+v 0.08020876 -0.08650874 0.23548924
+v 0.09024100 -0.05528980 0.34258699
+v 0.08091550 -0.08051150 0.34258699
+v 0.06248362 -0.07176602 -0.11236933
+v 0.06449150 -0.08617398 0.12995206
+v 0.05570511 -0.07406086 -0.11360646
+v 0.07953083 -0.08482135 0.32201094
+v 0.05388040 -0.08368837 0.34606973
+f 8 5 1
+f 10 1 5
+f 11 6 3
+f 11 8 4
+f 11 5 8
+f 11 3 9
+f 12 3 7
+f 12 1 10
+f 12 9 3
+f 13 11 4
+f 13 6 11
+f 13 7 3
+f 13 3 6
+f 14 4 8
+f 14 13 4
+f 14 7 13
+f 15 11 9
+f 15 2 11
+f 16 10 5
+f 16 12 10
+f 16 9 12
+f 16 15 9
+f 16 5 15
+f 17 11 2
+f 17 5 11
+f 17 15 5
+f 17 2 15
+f 18 12 7
+f 18 1 12
+f 18 14 1
+f 18 7 14
+f 19 14 8
+f 19 8 1
+f 19 1 14
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_11.obj b/carrot/carrot_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee116df34c5c5f2c012073f35eca499223edd873
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01041838 -0.01393438 0.26515152
+v 0.01041838 -0.01393438 0.14393939
+v 0.02909590 0.10315849 0.26203163
+v 0.02884715 0.10240618 0.24692167
+v -0.10990010 0.01061062 0.22053275
+v -0.10836039 -0.02432840 0.26402211
+v -0.06191192 0.08173258 0.14019721
+v -0.10566581 -0.01202089 0.14433429
+v -0.10190606 0.03921938 0.26402194
+v 0.02599359 0.09324730 0.13874639
+v -0.11235344 -0.00886530 0.22024777
+v -0.09728180 0.02667440 0.14524710
+v -0.09357758 0.06224278 0.26289136
+v -0.10989597 -0.00404063 0.16059617
+v -0.10333383 0.02884307 0.22008555
+v -0.10860545 -0.00746402 0.16042624
+v -0.10775963 0.00984676 0.19115398
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 3 4
+f 8 2 6
+f 9 6 1
+f 9 1 3
+f 10 7 4
+f 10 4 2
+f 10 8 7
+f 10 2 8
+f 11 8 6
+f 11 9 5
+f 11 6 9
+f 12 7 8
+f 13 9 3
+f 13 3 7
+f 13 7 12
+f 14 11 5
+f 14 12 8
+f 15 13 12
+f 15 5 9
+f 15 9 13
+f 16 14 8
+f 16 8 11
+f 16 11 14
+f 17 14 5
+f 17 5 15
+f 17 15 12
+f 17 12 14
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_12.obj b/carrot/carrot_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0d6345bcd90a7c7f29683b632d0ffe170fb37c
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09363711 0.04386639 0.34291858
+v 0.09743367 0.04527434 0.21990231
+v 0.08378084 0.08306898 0.32208041
+v 0.00584380 0.10875630 0.32337678
+v 0.01165970 0.04983273 0.35510958
+v 0.01941603 0.10389036 0.21811496
+v 0.06710398 0.06670253 0.35357047
+v 0.08414677 0.08240689 0.22075897
+v 0.02909590 0.10315849 0.26203163
+v 0.00583089 0.10855522 0.22046326
+v 0.08091550 0.08029450 0.34258699
+v 0.06917008 0.04596984 0.35692000
+v 0.00728072 0.08329619 0.35633946
+v 0.09391042 0.05488462 0.21849008
+v 0.01951051 0.10431837 0.32260403
+v 0.08438142 0.07079313 0.34258699
+v 0.05027495 0.09054595 0.34258699
+v 0.00811976 0.10040741 0.34529423
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 8 6
+f 9 3 8
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 12 5 1
+f 12 11 7
+f 13 12 7
+f 13 5 12
+f 13 10 5
+f 13 4 10
+f 13 7 11
+f 14 8 2
+f 14 2 6
+f 14 6 8
+f 15 9 4
+f 15 4 3
+f 15 3 9
+f 16 1 3
+f 16 3 11
+f 16 12 1
+f 16 11 12
+f 17 11 3
+f 17 3 4
+f 18 17 4
+f 18 4 13
+f 18 13 11
+f 18 11 17
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_13.obj b/carrot/carrot_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e492d1e21afb5a9f4796030d0603356b0a8d907
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.10684837 -0.01037354 0.34258699
+v 0.10635754 -0.00997097 0.14471437
+v 0.09835621 0.04017208 0.20625867
+v 0.02599359 0.09324730 0.13874639
+v 0.01374308 -0.02196095 0.35101101
+v 0.09148749 0.04314265 0.14486960
+v 0.09363711 0.04386639 0.34291858
+v 0.11608795 -0.00216933 0.25078308
+v 0.01041838 -0.01393438 0.14393939
+v 0.08110054 0.01444771 0.35692000
+v 0.00942316 0.04413735 0.35381912
+v 0.11457133 -0.00762690 0.30735808
+v 0.11302825 0.00968080 0.30728624
+v 0.09809658 0.02492745 0.14567715
+v 0.08204891 -0.01236192 0.35692000
+v 0.10079447 0.02579877 0.34258699
+v 0.08222358 0.04522993 0.34930641
+v 0.11412704 -0.00747477 0.25071046
+v 0.11339166 0.00982340 0.28126486
+v 0.09681697 0.03949937 0.33719137
+v 0.09021974 -0.00982740 0.35266869
+v 0.08979750 0.01200480 0.35220514
+f 5 2 1
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 9 4 2
+f 9 2 5
+f 11 9 5
+f 11 4 9
+f 12 1 2
+f 13 12 8
+f 13 1 12
+f 14 6 3
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 5 1
+f 15 11 5
+f 15 10 11
+f 16 7 10
+f 16 1 13
+f 17 7 4
+f 17 4 11
+f 17 11 10
+f 17 10 7
+f 18 12 2
+f 18 2 8
+f 18 8 12
+f 19 13 8
+f 19 8 3
+f 20 3 7
+f 20 16 13
+f 20 7 16
+f 20 19 3
+f 20 13 19
+f 21 15 1
+f 21 10 15
+f 22 16 10
+f 22 1 16
+f 22 21 1
+f 22 10 21
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_14.obj b/carrot/carrot_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841d8c86fc1951e0751abf4ff0e0d00a3bac9664
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01548563 -0.08902135 -0.09938784
+v 0.06817399 -0.03690739 -0.23358888
+v 0.08573117 -0.00455888 -0.09695898
+v 0.02834351 0.06619624 -0.10380314
+v 0.00937443 -0.08689829 -0.23477505
+v 0.06437641 0.01383318 -0.23414949
+v 0.07889917 0.01367373 -0.09777292
+v 0.06364146 -0.07178535 -0.09789076
+v 0.01002701 -0.08864463 -0.15906338
+v 0.07142343 -0.00440927 -0.23329735
+v 0.02341850 0.05016581 -0.23967597
+v 0.08513736 -0.01121351 -0.12754764
+v 0.07082836 -0.05337903 -0.09730972
+v 0.05542514 -0.06818873 -0.23375699
+v 0.08314577 -0.02196621 -0.09709272
+v 0.04971410 -0.07212650 -0.23426285
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 6 7
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 11 10 2
+f 11 6 10
+f 12 2 10
+f 12 10 7
+f 12 7 3
+f 13 3 1
+f 13 1 8
+f 14 2 8
+f 15 12 3
+f 15 3 13
+f 15 2 12
+f 15 13 8
+f 15 8 2
+f 16 14 8
+f 16 8 5
+f 16 5 11
+f 16 11 2
+f 16 2 14
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_15.obj b/carrot/carrot_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22972843448f1100b75a426a6ece60a7de46b09d
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03161230 -0.09436223 0.08392390
+v -0.03271990 -0.08307267 -0.09807209
+v -0.03040323 0.07827162 0.00905451
+v -0.03281052 0.08547051 0.08404372
+v -0.09702246 0.01126613 0.08463909
+v -0.03035596 -0.09051628 0.00838302
+v -0.07540706 -0.07949318 0.08406896
+v -0.05968276 0.07640939 0.08511156
+v -0.06395565 0.05429657 -0.09674099
+v -0.03110823 0.06606065 -0.09725002
+v -0.07733093 -0.03706196 -0.09699791
+v -0.04530706 -0.08990278 0.08417517
+v -0.08074047 0.05647900 0.08477555
+v -0.08004934 0.01059120 -0.09700637
+v -0.09665314 -0.02380932 0.08442230
+v -0.06500405 -0.06847185 -0.09722728
+v -0.06790643 0.05980104 -0.03552248
+v -0.05972857 -0.07365823 -0.09748503
+v -0.09440017 -0.00485699 -0.00602136
+v -0.09257755 -0.02228851 0.02413010
+v -0.06648826 -0.07416047 -0.05149815
+v -0.09547682 -0.00821886 -0.00639621
+f 1 3 4
+f 6 3 1
+f 7 2 6
+f 8 1 4
+f 8 4 3
+f 10 6 2
+f 10 3 6
+f 10 9 8
+f 10 8 3
+f 12 7 6
+f 12 6 1
+f 12 1 8
+f 12 8 5
+f 13 5 8
+f 14 10 2
+f 14 9 10
+f 15 12 5
+f 15 7 12
+f 17 13 8
+f 17 8 9
+f 17 14 13
+f 17 9 14
+f 18 14 2
+f 18 11 14
+f 18 16 11
+f 19 5 13
+f 19 13 14
+f 20 11 7
+f 20 7 15
+f 21 16 18
+f 21 7 11
+f 21 11 16
+f 21 18 2
+f 21 2 7
+f 22 15 5
+f 22 5 19
+f 22 20 15
+f 22 11 20
+f 22 19 14
+f 22 14 11
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_16.obj b/carrot/carrot_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9246dbd8783b6b0424884e5f7d68792580ec81b2
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01165970 0.04983273 0.35510958
+v 0.02599359 0.09324730 0.13874639
+v 0.00483733 0.10574807 0.34258699
+v 0.00000000 0.10736650 0.34258699
+v -0.06191192 0.08173258 0.14019721
+v 0.00000000 0.10625376 0.17596890
+v 0.00728072 0.08329619 0.35633946
+v 0.00407760 0.10480339 0.17612370
+v -0.02900651 0.10419398 0.28137240
+v 0.00783556 0.10009813 0.14470570
+v -0.01351596 0.10338394 0.19142672
+v -0.05059266 0.04682496 0.35642024
+v -0.04386864 0.08838089 0.14595633
+v -0.04706330 0.06818206 0.35692000
+v -0.03086304 0.08038217 0.35280821
+v -0.04516203 0.09225658 0.34258699
+v -0.02892029 0.10393321 0.30738545
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 10 6 2
+f 10 2 5
+f 11 9 6
+f 11 6 5
+f 11 5 9
+f 12 1 7
+f 12 5 1
+f 13 10 5
+f 13 5 6
+f 13 6 10
+f 14 12 7
+f 15 14 7
+f 15 7 4
+f 16 9 5
+f 16 5 12
+f 16 12 14
+f 16 15 4
+f 16 14 15
+f 17 16 4
+f 17 4 9
+f 17 9 16
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_17.obj b/carrot/carrot_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a301e361f2f9b7b145cfef6c120945a5cbf49b
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02096019 -0.10680638 0.26406248
+v 0.02909590 0.10315849 0.26203163
+v -0.04976371 0.04651122 0.35639429
+v -0.09357758 0.06224278 0.26289136
+v -0.08548431 -0.07638679 0.32671519
+v 0.01025171 -0.07406963 0.35670521
+v -0.09870594 0.03816468 0.32900676
+v -0.08870366 -0.07757143 0.26478846
+v 0.00942316 0.04413735 0.35381912
+v -0.05193533 -0.07947715 0.34926186
+v -0.10190606 0.03921938 0.26402194
+f 3 2 4
+f 2 1 4
+f 6 1 2
+f 7 3 4
+f 8 4 1
+f 8 1 5
+f 8 5 7
+f 9 6 2
+f 9 2 3
+f 9 3 6
+f 10 5 1
+f 10 1 6
+f 10 6 3
+f 10 7 5
+f 10 3 7
+f 11 8 7
+f 11 7 4
+f 11 4 8
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_18.obj b/carrot/carrot_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a2ac43752e1028d000f8119cf0dc27015a8877
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01921557 -0.08777989 -0.09836562
+v -0.01547845 -0.07783353 -0.35518423
+v -0.06024831 -0.02753916 -0.35540601
+v -0.08035708 -0.02903353 -0.09847400
+v -0.05840069 -0.07110489 -0.17359506
+v -0.06524952 -0.02445526 -0.32379783
+v -0.04523901 -0.07071151 -0.31003552
+v -0.05972857 -0.07365823 -0.09748503
+v -0.06148262 -0.03647015 -0.32417354
+v -0.04653855 -0.06685795 -0.35449386
+v -0.06500405 -0.06847185 -0.09722728
+v -0.05578657 -0.03999374 -0.36067695
+v -0.03071780 -0.07312903 -0.35556273
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 10 7 5
+f 10 5 9
+f 11 8 1
+f 11 1 4
+f 11 5 8
+f 11 9 5
+f 11 4 9
+f 12 9 6
+f 12 6 3
+f 12 10 9
+f 12 3 2
+f 13 2 7
+f 13 7 10
+f 13 12 2
+f 13 10 12
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_19.obj b/carrot/carrot_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ccb4bd38c1621224abb0d06bea94c37bab5f13
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07572608 -0.08898665 0.26464666
+v 0.10040718 -0.02489905 0.14157503
+v 0.10732543 -0.02733117 0.26367807
+v -0.10836039 -0.02432840 0.26402211
+v -0.06913228 -0.08538011 0.14326346
+v 0.07419947 -0.08361384 0.14337360
+v -0.08870366 -0.07757143 0.26478846
+v -0.09990361 -0.02683210 0.14127760
+v -0.10674562 -0.02372617 0.21863300
+v -0.08693112 -0.07694239 0.21943597
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 2 6
+f 9 4 2
+f 9 2 8
+f 9 7 4
+f 10 8 5
+f 10 5 7
+f 10 9 8
+f 10 7 9
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_2.obj b/carrot/carrot_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209260c4913d83b20cbe74b7be57b202ed6864c2
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06357877 -0.04684968 -0.23765440
+v -0.03017514 0.02786161 -0.36080682
+v -0.05578657 -0.03999374 -0.36067695
+v -0.01654866 0.05314168 -0.23368450
+v -0.05516773 0.03886806 -0.23327262
+v -0.01453959 0.04791330 -0.27843804
+v -0.07235845 -0.02577973 -0.23432625
+v -0.05369310 -0.00313867 -0.35403317
+v -0.05229568 0.03359553 -0.27791976
+v -0.02978084 0.04814683 -0.23301481
+v -0.06349254 -0.02392145 -0.33872343
+v -0.06586378 0.01079667 -0.23324955
+v -0.06024831 -0.02753916 -0.35540601
+v -0.06299349 -0.02047859 -0.33786305
+v -0.06156944 0.00916078 -0.27823466
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 1 4
+f 7 3 1
+f 8 2 3
+f 9 6 2
+f 9 5 6
+f 9 2 8
+f 10 7 4
+f 10 4 5
+f 11 3 7
+f 12 10 5
+f 12 7 10
+f 12 5 9
+f 13 8 3
+f 13 3 11
+f 14 9 8
+f 14 13 11
+f 14 8 13
+f 14 11 7
+f 14 7 12
+f 15 14 12
+f 15 12 9
+f 15 9 14
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_20.obj b/carrot/carrot_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92935082317e0fbefeb02f7afba2dfc4867f2432
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01036649 -0.10468461 0.14394835
+v 0.05522814 -0.07270145 -0.15902960
+v 0.01002701 -0.08864463 -0.15906338
+v 0.06036969 -0.08830604 0.14316377
+v 0.03425399 -0.08636123 -0.03672628
+v 0.00560768 -0.09112297 -0.12833043
+v 0.01910209 -0.08639679 -0.12817286
+v 0.01474490 -0.08687999 -0.15950231
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 3 1
+f 7 5 2
+f 7 6 1
+f 7 1 5
+f 8 2 3
+f 8 3 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_21.obj b/carrot/carrot_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c50ea4f8d17f5975771bb6000dcc6c8033e1dc
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08548431 -0.07638679 0.32671519
+v -0.09188474 -0.06363834 0.21923523
+v -0.09981216 0.03845395 0.21869053
+v -0.09870594 0.03816468 0.32900676
+v -0.10650575 -0.02191175 0.32205661
+v -0.09242988 -0.06776326 0.30710988
+v -0.10988438 0.01051000 0.32289268
+v -0.10739981 -0.02216935 0.22044852
+v -0.08870366 -0.07757143 0.26478846
+v -0.10751154 0.02489291 0.30713379
+v -0.09238192 -0.06774556 0.26596541
+v -0.10990010 0.01061062 0.22053275
+v -0.10720768 0.02478367 0.26613985
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 5 7
+f 8 3 2
+f 9 2 1
+f 9 1 6
+f 9 8 2
+f 10 7 4
+f 10 4 3
+f 11 9 6
+f 11 6 8
+f 11 8 9
+f 12 8 7
+f 12 7 10
+f 12 3 8
+f 13 12 10
+f 13 10 3
+f 13 3 12
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_22.obj b/carrot/carrot_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5feb111f87f31a7ee05a2e3c40c348bee84451f
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.09226720 -0.01038651 -0.03718506
+v 0.08772205 -0.01021867 -0.09740451
+v 0.05188348 0.06504481 -0.03654865
+v -0.01531575 0.07846310 -0.03642047
+v -0.08344223 -0.03290275 -0.04180951
+v 0.00445406 0.07554682 -0.09671526
+v 0.08593175 0.01084709 -0.03642337
+v 0.04953005 0.05934303 -0.09660295
+v 0.01992661 0.07643923 -0.03620445
+v -0.03110823 0.06606065 -0.09725002
+v 0.07400586 0.02701303 -0.09729418
+v -0.03326858 0.07206335 -0.03732311
+v -0.01290114 0.07272201 -0.09628943
+v -0.07920018 -0.03124046 -0.10207110
+v 0.08573117 -0.00455888 -0.09695898
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 8 6 3
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 11 8 3
+f 11 3 7
+f 12 5 4
+f 13 4 6
+f 13 6 10
+f 13 12 4
+f 13 10 12
+f 14 2 5
+f 14 12 10
+f 14 5 12
+f 14 11 2
+f 14 10 6
+f 14 6 8
+f 14 8 11
+f 15 11 7
+f 15 7 2
+f 15 2 11
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_23.obj b/carrot/carrot_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72776609df7dee1f3d18ce43d1d586c88e9ae531
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05061228 0.03169050 0.35626011
+v -0.04837946 0.08671881 0.14451655
+v -0.04531301 0.09270022 0.19094985
+v -0.04539671 0.09295801 0.33830241
+v -0.10012669 0.02762906 0.34258699
+v -0.04706330 0.06818206 0.35692000
+v -0.09728180 0.02667440 0.14524710
+v -0.09241669 0.07036783 0.29642386
+v -0.07537218 0.02958291 0.35692000
+v -0.08091550 0.08029450 0.34258699
+v -0.07964739 0.07615925 0.14640730
+v -0.06196582 0.06689202 0.35449290
+v -0.09133813 0.06998007 0.30694130
+v -0.07449718 0.08915172 0.28136599
+v -0.05895612 0.08818940 0.19143131
+v -0.08993326 0.04577408 0.14009274
+v -0.09159773 0.05493896 0.19125176
+v -0.07030417 0.05796781 0.35363172
+v -0.07434917 0.08892130 0.30726456
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 7 5
+f 9 1 6
+f 9 7 1
+f 9 5 7
+f 10 6 4
+f 10 5 9
+f 12 9 6
+f 12 6 10
+f 13 10 8
+f 13 8 5
+f 13 5 10
+f 14 4 3
+f 14 11 8
+f 15 3 2
+f 15 2 11
+f 15 14 3
+f 15 11 14
+f 16 11 2
+f 16 2 7
+f 17 7 8
+f 17 8 11
+f 17 16 7
+f 17 11 16
+f 18 12 10
+f 18 10 9
+f 18 9 12
+f 19 10 4
+f 19 4 14
+f 19 14 8
+f 19 8 10
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_24.obj b/carrot/carrot_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e5079bf544a46e8e2dc5d5debd8036ee0491c9
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00936141 -0.10160784 0.08351564
+v 0.00735126 -0.09545432 -0.03734975
+v 0.00649391 0.08121712 -0.03671442
+v -0.01465658 0.09164341 0.08500205
+v -0.03161230 -0.09436223 0.08392390
+v 0.00579571 0.09442783 0.08470485
+v -0.02918681 -0.08812750 -0.03683642
+v 0.00000000 0.09169242 0.03954227
+v -0.03281052 0.08547051 0.08404372
+v -0.02849501 0.07395113 -0.03582244
+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 2 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 4
+f 9 4 8
+f 10 3 7
+f 10 7 9
+f 10 9 8
+f 10 8 3
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_25.obj b/carrot/carrot_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa4eded4f2f80b3184fb92652888c6163b49176b
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09024100 -0.05528980 0.34258699
+v 0.10635754 -0.00997097 0.14471437
+v 0.10684837 -0.01037354 0.34258699
+v 0.07143569 -0.01409976 0.35664729
+v 0.08560250 -0.06482898 0.14276633
+v 0.08204891 -0.01236192 0.35692000
+v 0.09808931 -0.05260225 0.26589795
+v 0.06500493 -0.05709542 0.35692000
+v 0.10040718 -0.02489905 0.14157503
+v 0.09803087 -0.05258069 0.30707009
+v 0.09738303 -0.03711143 0.16062752
+v 0.07488869 -0.05508834 0.35165658
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 7 2 3
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 9 5 4
+f 9 4 2
+f 9 2 5
+f 10 7 3
+f 10 3 1
+f 10 1 5
+f 10 5 7
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 12 8 1
+f 12 1 6
+f 12 6 8
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_26.obj b/carrot/carrot_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18ecddbb7a856e5ef3f2d9c91b9f96a3fa08575
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.05563930 -0.09129102 0.32887697
+v -0.04785912 -0.06796281 0.35692000
+v -0.08462889 -0.07046834 0.34258699
+v -0.10012669 0.02762906 0.34258699
+v -0.04446917 0.02922610 0.35539159
+v -0.08449880 -0.02484012 0.35260544
+v -0.11127499 -0.00852032 0.32296459
+v -0.06978608 -0.06947656 0.35143756
+v -0.08456228 0.02732664 0.35208983
+v -0.08772427 -0.07161283 0.32423916
+v -0.10299514 0.02867541 0.32436648
+v -0.10881465 -0.00761233 0.33764770
+v -0.05061228 0.03169050 0.35626011
+v -0.09473819 -0.05345250 0.32267862
+v -0.10988438 0.01051000 0.32289268
+v -0.09630795 -0.03888139 0.34258699
+v -0.10756423 0.00966366 0.33763033
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 10 1 3
+f 11 5 1
+f 12 9 4
+f 12 6 9
+f 13 4 9
+f 13 11 4
+f 13 5 11
+f 13 2 5
+f 13 9 6
+f 13 6 2
+f 14 12 7
+f 14 10 3
+f 14 11 1
+f 14 1 10
+f 15 14 7
+f 15 11 14
+f 16 3 6
+f 16 6 12
+f 16 14 3
+f 16 12 14
+f 17 15 7
+f 17 7 12
+f 17 12 4
+f 17 4 11
+f 17 11 15
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_27.obj b/carrot/carrot_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f868260c0c8975a0111e61264be7430093c257
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00560926 -0.10550485 0.34258699
+v 0.06036969 -0.08830604 0.14316377
+v 0.05517659 -0.07244233 0.35256904
+v -0.04965970 -0.07304903 0.35353718
+v -0.05523105 -0.08997935 0.14306949
+v 0.03944709 -0.07094077 0.35692000
+v 0.05108343 -0.09041245 0.34258699
+v -0.01446316 -0.10339855 0.14487452
+v -0.04596228 -0.09211211 0.34258699
+v 0.00775236 -0.08216107 0.35692000
+v 0.03490309 -0.10211768 0.30749319
+v -0.01413627 -0.10267482 0.34258699
+v -0.03439499 -0.07272927 0.35692000
+v 0.01954143 -0.10183091 0.33751014
+v 0.01960179 -0.10172524 0.14496880
+v -0.02883000 -0.10129550 0.32250154
+v -0.03136373 -0.07931819 0.35366001
+v 0.03478813 -0.10183462 0.25061295
+v -0.02891172 -0.10124666 0.19045032
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 9 4 5
+f 10 7 6
+f 10 1 7
+f 11 2 7
+f 12 1 10
+f 13 10 6
+f 13 6 4
+f 14 11 7
+f 14 7 1
+f 14 1 11
+f 15 8 2
+f 15 1 8
+f 16 8 1
+f 16 1 12
+f 16 12 9
+f 16 9 5
+f 17 12 10
+f 17 10 13
+f 17 9 12
+f 17 13 4
+f 17 4 9
+f 18 15 2
+f 18 2 11
+f 18 11 1
+f 18 1 15
+f 19 16 5
+f 19 5 8
+f 19 8 16
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_28.obj b/carrot/carrot_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c2b06c466c681b7292f8994d20eebe86a1ac86
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09001547 -0.06859196 0.21869697
+v -0.08075634 -0.06543028 0.08208141
+v -0.09562329 -0.05373109 0.22031175
+v -0.11048416 -0.01381892 0.21970951
+v -0.09187350 -0.05232883 0.16054795
+v -0.08485827 -0.05536488 0.08416380
+v -0.10487635 -0.02867980 0.21809474
+v -0.10159022 -0.01050008 0.08404209
+v -0.09582801 -0.02531129 0.08098540
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 9 8 2
+f 9 2 6
+f 9 6 5
+f 9 5 8
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_29.obj b/carrot/carrot_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1daa96b7ac8ee267de67ff55e3e7dd23724e6359
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02096019 -0.10680638 0.26406248
+v 0.10732543 -0.02733117 0.26367807
+v 0.06616678 -0.06588799 0.35431576
+v 0.00989925 -0.01341525 0.37121212
+v 0.01041838 -0.01393438 0.26515152
+v 0.07143569 -0.01409976 0.35664729
+v 0.01057113 -0.07497192 0.35673547
+v 0.07572608 -0.08898665 0.26464666
+f 5 2 1
+f 6 3 2
+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 8 1 2
+f 8 2 3
+f 8 3 1
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_3.obj b/carrot/carrot_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c0408b7d7a51a930ab86f8be1be94c01b2034f
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00590703 -0.10618470 0.14471754
+v 0.00490195 -0.10310794 0.08428484
+v 0.00783556 0.10009813 0.14470570
+v -0.03022552 0.09289171 0.14547487
+v -0.10566581 -0.01202089 0.14433429
+v -0.01465658 0.09164341 0.08500205
+v -0.04631213 -0.09297954 0.14460787
+v 0.00579571 0.09442783 0.08470485
+v -0.07725414 0.07038021 0.10026448
+v -0.04530706 -0.08990278 0.08417517
+v 0.00000000 -0.10470417 0.08419490
+v -0.07527663 0.07763851 0.14557855
+v -0.10159022 -0.01050008 0.08404209
+v -0.01446316 -0.10339855 0.14487452
+v -0.09728180 0.02667440 0.14524710
+v -0.02878115 0.08857237 0.10048134
+v -0.05968276 0.07640939 0.08511156
+v -0.08111991 0.07176659 0.14534489
+v -0.09212744 0.02482590 0.08513989
+v -0.07365637 0.07313649 0.10063337
+v -0.08074047 0.05647900 0.08477555
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 10 7 5
+f 11 2 1
+f 11 8 2
+f 13 10 5
+f 13 11 10
+f 13 8 11
+f 14 11 1
+f 14 7 10
+f 14 10 11
+f 14 1 4
+f 14 4 12
+f 15 5 7
+f 15 14 12
+f 15 7 14
+f 15 13 5
+f 16 12 4
+f 16 4 6
+f 17 6 8
+f 17 16 6
+f 17 12 16
+f 18 15 12
+f 18 12 9
+f 18 9 15
+f 19 15 9
+f 19 13 15
+f 20 17 9
+f 20 9 12
+f 20 12 17
+f 21 17 8
+f 21 8 13
+f 21 13 19
+f 21 19 9
+f 21 9 17
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_30.obj b/carrot/carrot_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d054ae0ccb2b58d261522f5428c4a4ff3b7c3211
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00607120 -0.09242032 -0.09771017
+v 0.02923499 -0.07943996 -0.23617212
+v 0.02960729 -0.08392288 -0.10190435
+v -0.06357877 -0.04684968 -0.23765440
+v 0.00000000 -0.09040943 -0.23446906
+v -0.03804444 -0.08098194 -0.10172096
+v -0.01450835 -0.08947938 -0.09752678
+v -0.01780880 -0.08413110 -0.23465481
+f 3 2 4
+f 5 4 2
+f 5 2 3
+f 5 3 1
+f 6 3 4
+f 7 1 3
+f 7 3 6
+f 7 5 1
+f 8 6 4
+f 8 4 5
+f 8 7 6
+f 8 5 7
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_31.obj b/carrot/carrot_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75b6c370a5be093798ea17d4dc66cde716f676d
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09601063 0.05565468 0.26384918
+v 0.09391042 0.05488462 0.21849008
+v 0.07474985 0.08811893 0.26449650
+v -0.05591202 0.09428666 0.26413629
+v -0.09357758 0.06224278 0.26289136
+v -0.05519214 0.09194545 0.21887011
+v 0.07394900 0.08572326 0.21918276
+v -0.09148505 0.06149184 0.21754582
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+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/carrot/carrot_6/collision/model_normalized_collision_4.obj b/carrot/carrot_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f51e800b70aa224dcb4095bb742f841d902ab69
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.04596228 -0.09211211 0.34258699
+v -0.04555833 -0.09067197 0.09928334
+v -0.04965970 -0.07304903 0.35353718
+v -0.08462889 -0.07046834 0.34258699
+v -0.07445546 -0.08636820 0.19043493
+v -0.08175786 -0.05394821 0.03900624
+v -0.08091550 -0.08051150 0.34258699
+v -0.07754531 -0.05823474 0.00781493
+v -0.09545573 -0.05932010 0.26515976
+v -0.07448157 -0.08637988 0.32231917
+v -0.06649051 -0.07783059 0.00737059
+v -0.09001547 -0.06859196 0.21869697
+v -0.04976652 -0.08840268 0.08340598
+v -0.09361660 -0.06423303 0.26457128
+v -0.07745421 -0.08071721 0.11518597
+v -0.07242763 -0.07138085 0.00823050
+v -0.07545378 -0.06335242 0.00675442
+f 1 2 3
+f 5 2 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 9 7 4
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 8 2
+f 12 5 7
+f 12 9 6
+f 13 11 2
+f 13 2 5
+f 14 12 7
+f 14 7 9
+f 14 9 12
+f 15 5 12
+f 15 13 5
+f 15 11 13
+f 15 12 6
+f 15 6 8
+f 16 15 8
+f 16 11 15
+f 17 16 8
+f 17 8 11
+f 17 11 16
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_5.obj b/carrot/carrot_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499d504dbf4ea98e0b6a794569bb0991c359b26f
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01057113 -0.07497192 0.35673547
+v 0.09182296 -0.01602231 0.35033630
+v 0.01525505 0.01425820 0.38724909
+v -0.05059266 0.04682496 0.35642024
+v -0.05193533 -0.07947715 0.34926186
+v 0.08861141 0.04756009 0.34507103
+v 0.01437050 -0.01204201 0.38659383
+v 0.08204891 -0.01236192 0.35692000
+v 0.00380770 0.02102582 0.38669968
+v 0.00621002 -0.01696729 0.38758431
+v 0.07559980 0.04266883 0.35377750
+v -0.04785912 -0.06796281 0.35692000
+v -0.02085991 0.01118472 0.38765461
+v -0.02114701 -0.00828611 0.38768962
+v -0.01541146 -0.01367109 0.38686778
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 8 2 6
+f 8 3 7
+f 8 7 1
+f 8 1 2
+f 10 1 7
+f 10 7 3
+f 11 8 6
+f 11 3 8
+f 11 9 3
+f 11 6 4
+f 11 4 9
+f 12 5 1
+f 12 1 10
+f 12 4 5
+f 13 10 3
+f 13 3 9
+f 13 9 4
+f 14 10 13
+f 14 13 4
+f 14 4 12
+f 15 14 12
+f 15 12 10
+f 15 10 14
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_6.obj b/carrot/carrot_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..763381a908fb135de4e9f084a0a2744752d27617
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01928540 -0.10168442 0.14240996
+v 0.08714893 -0.02353379 -0.03679317
+v 0.09626436 0.02970432 0.14441803
+v 0.02560547 0.07373665 -0.04238472
+v 0.01702398 -0.09476170 0.00643639
+v 0.07917659 0.02892798 -0.03719400
+v 0.01041838 0.03152017 0.14393939
+v 0.07419947 -0.08361384 0.14337360
+v 0.01041838 -0.01393438 -0.03787879
+v 0.10009558 -0.00465865 0.05457909
+v 0.08945684 -0.05495919 0.14489460
+v 0.07109040 -0.07456505 0.00757045
+v 0.07283289 -0.06006378 -0.03802431
+v 0.08593175 0.01084709 -0.03642337
+v 0.10287345 0.01148913 0.14522558
+v 0.10035280 -0.00761960 0.05426505
+v 0.08240795 0.02451341 -0.02087628
+v 0.10125379 -0.02340435 0.14516453
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 1 5
+f 9 7 4
+f 9 5 1
+f 9 1 7
+f 11 7 1
+f 11 1 8
+f 12 8 5
+f 12 11 8
+f 12 2 11
+f 13 9 4
+f 13 4 2
+f 13 5 9
+f 13 12 5
+f 13 2 12
+f 14 3 10
+f 14 2 6
+f 15 3 7
+f 15 10 3
+f 16 11 2
+f 16 10 15
+f 16 14 10
+f 16 2 14
+f 17 14 6
+f 17 6 3
+f 17 3 14
+f 18 15 7
+f 18 7 11
+f 18 16 15
+f 18 11 16
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_7.obj b/carrot/carrot_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8d963d9c34901207808d2b8dd994b4279095d6
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01257400 -0.03398300 0.45827299
+v 0.02694218 -0.03258478 0.35297367
+v 0.01325650 0.01888550 0.46165350
+v -0.04065608 0.01308081 0.49978801
+v -0.04325350 -0.01070550 0.49861351
+v -0.02085991 0.01118472 0.38765461
+v 0.01325650 0.01387450 0.46511599
+v -0.01257400 -0.03398300 0.45827299
+v 0.01525505 0.01425820 0.38724909
+v 0.00380770 0.02102582 0.38669968
+v -0.04329668 0.01183593 0.49879818
+v -0.04049400 -0.01206550 0.50000000
+v -0.02114701 -0.00828611 0.38768962
+v -0.01943635 0.01491960 0.41677145
+v -0.01541146 -0.01367109 0.38686778
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 2
+f 10 4 3
+f 10 3 9
+f 10 9 2
+f 10 2 6
+f 12 1 7
+f 12 8 1
+f 12 5 8
+f 12 7 4
+f 12 11 5
+f 12 4 11
+f 13 6 2
+f 13 8 5
+f 13 11 6
+f 13 5 11
+f 14 10 6
+f 14 4 10
+f 14 11 4
+f 14 6 11
+f 15 13 2
+f 15 2 8
+f 15 8 13
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_8.obj b/carrot/carrot_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198434aeb2bbeccf58374da916a97d657047f6bc
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01702398 -0.09476170 0.00643639
+v 0.08772205 -0.01021867 -0.09740451
+v 0.09110783 -0.02179873 0.00603802
+v 0.01041838 -0.01393438 0.00757576
+v -0.07920018 -0.03124046 -0.10207110
+v 0.09226720 -0.01038651 -0.03718506
+v 0.07109040 -0.07456505 0.00757045
+v 0.00607120 -0.09242032 -0.09771017
+v -0.08344223 -0.03290275 -0.04180951
+v 0.06364146 -0.07178535 -0.09789076
+v -0.02918681 -0.08812750 -0.03683642
+v 0.05246554 -0.07995452 -0.03727159
+v -0.03271990 -0.08307267 -0.09807209
+v 0.02074965 -0.09106845 -0.03701981
+v 0.05217201 -0.07911569 -0.05237079
+v -0.01450835 -0.08947938 -0.09752678
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 6 3
+f 7 2 6
+f 9 1 4
+f 9 4 5
+f 10 8 5
+f 10 5 2
+f 10 2 7
+f 11 8 1
+f 11 1 9
+f 12 10 7
+f 12 7 1
+f 13 11 9
+f 13 9 5
+f 13 5 8
+f 14 12 1
+f 14 1 8
+f 15 8 10
+f 15 10 12
+f 15 14 8
+f 15 12 14
+f 16 13 8
+f 16 8 11
+f 16 11 13
\ No newline at end of file
diff --git a/carrot/carrot_6/collision/model_normalized_collision_9.obj b/carrot/carrot_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed9c8444c1fddc8adc6b1fb61204be163420e48
--- /dev/null
+++ b/carrot/carrot_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02960729 -0.08392288 -0.10190435
+v 0.06437641 0.01383318 -0.23414949
+v 0.06911255 0.04035233 -0.09681544
+v -0.04454175 0.06128708 -0.09670993
+v -0.07235845 -0.02577973 -0.23432625
+v 0.00000000 0.06165157 -0.21764250
+v -0.08244861 -0.02391585 -0.09741349
+v 0.07889917 0.01367373 -0.09777292
+v 0.02923499 -0.07943996 -0.23617212
+v 0.05519084 0.03891048 -0.23291340
+v 0.04953005 0.05934303 -0.09660295
+v -0.05516773 0.03886806 -0.23327262
+v 0.06781987 0.03987359 -0.11184049
+v 0.07197004 0.01111585 -0.17270827
+v 0.03376732 0.05767914 -0.15650383
+v 0.05817595 0.04439056 -0.18650875
+v -0.08004934 0.01059120 -0.09700637
+v -0.06298966 0.05295071 -0.11170915
+v 0.03491936 0.04673928 -0.23269394
+v 0.04902009 0.05792546 -0.11160316
+v -0.06395565 0.05429657 -0.09674099
+v -0.07685000 -0.00573523 -0.18742921
+v -0.04343119 0.05823643 -0.12614038
+v -0.04348337 0.04322963 -0.23222143
+v 0.00434194 0.06011437 -0.21743640
+v -0.06586378 0.01079667 -0.23324955
+v -0.07704948 -0.02152704 -0.18819996
+v -0.07748679 0.00965188 -0.12688973
+v -0.05719549 0.04259063 -0.20175035
+v -0.06161291 0.03948037 -0.17217881
+f 7 5 1
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 9 8 1
+f 11 6 4
+f 12 9 5
+f 12 2 9
+f 13 3 8
+f 14 9 2
+f 14 8 9
+f 14 13 8
+f 16 11 3
+f 16 3 13
+f 16 2 10
+f 16 14 2
+f 16 13 14
+f 17 7 3
+f 17 3 11
+f 19 10 2
+f 19 2 12
+f 19 16 10
+f 19 15 16
+f 20 15 6
+f 20 6 11
+f 20 16 15
+f 20 11 16
+f 21 17 11
+f 21 11 4
+f 21 4 18
+f 22 7 17
+f 23 18 4
+f 23 4 6
+f 24 19 12
+f 24 12 6
+f 24 6 19
+f 25 19 6
+f 25 6 15
+f 25 15 19
+f 26 12 5
+f 26 5 22
+f 26 22 18
+f 27 22 5
+f 27 5 7
+f 27 7 22
+f 28 22 17
+f 28 18 22
+f 28 21 18
+f 28 17 21
+f 29 23 6
+f 29 6 12
+f 29 18 23
+f 29 12 26
+f 30 29 26
+f 30 26 18
+f 30 18 29
\ No newline at end of file
diff --git a/carrot/carrot_6/model.xml b/carrot/carrot_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ba1359b1abb634f72f4b8a94e162adaeda6cdc9
--- /dev/null
+++ b/carrot/carrot_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="carrot_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13999999999999996 0.13999999999999996 0.13999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
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diff --git a/carrot/carrot_6/visual/image0.png b/carrot/carrot_6/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5260b7e27c6b9894f4909eb178f14c86d6b58e2a
--- /dev/null
+++ b/carrot/carrot_6/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c3a36a9f9955f676f8dec6a85d66910317136d9ecdfa5774ab3b58d6ff2169
+size 710873
diff --git a/carrot/carrot_6/visual/material.mtl b/carrot/carrot_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/carrot/carrot_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/carrot/carrot_6/visual/material_0.jpeg b/carrot/carrot_6/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..6318448e5a96d6f083ce33ce44deda77741b6319
--- /dev/null
+++ b/carrot/carrot_6/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e72a6bd0920751abf1808ec0bd813c8cd19dd90c0be6ba5fa569b37488dcc87
+size 77979
diff --git a/carrot/carrot_6/visual/model_normalized_0.obj b/carrot/carrot_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31befffd0094c950d930a8499dbce29d5964bdc
--- /dev/null
+++ b/carrot/carrot_6/visual/model_normalized_0.obj
@@ -0,0 +1,1454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_10.obj b/carrot/carrot_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9898d16e0d7f0130d5d48bc56fcf68c3a1530c04
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.06183766 0.15868815 0.01432638
+v 0.04950889 0.15884079 -0.03174956
+v 0.05684488 0.23306747 0.01380383
+v -0.06451516 0.23441963 0.01606090
+v -0.06155415 0.15890870 0.01046614
+v -0.03709390 0.23160026 -0.03480258
+v 0.04899486 0.23180170 -0.01937445
+v -0.05859411 0.23302171 -0.00932222
+v -0.00975497 0.15941647 -0.04984376
+v -0.05650341 0.16163068 -0.01133032
+v 0.02593654 0.21725157 -0.04301410
+v -0.04296321 0.18897456 -0.03085322
+v 0.03765276 0.22807814 -0.03318928
+v 0.02690813 0.16129435 -0.04657439
+v -0.01930490 0.21487038 -0.04460753
+v -0.02202032 0.18912399 -0.04446616
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 9 2 5
+f 10 5 8
+f 10 9 5
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+f 12 8 6
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+f 13 6 7
+f 14 11 2
+f 14 2 9
+f 14 9 11
+f 15 11 9
+f 15 6 11
+f 16 12 6
+f 16 9 12
+f 16 15 9
+f 16 6 15
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_13.obj b/carrot/carrot_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c34534dc7a74e12f6b1efe7421b4ef0eaebac0
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02162163 -0.49426912 0.02084278
+v -0.02388645 -0.49302516 -0.00982836
+v -0.02376000 -0.29602336 0.07515606
+v -0.03181904 -0.26377422 0.06905127
+v -0.07161842 -0.45612632 -0.00308617
+v -0.04382103 -0.26065778 -0.05750039
+v -0.05053749 -0.47736521 -0.02849949
+v -0.04513962 -0.44259906 0.05714913
+v -0.02596545 -0.26523896 0.07195334
+v -0.06995672 -0.26624418 0.02354335
+v -0.03195918 -0.48831107 -0.01114746
+v -0.04124675 -0.47661102 0.03569220
+v -0.02845821 -0.48130462 -0.03351594
+v -0.06942762 -0.45428439 -0.02501158
+v -0.02211282 -0.41599736 0.07751870
+v -0.03261250 -0.29881702 0.07183126
+v -0.05830652 -0.26521795 0.04677039
+v -0.06802083 -0.38363306 0.03733235
+v -0.02500016 -0.49215766 0.02137375
+v -0.05418576 -0.46319053 0.03568322
+v -0.06908450 -0.26496218 -0.02341652
+v -0.02430671 -0.47785769 0.04939532
+v -0.02880579 -0.41274997 0.07464804
+v -0.04566147 -0.26549005 0.06041407
+v -0.07046995 -0.32418004 0.03517023
+v -0.07027794 -0.43066403 0.02475427
+v -0.03008939 -0.47608493 0.04869571
+v -0.05771593 -0.44418796 0.04253425
+v -0.04497828 -0.46407036 0.04845699
+f 1 2 3
+f 9 6 4
+f 9 3 2
+f 9 2 6
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 5 7
+f 13 7 6
+f 13 6 2
+f 13 2 7
+f 14 7 5
+f 14 6 7
+f 15 1 3
+f 16 9 4
+f 16 3 9
+f 16 15 3
+f 17 4 6
+f 19 12 7
+f 19 7 1
+f 19 1 12
+f 20 5 12
+f 21 6 14
+f 21 17 6
+f 21 10 17
+f 21 14 5
+f 21 5 10
+f 22 1 15
+f 23 8 15
+f 23 15 16
+f 23 18 8
+f 24 16 4
+f 24 4 17
+f 24 23 16
+f 24 18 23
+f 25 10 5
+f 25 17 10
+f 25 24 17
+f 25 18 24
+f 26 5 20
+f 26 25 5
+f 26 18 25
+f 27 12 1
+f 27 1 22
+f 27 22 15
+f 28 26 20
+f 28 8 18
+f 28 18 26
+f 29 20 12
+f 29 12 27
+f 29 28 20
+f 29 8 28
+f 29 27 15
+f 29 15 8
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_16.obj b/carrot/carrot_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d886f97b5f77bac2262543aa1235abcc05c59ae
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01203067 0.27501759 0.05839719
+v 0.04841116 0.27917486 0.00310355
+v 0.03973433 0.27806534 0.03794778
+v 0.01172486 0.37771628 0.04653431
+v 0.00283285 0.28231081 -0.03318674
+v 0.03455409 0.36921223 0.02543947
+v 0.02000657 0.36784465 0.04451070
+v 0.04870387 0.27812725 0.01358011
+v -0.00023803 0.27559483 0.06151459
+v 0.00494759 0.35324460 -0.02701087
+v 0.00208885 0.37015530 0.05528206
+v 0.03225065 0.36832875 0.03103361
+v 0.04832118 0.29128602 0.01005859
+v 0.03759323 0.35419632 0.00210175
+v 0.04717301 0.29616692 0.00113419
+v 0.00035056 0.30521064 0.06004746
+f 7 1 3
+f 8 3 1
+f 8 6 3
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 10 4 6
+f 11 7 4
+f 11 1 7
+f 11 4 10
+f 11 10 5
+f 12 6 4
+f 12 4 7
+f 12 7 3
+f 12 3 6
+f 13 8 2
+f 13 6 8
+f 14 10 6
+f 14 6 13
+f 15 2 5
+f 15 5 10
+f 15 10 14
+f 15 14 13
+f 15 13 2
+f 16 9 1
+f 16 1 11
+f 16 11 5
+f 16 5 9
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_17.obj b/carrot/carrot_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b5ee7b03ec3437d74dc7f4f7f9e4c43bb1c7f2
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04933168 -0.13902264 0.04566801
+v 0.01596605 -0.14400315 -0.06870906
+v 0.03385354 0.04079986 -0.05249493
+v -0.03491871 0.04443432 -0.04022350
+v -0.04516079 -0.13503550 0.04256536
+v -0.01007242 0.03746245 -0.05743124
+v 0.03044592 -0.00677665 0.05348928
+v -0.01107259 -0.14251953 -0.06722248
+v 0.01817386 0.03754576 -0.05852585
+v -0.03542051 -0.00909648 0.04084666
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_19.obj b/carrot/carrot_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9258a02f78cea13bd95abcb4af6c7c3dcc912c07
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06664116 -0.31325435 0.03939830
+v 0.07652981 -0.31065466 0.01393688
+v 0.06209854 -0.00896369 0.03174691
+v 0.06195537 0.13003860 0.02117177
+v 0.05703276 -0.00860041 0.03738310
+v 0.07571524 -0.31091604 0.01683796
+v 0.06294805 -0.31092421 0.04395814
+v 0.06443547 0.13028705 0.01032292
+v 0.05929286 0.12754460 0.02742072
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 5 3
+f 9 3 4
+f 9 8 5
+f 9 4 8
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_20.obj b/carrot/carrot_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb260a7df5f183b047748ec4e2c8f9adb4672cc
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05208916 -0.00739662 0.04289232
+v 0.07417709 -0.00819841 -0.01405662
+v 0.06757662 0.03778842 0.01077794
+v -0.04162519 0.04022322 0.03584384
+v -0.05320278 -0.00804739 -0.01469955
+v 0.04184440 0.03808671 0.04767829
+v 0.07321637 -0.00812103 0.01209261
+v -0.03076403 -0.00950855 0.04531810
+v 0.06883985 0.03755938 -0.01348635
+v 0.05452152 0.03812521 0.03584547
+v -0.04343423 -0.00732523 0.03350104
+v -0.03026765 0.03952136 0.04681463
+v -0.05116827 0.03749187 -0.01333177
+v 0.04983900 0.00578768 0.04392078
+f 8 1 6
+f 8 7 1
+f 8 5 2
+f 8 2 7
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 10 1 7
+f 11 4 5
+f 11 5 8
+f 12 8 6
+f 12 6 4
+f 12 11 8
+f 12 4 11
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 10 6
+f 14 6 1
+f 14 1 10
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_22.obj b/carrot/carrot_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1016b3721290fb9710b43dd01d9861fd0c9d905
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05684687 -0.40608231 0.04366798
+v 0.07554057 -0.38582837 0.01420773
+v 0.06185024 -0.31532100 0.04669466
+v 0.01588634 -0.31347441 0.07665889
+v 0.01783043 -0.40167782 0.07398363
+v 0.07652981 -0.31065466 0.01393688
+v 0.06705702 -0.38471162 0.03887120
+v 0.07189589 -0.40314353 0.01747228
+v 0.03174143 -0.36565747 0.07309256
+v 0.05480613 -0.30147386 0.04844820
+v 0.04999114 -0.31587586 0.05848494
+v 0.01751943 -0.36417324 0.07954899
+v 0.03950794 -0.39676431 0.06355025
+v 0.02702102 -0.31447924 0.07281169
+v 0.05129825 -0.38379288 0.05793368
+v 0.06144286 -0.35952531 0.04759863
+v 0.05404033 -0.39743773 0.05194934
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 10 6 4
+f 10 3 6
+f 11 3 10
+f 12 4 5
+f 12 5 9
+f 13 9 5
+f 13 5 1
+f 14 9 11
+f 14 12 9
+f 14 4 12
+f 14 11 10
+f 14 10 4
+f 15 11 9
+f 15 9 13
+f 16 15 7
+f 16 7 3
+f 16 3 11
+f 16 11 15
+f 17 15 13
+f 17 13 1
+f 17 1 7
+f 17 7 15
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_23.obj b/carrot/carrot_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6d57dfac6db2d451be1cbfa14a5c3b2e101e85
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07560546 -0.21941306 -0.01526254
+v 0.06734793 -0.21966185 -0.03906018
+v 0.06706914 -0.14209698 -0.03615466
+v -0.05352734 -0.14205083 -0.03389353
+v -0.05814080 -0.21522191 -0.03477579
+v -0.02229359 -0.21996366 -0.06719258
+v 0.07467565 -0.14453645 -0.01505825
+v 0.04017644 -0.14475662 -0.06221183
+v -0.02072453 -0.14466637 -0.06381023
+v 0.04171322 -0.21802420 -0.06355399
+f 6 2 1
+f 6 1 5
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 9 6 5
+f 9 5 4
+f 9 8 6
+f 9 4 3
+f 9 3 8
+f 10 8 2
+f 10 2 6
+f 10 6 8
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_28.obj b/carrot/carrot_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e5eb1f4de7db1635ab401cca017573940578fd
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05078878 -0.08232958 0.04446644
+v 0.07032127 -0.08272984 0.01898970
+v 0.05208916 -0.00739662 0.04289232
+v -0.01083238 -0.00686824 0.05542705
+v -0.04297907 -0.08017032 0.03900132
+v -0.01160220 -0.08339443 0.05913842
+v 0.07069875 -0.00718645 0.01781392
+v -0.03542051 -0.00909648 0.04084666
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_3.obj b/carrot/carrot_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18bc0a445d56a7aa156a7c37a41adfa779578fb6
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03650120 0.35506812 0.02598056
+v 0.03408050 0.35629678 -0.00793818
+v 0.00734383 0.48523848 -0.00508355
+v -0.02196637 0.49370952 0.03103043
+v -0.04617321 0.35505587 0.03834589
+v 0.00202673 0.49599033 0.02084559
+v 0.03106748 0.41033163 0.00192747
+v -0.03004625 0.35168673 -0.01606947
+v 0.00183988 0.35673084 0.05553225
+v -0.01860281 0.49090559 -0.00559628
+v 0.02299044 0.42915653 -0.01290075
+v 0.01743521 0.43662568 0.03092285
+v 0.03137872 0.40904558 0.01186256
+v 0.02437651 0.35566111 -0.01890476
+v -0.04277976 0.35193338 -0.00317731
+v -0.03534803 0.35650930 0.05206972
+v -0.00188289 0.49569959 -0.00182887
+v 0.03050378 0.39560855 -0.00747859
+v -0.00706324 0.45679811 -0.01402485
+v 0.01169406 0.36870160 0.05058692
+v 0.00479746 0.43876228 0.04348645
+v 0.03242625 0.38273160 0.02474860
+v -0.02770940 0.48107729 -0.00557147
+v -0.03816384 0.43118271 0.03573237
+v 0.00322672 0.49403727 0.00395902
+v -0.02784885 0.49351378 0.02452522
+v -0.00295807 0.46085734 -0.01237065
+v -0.00404354 0.49354329 0.03016453
+v -0.02251306 0.46018886 0.04229972
+v -0.02751423 0.43138521 -0.01334598
+v -0.03852764 0.43112338 0.00689473
+v -0.03068591 0.49105026 0.01674921
+v -0.02908672 0.48686469 0.03083467
+v -0.02884180 0.44125633 0.04354501
+v -0.00476743 0.46359237 0.04017740
+f 7 1 2
+f 11 3 7
+f 13 7 3
+f 13 3 6
+f 13 6 12
+f 13 1 7
+f 14 2 1
+f 14 1 8
+f 14 11 2
+f 15 8 1
+f 15 9 5
+f 15 1 9
+f 16 5 9
+f 17 3 10
+f 18 11 7
+f 18 7 2
+f 18 2 11
+f 19 10 3
+f 19 11 14
+f 19 14 8
+f 20 9 1
+f 20 1 12
+f 21 20 12
+f 21 9 20
+f 22 13 12
+f 22 12 1
+f 22 1 13
+f 23 10 19
+f 24 5 16
+f 25 17 6
+f 25 6 3
+f 25 3 17
+f 26 17 10
+f 26 4 6
+f 26 6 17
+f 27 19 3
+f 27 3 11
+f 27 11 19
+f 28 21 12
+f 28 12 6
+f 28 6 4
+f 29 16 9
+f 29 9 21
+f 29 28 4
+f 30 8 15
+f 30 15 23
+f 30 23 19
+f 30 19 8
+f 31 23 15
+f 31 15 5
+f 31 5 24
+f 32 26 10
+f 32 10 23
+f 32 23 31
+f 32 31 24
+f 33 4 26
+f 33 29 4
+f 33 32 24
+f 33 26 32
+f 34 24 16
+f 34 16 29
+f 34 33 24
+f 34 29 33
+f 35 29 21
+f 35 21 28
+f 35 28 29
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_4.obj b/carrot/carrot_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd209f8b7ede3c302d7d83b795b61fb2db4dbcac
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.04247250 -0.48060625 -0.02974037
+v 0.06458014 -0.44329168 -0.02585294
+v -0.06593937 -0.45888786 -0.02891587
+v -0.02212335 -0.40093972 -0.07644774
+v 0.02262996 -0.41204346 -0.07716939
+v 0.07113491 -0.39931307 -0.02990704
+v -0.06063879 -0.46891113 -0.02710519
+v 0.03882659 -0.45616369 -0.05940465
+v -0.04555404 -0.40860911 -0.06238044
+v 0.05044564 -0.39755728 -0.06283284
+v 0.05017241 -0.46923831 -0.03698472
+v -0.00880858 -0.47751336 -0.06091684
+v 0.02645434 -0.40019967 -0.07519842
+v 0.05989081 -0.44161330 -0.03801034
+v 0.05252122 -0.47111660 -0.02896734
+v 0.03698800 -0.47527371 -0.04653001
+v -0.05053749 -0.47736521 -0.02849949
+v -0.02345861 -0.44418296 -0.07248346
+v 0.01482260 -0.44570777 -0.07386766
+v 0.06658756 -0.39951807 -0.03957518
+v 0.04703874 -0.45955721 -0.04875190
+v 0.02486712 -0.46799525 -0.06189184
+v 0.00091960 -0.47645843 -0.06246904
+v -0.03061124 -0.47081807 -0.05955299
+v -0.04671477 -0.47505683 -0.04190428
+v -0.06207085 -0.45701054 -0.03878982
+v -0.03788135 -0.47568688 -0.04897384
+v -0.05893825 -0.46576687 -0.03677614
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 10 8 5
+f 13 10 5
+f 13 5 4
+f 13 4 10
+f 14 6 2
+f 14 2 11
+f 15 11 2
+f 15 2 1
+f 15 1 11
+f 16 11 1
+f 17 12 1
+f 17 1 7
+f 18 9 4
+f 19 5 8
+f 19 18 4
+f 19 4 5
+f 20 14 10
+f 20 10 6
+f 20 6 14
+f 21 8 10
+f 21 10 14
+f 21 14 11
+f 21 16 8
+f 21 11 16
+f 22 8 16
+f 22 19 8
+f 23 16 1
+f 23 1 12
+f 23 22 16
+f 23 19 22
+f 23 12 18
+f 23 18 19
+f 24 18 12
+f 25 17 7
+f 26 3 9
+f 26 9 18
+f 26 18 24
+f 27 25 24
+f 27 24 12
+f 27 12 17
+f 27 17 25
+f 28 26 24
+f 28 24 25
+f 28 25 7
+f 28 7 3
+f 28 3 26
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_6.obj b/carrot/carrot_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8dce490414f93319bcce940ccda5adba9cd628b
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.07467565 -0.14453645 -0.01505825
+v 0.06706914 -0.14209698 -0.03615466
+v 0.05973728 0.15919256 -0.01400120
+v 0.01528288 0.16115024 -0.04992084
+v 0.01596605 -0.14400315 -0.06870906
+v 0.05054642 0.03633757 -0.04393140
+v 0.06521467 0.09588860 -0.01182458
+v 0.04684263 -0.14590360 -0.05719768
+v 0.06130790 0.01842877 -0.03392484
+v 0.04950889 0.15884079 -0.03174956
+v 0.04015462 -0.05488875 -0.05839959
+v 0.06201358 0.09596615 -0.02046175
+v 0.02690813 0.16129435 -0.04657439
+v 0.04017644 -0.14475662 -0.06221183
+v 0.01714340 -0.00779265 -0.06109170
+v 0.03555146 0.15984318 -0.04176125
+v 0.02948038 -0.00654035 -0.05795604
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 9 8 6
+f 9 2 8
+f 9 7 1
+f 9 1 2
+f 10 9 6
+f 11 6 8
+f 12 3 7
+f 12 7 9
+f 12 10 3
+f 12 9 10
+f 13 4 3
+f 13 3 10
+f 13 11 4
+f 14 11 8
+f 14 8 5
+f 14 5 11
+f 15 11 5
+f 15 5 4
+f 16 13 10
+f 16 10 6
+f 16 6 11
+f 16 11 13
+f 17 15 4
+f 17 4 11
+f 17 11 15
\ No newline at end of file
diff --git a/carrot/carrot_7/collision/model_normalized_collision_9.obj b/carrot/carrot_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86b7e4af24ecfa1d8f413af8e5aa16fd9fdad8b
--- /dev/null
+++ b/carrot/carrot_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.04157485 -0.31380262 0.06418251
+v 0.07571524 -0.31091604 0.01683796
+v 0.07032127 -0.08272984 0.01898970
+v 0.03787831 -0.07652519 0.05209976
+v 0.01646845 -0.08416815 0.06061838
+v 0.05078878 -0.08232958 0.04446644
+v 0.05628114 -0.31319488 0.05159618
+v 0.01850395 -0.31063237 0.07511071
+v 0.02759085 -0.08310202 0.05756079
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 8 1
+f 9 1 4
+f 9 4 5
+f 9 5 8
\ No newline at end of file
diff --git a/carrot/carrot_7/model.xml b/carrot/carrot_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a97a21ee7bc56a0799493d79b99ad44a31575b1b
--- /dev/null
+++ b/carrot/carrot_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="carrot_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="carrot.001" 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="carrot.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="-0.0004319401985086962 8.608798973751108e-05 -0.013459559599999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0004319401985086962 8.608798973751108e-05 0.013523328300000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.012544507604577999 0.08449052202794369 3.188434999999982e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/carrot/carrot_7/visual/image0.png b/carrot/carrot_7/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f18f2eb84b4dc789c91b215ba026deb2e9e9487c
--- /dev/null
+++ b/carrot/carrot_7/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea11fe470901896a8bbef3587817a40ebc1a1236c8e330f6c44fbef24830c7b
+size 1104827
diff --git a/carrot/carrot_7/visual/material.mtl b/carrot/carrot_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/carrot/carrot_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/carrot/carrot_7/visual/material_0.jpeg b/carrot/carrot_7/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..caac09f7cc6621f47499aea134aa0b5b10b20592
--- /dev/null
+++ b/carrot/carrot_7/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4eee5f2aa530e0a1ec0b63f5700d82c916df83b80ffa11af6ab671e152f312
+size 106162
diff --git a/carrot/carrot_7/visual/model_normalized_0.obj b/carrot/carrot_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d4c66181b38c54908c7920603e1ebcf571badbf
--- /dev/null
+++ b/carrot/carrot_7/visual/model_normalized_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e32d2361231cdeb39e2233ec2c0c336945cf98dc8205e1ca07dfb7e3738508c
+size 31257011
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_0.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abba9ffb8546b6a129bf6467808b4f4e84f1727
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01277347 0.02878791 0.00740878
+v 0.01277347 0.03067508 0.00740067
+v 0.01033757 0.02878791 0.00803372
+v 0.01277347 0.02878791 -0.01960153
+v 0.01277347 0.03476912 0.00735468
+v 0.00992012 0.02997127 0.00803372
+v 0.00023052 0.02878791 0.00803372
+v 0.00023052 0.02878791 -0.01960153
+v 0.00445284 0.03306463 -0.01960424
+v 0.01277347 0.03326196 -0.01960153
+v 0.00401575 0.03476912 0.00753594
+v 0.00079039 0.03368588 0.00803372
+v 0.00276219 0.03351549 0.00803372
+v 0.00578375 0.03250252 0.00803372
+v 0.00761191 0.03188069 0.00803372
+v 0.01277347 0.03476912 -0.01959341
+v 0.00023052 0.03365016 0.00803372
+v 0.00023052 0.03092334 -0.01960153
+v 0.00231160 0.03306463 -0.01955283
+v 0.00873655 0.03476912 -0.01954201
+v 0.01087902 0.03476912 -0.01957989
+v 0.00188556 0.03476912 0.00755217
+v 0.00187328 0.03476912 0.00755217
+v 0.00172595 0.03476912 0.00754946
+v 0.00023052 0.03476912 0.00750347
+v 0.00023052 0.03306463 -0.01943109
+v 0.00445284 0.03476912 -0.01940404
+v 0.00659408 0.03476912 -0.01947708
+v 0.00023052 0.03476912 -0.01900094
+v 0.00231160 0.03476912 -0.01927148
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 5
+f 1 5 2
+f 2 5 3
+f 3 6 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 17
+f 3 17 7
+f 3 5 6
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 16 21
+f 5 21 20
+f 5 20 28
+f 5 28 27
+f 5 27 30
+f 5 30 29
+f 5 29 25
+f 5 25 24
+f 5 24 23
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+f 5 22 11
+f 7 17 25
+f 7 25 29
+f 7 29 26
+f 7 26 18
+f 7 18 8
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_1.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fdad7ce695f3d31329eb2b1280f43dbbe81942
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,711 @@
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+f 198 226 199
+f 199 226 204
+f 200 212 227
+f 200 227 228
+f 200 228 201
+f 201 228 236
+f 201 236 216
+f 201 216 229
+f 201 229 202
+f 202 229 213
+f 202 213 203
+f 204 226 205
+f 205 226 225
+f 205 225 206
+f 206 225 230
+f 206 230 207
+f 207 230 209
+f 209 230 231
+f 209 231 232
+f 209 232 210
+f 210 233 234
+f 210 234 211
+f 210 232 235
+f 210 235 233
+f 213 229 214
+f 214 229 216
+f 215 216 236
+f 215 236 237
+f 215 237 217
+f 219 221 220
+f 223 235 232
+f 223 232 225
+f 223 225 224
+f 225 232 231
+f 225 231 230
+f 227 238 236
+f 227 236 228
+f 236 238 237
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_10.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81736c1ad3da410ef81ff1a5792b22f35cbde7e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00121375 -0.00335031 0.00757483
+v -0.00121375 0.00276950 0.00757483
+v 0.00023038 -0.00335031 0.00757483
+v -0.00121375 -0.00335031 0.01534351
+v 0.00023038 0.00276950 0.00757483
+v -0.00121375 0.00276950 0.01507193
+v 0.00023038 -0.00335031 0.01422448
+v -0.00116752 -0.00335031 0.01530850
+v 0.00023038 -0.00328741 0.01428362
+v 0.00023038 -0.00323350 0.01430463
+v -0.00121375 -0.00334372 0.01534585
+v 0.00023038 0.00276950 0.01552483
+v -0.00121375 0.00091607 0.01522912
+v 0.00015602 -0.00335031 0.01430307
+v 0.00023038 -0.00114464 0.01498321
+v 0.00023038 0.00074414 0.01531161
+v -0.00121375 -0.00114404 0.01533262
+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 11
+f 1 11 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 5 12
+f 3 12 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 12
+f 7 9 14
+f 8 14 9
+f 10 15 11
+f 11 16 12
+f 11 12 17
+f 11 15 16
+f 12 13 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_100.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584f37a506fc3038571cf3bade5fe89b55aa486a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 -0.03448552 0.00200087
+v -0.01062676 -0.03525293 0.00200087
+v -0.01159234 -0.03444868 0.00276839
+v -0.01159234 0.02746555 0.00200087
+v -0.01062676 -0.03508717 0.00276839
+v -0.01062676 0.02746555 0.00200087
+v -0.01159234 -0.00165286 0.00276847
+v -0.01159234 0.02746555 0.00276847
+v -0.01062676 -0.00165286 0.00276847
+v -0.01062676 0.02746555 0.00276847
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_101.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c08f4ccd8396678dcc272630f4cdf3bfaa883c8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.02542115 -0.01340685
+v -0.00716753 0.02542115 -0.01518145
+v -0.00805384 0.02542115 -0.01340685
+v -0.00716753 -0.03074626 -0.01340685
+v -0.00805384 0.02542115 -0.01518145
+v -0.00716753 -0.03074626 -0.01518145
+v -0.00805384 -0.03074626 -0.01340685
+v -0.00805384 -0.03074626 -0.01518145
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_102.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f867c4e4bc0e675616f01707ee0901deead9a73e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00210178 0.00600140 0.01625430
+v -0.00141494 0.00599760 0.01515639
+v -0.00170806 0.00600140 0.01561673
+v -0.00210178 0.00600140 0.01515639
+v -0.00210178 0.00276950 0.01614359
+v -0.00159886 0.00276950 0.01530245
+v -0.00151198 0.00276950 0.01515639
+v -0.00210178 0.00276950 0.01515639
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 4 3
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 4
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_103.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de4a87574e50642d24db25ebb33824226fd6367
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00210173 0.00600140 0.01176107
+v -0.00210173 0.00680905 0.01176107
+v -0.00088389 0.00600140 0.01176107
+v -0.00210173 0.00600140 0.01625419
+v -0.00088389 0.00680905 0.01176107
+v -0.00210173 0.01100810 0.01176260
+v -0.00088389 0.00600140 0.01515265
+v -0.00088389 0.00741921 0.01681717
+v -0.00088389 0.00951383 0.01874563
+v -0.00210173 0.01100810 0.01942837
+v -0.00088389 0.01100810 0.01176260
+v -0.00088389 0.01100810 0.01955347
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 9
+f 3 9 8
+f 3 8 7
+f 4 8 9
+f 4 9 10
+f 4 7 8
+f 6 10 12
+f 6 12 11
+f 9 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_104.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a6d4397fc1e184f197397e049781cf498019fb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.03491280 -0.01719127
+v -0.00415443 0.03474253 -0.01753802
+v -0.00491279 0.03454703 -0.01719127
+v -0.00415443 -0.02951319 -0.01719127
+v -0.00415443 0.03473622 -0.01754733
+v -0.00488363 0.03392270 -0.01832418
+v -0.00516773 0.03441459 -0.01719127
+v -0.00516773 -0.02951319 -0.01719127
+v -0.00415443 -0.02951319 -0.01892146
+v -0.00415443 0.03315963 -0.01885201
+v -0.00516773 0.03382810 -0.01816257
+v -0.00516773 0.03411819 -0.01771537
+v -0.00516773 0.03278755 -0.01876359
+v -0.00516773 -0.02951319 -0.01892146
+v -0.00415443 0.03288214 -0.01892146
+v -0.00415443 0.03314701 -0.01885591
+v -0.00516773 0.03262358 -0.01880492
+v -0.00516773 0.03214430 -0.01892146
+v -0.00450955 0.03262358 -0.01892146
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 14
+f 4 14 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 13
+f 6 13 11
+f 7 12 11
+f 7 11 13
+f 7 13 17
+f 7 17 18
+f 7 18 14
+f 7 14 8
+f 9 14 18
+f 9 18 19
+f 9 19 15
+f 10 16 13
+f 13 16 17
+f 15 19 17
+f 15 17 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_105.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d01762d1c0091e8a92d7e4f8c2cdf745dbe5302
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00226600 0.02878732 -0.01106200
+v 0.00023077 0.02878732 -0.01106200
+v 0.00279774 0.02419392 -0.01106200
+v 0.00279774 0.02878732 -0.01106367
+v 0.00023077 0.02878732 -0.01960258
+v 0.00023077 -0.03988195 -0.01106200
+v 0.00279774 -0.03658343 -0.01106200
+v 0.00279774 0.02878732 -0.01957415
+v 0.00231023 0.02878732 -0.01960258
+v 0.00226600 0.02420074 -0.01960341
+v 0.00023077 -0.02690594 -0.01960425
+v 0.00023077 -0.03832129 -0.01534567
+v 0.00226600 -0.04065888 -0.01106618
+v 0.00226826 -0.04065207 -0.01106200
+v 0.00279774 -0.04083607 -0.01106451
+v 0.00279774 0.02878051 -0.01960258
+v 0.00279774 0.02420074 -0.01960341
+v 0.00226600 -0.03114496 -0.01960425
+v 0.00023077 -0.03118585 -0.01960425
+v 0.00226600 -0.03870294 -0.01636997
+v 0.00226600 -0.03909140 -0.01533313
+v 0.00023077 -0.03740125 -0.01739092
+v 0.00037350 -0.03753073 -0.01724627
+v 0.00279774 -0.04067933 -0.01152273
+v 0.00279774 -0.04025679 -0.01267580
+v 0.00279774 -0.03166972 -0.01960341
+v 0.00226600 -0.03118585 -0.01960425
+v 0.00279774 -0.03333943 -0.01957331
+v 0.00023077 -0.03125400 -0.01960258
+v 0.00279774 -0.03880517 -0.01662667
+v 0.00023077 -0.03728539 -0.01761585
+v 0.00279774 -0.03382330 -0.01952481
+v 0.00231023 -0.03333943 -0.01956579
+v 0.00023077 -0.03333261 -0.01946628
+v 0.00279774 -0.03862797 -0.01692016
+v 0.00023077 -0.03665158 -0.01857828
+v 0.00279774 -0.03817817 -0.01765264
+v 0.00279774 -0.03547938 -0.01926393
+v 0.00226600 -0.03543167 -0.01923299
+v 0.00023077 -0.03338713 -0.01945625
+v 0.00023077 -0.03565657 -0.01892947
+v 0.00057957 -0.03669929 -0.01860754
+v 0.00279774 -0.03711501 -0.01873297
+v 0.00279774 -0.03725131 -0.01864266
+v 0.00279774 -0.03738080 -0.01854734
+v 0.00279774 -0.03594281 -0.01913433
+v 0.00231023 -0.03547938 -0.01922714
+f 1 2 6
+f 1 6 14
+f 1 14 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 11
+f 2 11 19
+f 2 19 29
+f 2 29 34
+f 2 34 40
+f 2 40 41
+f 2 41 36
+f 2 36 31
+f 2 31 22
+f 2 22 12
+f 2 12 6
+f 3 7 15
+f 3 15 24
+f 3 24 25
+f 3 25 30
+f 3 30 35
+f 3 35 37
+f 3 37 45
+f 3 45 44
+f 3 44 43
+f 3 43 46
+f 3 46 38
+f 3 38 32
+f 3 32 28
+f 3 28 26
+f 3 26 17
+f 3 17 16
+f 3 16 8
+f 3 8 4
+f 5 9 17
+f 5 17 10
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 27
+f 11 27 19
+f 12 20 21
+f 12 21 13
+f 12 22 23
+f 12 23 20
+f 13 24 15
+f 13 15 14
+f 13 21 25
+f 13 25 24
+f 17 26 27
+f 17 27 18
+f 19 27 26
+f 19 26 28
+f 19 28 29
+f 20 30 21
+f 20 23 30
+f 21 30 25
+f 22 31 30
+f 22 30 23
+f 28 32 33
+f 28 33 29
+f 29 33 34
+f 30 31 35
+f 31 36 37
+f 31 37 35
+f 32 34 33
+f 32 38 34
+f 34 38 39
+f 34 39 40
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 38 46 47
+f 38 47 39
+f 39 47 41
+f 39 41 40
+f 41 46 43
+f 41 43 42
+f 41 47 46
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_106.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc5462ad1107407b8b6cb451d90c88ddd432f08
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01211008 -0.01407486 0.00285823
+v 0.01211008 -0.01407486 -0.00293675
+v 0.00932538 -0.01407486 0.00285823
+v 0.01211008 -0.04383846 0.00285823
+v 0.00932538 -0.01407486 -0.00293675
+v 0.01211008 -0.04407338 -0.00293675
+v 0.00868254 -0.01408074 0.00285823
+v 0.01189368 -0.04382085 0.00285823
+v 0.01211008 -0.04403227 0.00184286
+v 0.00868254 -0.01408074 -0.00293675
+v 0.01211008 -0.04407338 -0.00029849
+v 0.01087877 -0.04396180 -0.00293675
+v 0.00868254 -0.04336277 0.00285823
+v 0.01087877 -0.04392068 0.00184286
+v 0.01079859 -0.04370045 0.00285823
+v 0.01211008 -0.04404989 0.00093187
+v 0.00868254 -0.04356831 -0.00293675
+v 0.01087877 -0.04396180 -0.00029849
+v 0.00932538 -0.04368577 -0.00293675
+v 0.00868254 -0.04336570 0.00284972
+v 0.00873723 -0.04337451 0.00285823
+v 0.00868254 -0.04336863 0.00283611
+v 0.00932538 -0.04364760 0.00184286
+v 0.00932538 -0.04365347 0.00154506
+v 0.00868254 -0.04356831 -0.00026275
+v 0.00932538 -0.04368577 -0.00029905
+v 0.00868254 -0.04353014 0.00184060
+v 0.00868254 -0.04353601 0.00154506
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 19
+f 2 19 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 18
+f 6 18 12
+f 7 10 17
+f 7 17 25
+f 7 25 28
+f 7 28 27
+f 7 27 22
+f 7 22 20
+f 7 20 13
+f 8 14 9
+f 8 15 14
+f 9 14 16
+f 11 16 18
+f 12 18 26
+f 12 26 19
+f 13 20 21
+f 14 18 16
+f 14 15 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 18
+f 17 19 26
+f 17 26 25
+f 18 24 26
+f 20 22 21
+f 22 27 23
+f 23 27 28
+f 23 28 24
+f 24 28 25
+f 24 25 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_107.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b386d6875668f5c09bd41af4978244cefe9eaf69
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_107.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01426750 0.01304156 0.01643290
+v 0.01426750 0.01157742 0.01642721
+v 0.01426750 0.01365391 0.01640944
+v 0.01312555 0.01148968 0.01608518
+v 0.01312555 0.00988479 0.01607380
+v 0.01312555 0.00839506 0.01591239
+v 0.01312555 0.00661652 0.01557036
+v 0.01312555 0.00451627 0.01509677
+v 0.01426750 0.00736047 0.01524112
+v 0.01312555 0.01433571 0.01558884
+v 0.01312555 0.01327188 0.01593728
+v 0.01426750 0.01478720 0.01588892
+v 0.01312555 0.01444173 0.01555116
+v 0.01426750 0.00517614 0.01462319
+v 0.01312555 0.00451627 0.00916845
+v 0.01426750 0.00451627 0.01366180
+v 0.01426750 0.01745044 0.01458692
+v 0.01312555 0.01605393 0.01467368
+v 0.01426750 0.00451627 0.00916845
+v 0.01312555 0.02318819 0.00916845
+v 0.01426750 0.01773742 0.01438569
+v 0.01312555 0.01721647 0.01385308
+v 0.01426750 0.02307852 0.00916845
+v 0.01312555 0.02214264 0.01012628
+v 0.01426750 0.02232177 0.01035667
+v 0.01312555 0.02211705 0.01014904
+v 0.01312555 0.02093623 0.01113104
+f 1 2 9
+f 1 9 14
+f 1 14 16
+f 1 16 19
+f 1 19 23
+f 1 23 25
+f 1 25 21
+f 1 21 17
+f 1 17 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 3 12 13
+f 3 13 10
+f 4 11 10
+f 4 10 13
+f 4 13 18
+f 4 18 22
+f 4 22 27
+f 4 27 26
+f 4 26 24
+f 4 24 20
+f 4 20 15
+f 4 15 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 14 9
+f 8 15 19
+f 8 19 16
+f 8 16 14
+f 12 17 13
+f 13 17 18
+f 15 20 23
+f 15 23 19
+f 17 21 18
+f 18 21 22
+f 20 24 25
+f 20 25 23
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_108.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4095652d8bfe417b3c9f1afba5dd642e7cada133
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_108.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.02593764 -0.01370427 -0.00458264
+v -0.02638919 -0.01231431 -0.00458264
+v -0.02593764 -0.01341718 -0.00672541
+v -0.02593764 -0.01370427 -0.00030021
+v -0.02638919 -0.01231431 -0.00030021
+v -0.02673705 -0.01124321 -0.00458264
+v -0.02634254 -0.01217077 -0.00672541
+v -0.02663224 -0.01092052 -0.00785963
+v -0.02593764 -0.01210776 -0.00871767
+v -0.02593764 -0.01368016 0.00015441
+v -0.02671808 -0.01118733 0.00184256
+v -0.02673705 -0.01124321 -0.00030021
+v -0.02708646 -0.00977929 -0.00458264
+v -0.02669026 -0.01109967 -0.00672541
+v -0.02722976 -0.00810772 -0.00705280
+v -0.02675602 -0.00977929 -0.00821961
+v -0.02637865 -0.00977929 -0.00929021
+v -0.02593764 -0.00977929 -0.01053615
+v -0.02593764 -0.01179438 -0.00900006
+v -0.02606380 -0.01174945 -0.00869129
+v -0.02699457 -0.00977929 -0.00672541
+v -0.02728216 -0.00810772 -0.00672541
+v -0.02593764 -0.01195819 -0.00885266
+v -0.02593764 -0.01358319 0.00184256
+v -0.02637008 -0.01225843 0.00184256
+v -0.02704712 -0.00977929 0.00184256
+v -0.02708646 -0.00977929 -0.00030021
+v -0.02666905 -0.01103776 0.00308384
+v -0.02737278 -0.00810772 -0.00458264
+v -0.02685450 -0.00810772 -0.00876422
+v -0.02656761 -0.00810772 -0.00965639
+v -0.02653600 -0.00816525 -0.00972466
+v -0.02593764 -0.00942646 -0.01072855
+v -0.02593764 -0.01306764 0.00274404
+v -0.02733246 -0.00810772 0.00184256
+v -0.02737264 -0.00810772 -0.00030021
+v -0.02737278 -0.00810772 -0.00077035
+v -0.02680856 -0.00977929 0.00350588
+v -0.02593764 -0.01238773 0.00390154
+v -0.02615695 -0.01128430 0.00446477
+v -0.02653980 -0.00810772 -0.00973708
+v -0.02650931 -0.00810772 -0.00982397
+v -0.02593764 -0.00810772 -0.01138643
+v -0.02694400 -0.00810772 0.00403032
+v -0.02665655 -0.00896296 0.00446477
+v -0.02680926 -0.00810772 0.00446477
+v -0.02593764 -0.01188313 0.00446477
+v -0.02593764 -0.00810772 0.00446477
+f 1 2 3
+f 1 3 9
+f 1 9 23
+f 1 23 19
+f 1 19 18
+f 1 18 33
+f 1 33 43
+f 1 43 48
+f 1 48 47
+f 1 47 39
+f 1 39 34
+f 1 34 24
+f 1 24 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 6 12 27
+f 6 27 13
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 14 21
+f 8 21 22
+f 8 22 15
+f 9 20 23
+f 10 24 25
+f 10 25 11
+f 11 26 27
+f 11 27 12
+f 11 25 28
+f 11 28 26
+f 13 29 22
+f 13 22 21
+f 13 21 14
+f 13 27 37
+f 13 37 29
+f 15 30 16
+f 15 22 29
+f 15 29 37
+f 15 37 36
+f 15 36 35
+f 15 35 44
+f 15 44 46
+f 15 46 48
+f 15 48 43
+f 15 43 42
+f 15 42 41
+f 15 41 31
+f 15 31 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 19 23 20
+f 24 34 28
+f 24 28 25
+f 26 28 35
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 28 38 35
+f 28 34 39
+f 28 39 40
+f 28 40 38
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 35 38 44
+f 38 40 45
+f 38 45 46
+f 38 46 44
+f 39 47 40
+f 40 47 48
+f 40 48 46
+f 40 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_109.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e4a1d171ad72a1fff56bf04676a1b1c9253193
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.04066788 0.00433862
+v 0.00023447 -0.04067477 0.00433862
+v 0.00023052 -0.03982095 0.00542054
+v 0.00023052 0.02878733 0.00433862
+v 0.00072436 -0.04074362 0.00465761
+v 0.00195662 -0.04132202 0.00433862
+v 0.00072436 -0.04082625 0.00444442
+v 0.00023052 0.02878733 0.00542054
+v 0.00127774 -0.04081936 0.00501747
+v 0.00270566 -0.04108790 0.00537235
+v 0.00275432 -0.04110168 0.00537987
+v 0.00265724 -0.04099151 0.00542054
+v 0.00211151 0.02878733 0.00433862
+v 0.00275432 -0.04155612 0.00433862
+v 0.00211151 0.02878733 0.00542054
+v 0.00275432 -0.04103282 0.00542054
+v 0.00275432 0.02878044 0.00433862
+v 0.00275432 0.02878044 0.00542054
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 13
+f 1 13 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 16
+f 3 16 18
+f 3 18 15
+f 3 15 8
+f 4 8 15
+f 4 15 13
+f 5 7 9
+f 6 14 11
+f 6 11 9
+f 6 9 7
+f 9 11 10
+f 11 14 17
+f 11 17 18
+f 11 18 16
+f 11 16 12
+f 13 15 18
+f 13 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_11.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be465923a3ffbd83018468a294fdb088dd9d7499
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 -0.00186608 0.00300674
+v -0.00183017 -0.00186608 -0.00518533
+v -0.00295333 -0.00186608 0.00300674
+v -0.00183017 -0.04020488 0.00300674
+v -0.00263406 -0.00186608 -0.00518533
+v -0.00183017 -0.02168398 -0.00518613
+v -0.00295333 -0.00186608 -0.00459187
+v -0.00295333 -0.03902133 0.00300674
+v -0.00188492 -0.04018597 0.00300674
+v -0.00183017 -0.04032588 0.00240607
+v -0.00295333 -0.00187364 -0.00518533
+v -0.00295333 -0.02168398 -0.00518613
+v -0.00183017 -0.04047335 -0.00518613
+v -0.00295333 -0.03969440 0.00300594
+v -0.00295201 -0.03969440 0.00300674
+v -0.00191197 -0.04017463 0.00300674
+v -0.00295333 -0.03992506 0.00177893
+v -0.00183017 -0.04045445 0.00171798
+v -0.00295333 -0.03994019 -0.00518613
+v -0.00183017 -0.04049226 -0.00475146
+v -0.00199256 -0.04042798 -0.00458225
+v -0.00192340 -0.04043176 -0.00518613
+v -0.00295333 -0.03997422 -0.00029976
+v -0.00199256 -0.04042798 -0.00029976
+v -0.00183017 -0.04046957 0.00115180
+v -0.00295333 -0.03997422 -0.00458225
+v -0.00183017 -0.04049604 -0.00458225
+v -0.00183017 -0.04049604 -0.00029976
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 28
+f 1 28 27
+f 1 27 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 7 11
+f 3 11 12
+f 3 12 19
+f 3 19 26
+f 3 26 23
+f 3 23 17
+f 3 17 14
+f 3 14 8
+f 4 9 10
+f 5 11 7
+f 5 12 11
+f 6 13 22
+f 6 22 19
+f 6 19 12
+f 8 14 15
+f 9 16 10
+f 10 16 14
+f 10 14 17
+f 10 17 18
+f 13 20 21
+f 13 21 22
+f 14 16 15
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 19 22 26
+f 20 27 21
+f 21 27 28
+f 21 28 24
+f 21 24 23
+f 21 23 26
+f 21 26 22
+f 24 28 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_110.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc00cab9fc78412c4de4146475026f2d14e3aba
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_110.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00600140 0.01630563
+v 0.00023052 0.00600140 0.01515752
+v 0.00013551 0.00600140 0.01614906
+v -0.00012082 0.00320386 0.01515752
+v -0.00006543 0.00276950 0.01515752
+v 0.00023052 0.00276950 0.01552494
+v -0.00037990 0.00600140 0.01515752
+v 0.00023052 0.00276950 0.01515752
+v -0.00018362 0.00600140 0.01562283
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 5
+f 2 5 4
+f 2 4 7
+f 3 9 4
+f 4 9 7
+f 5 8 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_111.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744b28cbeb176a1897df46f4d3c76251710c520e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.02610047 -0.00664588
+v 0.00147309 0.02610047 -0.00664588
+v 0.00023052 0.02610047 -0.00293675
+v 0.00023052 0.02878732 -0.00664588
+v 0.00147309 0.02878732 -0.00664588
+v 0.00147309 0.02610047 -0.00293675
+v 0.00023052 0.02878732 -0.00293675
+v 0.00147309 0.02878732 -0.00293675
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_112.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d27383960a3fc73cd860439ece7f93e67abc36
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00880590 -0.03955690 -0.01777296
+v 0.00880590 -0.03896924 -0.01862039
+v 0.00952524 -0.03968524 -0.01777296
+v 0.00880590 0.02878733 -0.01777296
+v 0.00880590 -0.03892872 -0.01866467
+v 0.01283901 -0.04015808 -0.01777314
+v 0.00952524 -0.03940155 -0.01817328
+v 0.01017085 -0.03977981 -0.01777296
+v 0.01756403 0.02878733 -0.01777296
+v 0.00880590 0.02878733 -0.01953970
+v 0.00880590 -0.03766558 -0.01913902
+v 0.01088076 -0.03907732 -0.01872365
+v 0.01104966 -0.03916513 -0.01864889
+v 0.01302249 -0.04016483 -0.01777314
+v 0.01278243 -0.04014457 -0.01777296
+v 0.01105052 -0.03909083 -0.01872688
+v 0.01278243 -0.03917189 -0.01875717
+v 0.01302249 -0.03917864 -0.01876130
+v 0.01756403 -0.03548381 -0.01777296
+v 0.01693986 0.02878733 -0.01905566
+v 0.01590586 0.02878733 -0.01937441
+v 0.01516337 0.02878057 -0.01960370
+v 0.00952524 0.02878057 -0.01960388
+v 0.00880590 0.02878057 -0.01960388
+v 0.00880590 -0.03761830 -0.01915588
+v 0.00952524 -0.03765208 -0.01917990
+v 0.01516337 -0.04021887 -0.01777314
+v 0.01590586 -0.03980683 -0.01777296
+v 0.01088076 -0.03761830 -0.01925663
+v 0.01105052 -0.03776015 -0.01921181
+v 0.01516337 -0.03919215 -0.01876793
+v 0.01302249 -0.03761830 -0.01930951
+v 0.01746115 -0.03717249 -0.01777296
+v 0.01693986 -0.03548381 -0.01905566
+v 0.00952610 -0.02476407 -0.01960424
+v 0.00880590 -0.01619909 -0.01960424
+v 0.01516337 -0.03547706 -0.01960370
+v 0.00952524 -0.03761830 -0.01919083
+v 0.00880590 -0.03554460 -0.01953683
+v 0.00952524 -0.03626736 -0.01943967
+v 0.01671951 -0.03951638 -0.01777296
+v 0.01590586 -0.03911109 -0.01872078
+v 0.01653089 -0.03903004 -0.01868170
+v 0.01104966 -0.03761830 -0.01926093
+v 0.01516337 -0.03761830 -0.01931615
+v 0.01278328 -0.03738864 -0.01934053
+v 0.01741828 -0.03762505 -0.01777296
+v 0.01590586 -0.03548381 -0.01937459
+v 0.01680954 -0.03762505 -0.01891188
+v 0.00952610 -0.03332906 -0.01960424
+v 0.00880590 -0.03333581 -0.01960424
+v 0.01302249 -0.03547706 -0.01960370
+v 0.00952524 -0.03333581 -0.01960424
+v 0.01590586 -0.03644974 -0.01929159
+v 0.01590586 -0.03762505 -0.01913383
+v 0.00880590 -0.03548381 -0.01954741
+v 0.01590586 -0.03838834 -0.01897140
+v 0.00952524 -0.03548381 -0.01956175
+v 0.01104966 -0.03564592 -0.01956641
+v 0.01104966 -0.03547706 -0.01958972
+v 0.00880590 -0.03340336 -0.01960352
+v 0.00952524 -0.03412611 -0.01959832
+v 0.01088076 -0.03547706 -0.01958811
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 28
+f 1 28 41
+f 1 41 47
+f 1 47 33
+f 1 33 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 24
+f 1 24 36
+f 1 36 51
+f 1 51 61
+f 1 61 56
+f 1 56 39
+f 1 39 25
+f 1 25 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 20
+f 4 20 21
+f 4 21 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 6 13 16
+f 6 16 17
+f 6 17 18
+f 6 18 14
+f 9 19 34
+f 9 34 20
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 11 25 26
+f 11 26 12
+f 12 16 13
+f 12 26 16
+f 14 27 15
+f 14 18 27
+f 15 27 28
+f 16 26 29
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 31 27
+f 18 30 32
+f 18 32 31
+f 19 33 34
+f 20 22 21
+f 20 34 37
+f 20 37 22
+f 22 35 36
+f 22 36 23
+f 22 37 50
+f 22 50 35
+f 23 36 24
+f 25 38 26
+f 25 39 40
+f 25 40 38
+f 26 38 29
+f 27 41 28
+f 27 31 42
+f 27 42 43
+f 27 43 41
+f 29 44 30
+f 29 38 40
+f 29 40 44
+f 30 44 32
+f 31 32 45
+f 31 45 42
+f 32 44 46
+f 32 46 45
+f 33 47 34
+f 34 48 37
+f 34 47 49
+f 34 49 48
+f 35 50 53
+f 35 53 51
+f 35 51 36
+f 37 52 51
+f 37 51 53
+f 37 53 50
+f 37 48 54
+f 37 54 55
+f 37 55 45
+f 37 45 52
+f 39 56 40
+f 40 56 44
+f 41 43 47
+f 42 45 57
+f 42 57 43
+f 43 57 55
+f 43 55 49
+f 43 49 47
+f 44 56 46
+f 45 55 57
+f 45 46 52
+f 46 56 58
+f 46 58 59
+f 46 59 60
+f 46 60 52
+f 48 49 54
+f 49 55 54
+f 51 52 61
+f 52 60 62
+f 52 62 61
+f 56 61 58
+f 58 61 62
+f 58 62 63
+f 58 63 59
+f 59 63 60
+f 60 63 62
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_113.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ff69896fe9087b37d6c4e5bcd79b19149d7515
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00210173 0.00276950 0.01176107
+v -0.00210173 0.00600140 0.01176107
+v -0.00091711 0.00276950 0.01176107
+v -0.00210173 0.00276950 0.01515619
+v -0.00091711 0.00600140 0.01176107
+v -0.00210173 0.00600140 0.01515619
+v 0.00023052 0.00276950 0.01176140
+v -0.00006558 0.00276950 0.01515719
+v -0.00012105 0.00320386 0.01515719
+v -0.00037994 0.00600140 0.01515719
+v 0.00023052 0.00600140 0.01176140
+v 0.00023052 0.00276950 0.01515719
+v 0.00023052 0.00600140 0.01515719
+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 13
+f 2 13 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 13
+f 7 13 12
+f 8 12 13
+f 8 13 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_114.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7c11e17d67574495a37177d6adc369b7802d96
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 -0.03363056 -0.00458338
+v -0.01266345 -0.03363056 -0.00244117
+v -0.01342917 -0.03296157 -0.00239677
+v -0.01344330 -0.03294899 -0.00458338
+v -0.01266345 -0.03362656 -0.00471581
+v -0.01266345 -0.03359340 -0.00239677
+v -0.01266551 -0.03362828 -0.00239677
+v -0.01344330 -0.03294899 -0.00239677
+v -0.01344330 -0.03283006 -0.00673614
+v -0.01266345 -0.03350992 -0.00675419
+v -0.01266345 -0.02778974 -0.00239677
+v -0.01344330 -0.02778974 -0.00239677
+v -0.01344330 -0.03282205 -0.00679182
+v -0.01344330 -0.03270598 -0.00758715
+v -0.01266345 -0.03348819 -0.00690092
+v -0.01266345 -0.02778974 -0.01008377
+v -0.01344330 -0.02778974 -0.01008377
+v -0.01344330 -0.03253216 -0.00819438
+v -0.01266345 -0.03299187 -0.00867143
+v -0.01266345 -0.03235433 -0.01008377
+v -0.01344330 -0.03167047 -0.01008377
+v -0.01344330 -0.03200554 -0.00935315
+v -0.01271467 -0.03292669 -0.00872711
+v -0.01266345 -0.03296900 -0.00873163
+v -0.01297131 -0.03208559 -0.01008377
+v -0.01325681 -0.03183572 -0.01008377
+v -0.01310078 -0.03197237 -0.01008377
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 6
+f 3 6 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 17
+f 4 17 21
+f 4 21 22
+f 4 22 18
+f 4 18 14
+f 4 14 13
+f 4 13 9
+f 4 9 5
+f 5 9 10
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 14 19 15
+f 16 20 25
+f 16 25 27
+f 16 27 26
+f 16 26 21
+f 16 21 17
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 24 23
+f 20 23 25
+f 21 26 22
+f 22 26 27
+f 22 27 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_115.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de6f31542d0c9fe9da9cd40cb4703609d299c82
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_115.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.00099539 -0.01605841
+v -0.01062676 0.00099539 -0.01605841
+v -0.01159234 0.00099539 -0.00037422
+v -0.01159234 0.00571247 -0.01605841
+v -0.01062676 0.00571247 -0.01605841
+v -0.01062676 0.00099539 -0.00037422
+v -0.01159234 0.00571247 -0.00037422
+v -0.01062676 0.00571247 -0.00037422
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_116.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c84d489a9287adb02242a95eedd9a30991210a8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_116.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 -0.02691352 -0.00963779
+v -0.01799965 -0.02691352 0.00451996
+v -0.01833737 -0.02691352 -0.00886651
+v -0.01826696 -0.02612931 -0.01045443
+v -0.01799965 -0.02408964 -0.01476704
+v -0.01799965 -0.02635725 0.00545759
+v -0.01831169 -0.02618482 0.00534669
+v -0.01855604 -0.02691352 0.00379909
+v -0.01861461 -0.02656511 -0.00886651
+v -0.01846274 -0.02691352 -0.00852876
+v -0.01820618 -0.02391602 -0.01460824
+v -0.01799965 -0.02339873 -0.01594412
+v -0.01799965 -0.02462701 0.00617089
+v -0.01875131 -0.02463883 0.00579534
+v -0.01875131 -0.02527895 0.00551808
+v -0.01875131 -0.02665133 0.00382177
+v -0.01856082 -0.02691352 0.00378649
+v -0.01875131 -0.02638914 -0.00886651
+v -0.01875131 -0.02691352 -0.00736680
+v -0.01875131 -0.02646472 -0.00865226
+v -0.01875131 -0.02581042 -0.00991252
+v -0.01875131 -0.02449474 -0.01227929
+v -0.01875131 -0.02414633 -0.01287665
+v -0.01875131 -0.02341172 -0.01406381
+v -0.01863234 -0.02277868 -0.01536188
+v -0.01835900 -0.02207123 -0.01702038
+v -0.01799965 -0.02318141 -0.01625666
+v -0.01875131 -0.02271490 -0.01517032
+v -0.01799965 -0.02402114 0.00635237
+v -0.01875131 -0.02314126 0.00635237
+v -0.01875131 -0.02691352 0.00291943
+v -0.01867899 -0.02270309 -0.01536188
+v -0.01875131 -0.02168148 -0.01662214
+v -0.01875131 -0.02075672 -0.01756481
+v -0.01799965 -0.02140748 -0.01841927
+v -0.01799965 -0.02235822 -0.01728503
+v -0.01875131 -0.02266175 -0.01524845
+v -0.01799965 -0.01484794 0.00635237
+v -0.01875131 -0.01485030 0.00635237
+v -0.01875131 -0.02067050 -0.01765051
+v -0.01875131 -0.01965835 -0.01825039
+v -0.01875131 -0.01883043 -0.01868644
+v -0.01799965 -0.02128819 -0.01846716
+v -0.01874866 -0.01484794 0.00635237
+v -0.01799965 -0.01484794 -0.01939722
+v -0.01875131 -0.01484794 0.00454768
+v -0.01826453 -0.02001620 -0.01862595
+v -0.01875131 -0.01851509 -0.01874693
+v -0.01799965 -0.01950363 -0.01881750
+v -0.01799965 -0.02016266 -0.01868896
+v -0.01799965 -0.01517627 -0.01937958
+v -0.01832758 -0.01484794 -0.01934933
+v -0.01875131 -0.01484794 -0.01926112
+v -0.01875131 -0.01656873 -0.01907460
+v -0.01799965 -0.01731869 -0.01916282
+f 1 2 8
+f 1 8 17
+f 1 17 31
+f 1 31 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 27
+f 1 27 36
+f 1 36 35
+f 1 35 43
+f 1 43 50
+f 1 50 49
+f 1 49 55
+f 1 55 51
+f 1 51 45
+f 1 45 38
+f 1 38 29
+f 1 29 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 3 10 9
+f 4 11 5
+f 4 9 11
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 16
+f 8 16 17
+f 9 10 18
+f 9 18 11
+f 10 19 20
+f 10 20 18
+f 11 18 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 25 26
+f 12 26 27
+f 12 24 28
+f 12 28 25
+f 13 29 30
+f 13 30 14
+f 14 30 39
+f 14 39 46
+f 14 46 53
+f 14 53 54
+f 14 54 48
+f 14 48 42
+f 14 42 41
+f 14 41 40
+f 14 40 34
+f 14 34 33
+f 14 33 37
+f 14 37 28
+f 14 28 24
+f 14 24 23
+f 14 23 22
+f 14 22 21
+f 14 21 18
+f 14 18 20
+f 14 20 19
+f 14 19 31
+f 14 31 16
+f 14 16 15
+f 16 31 17
+f 25 32 26
+f 25 28 32
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 32 37
+f 26 37 33
+f 28 37 32
+f 29 38 44
+f 29 44 39
+f 29 39 30
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 38 45 52
+f 38 52 53
+f 38 53 46
+f 38 46 44
+f 39 44 46
+f 42 47 43
+f 42 48 49
+f 42 49 47
+f 43 47 50
+f 45 51 52
+f 47 49 50
+f 48 54 49
+f 49 54 55
+f 51 55 52
+f 52 55 53
+f 53 55 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_117.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c428f2b23d6c3dd1efbd835020b047483739395f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 0.02878065 -0.01806195
+v 0.00880497 0.02878065 -0.01960409
+v 0.00732702 0.02878065 -0.01806195
+v 0.00880497 -0.03935602 -0.01806195
+v 0.00732702 0.02878065 -0.01960409
+v 0.00880497 -0.03333885 -0.01960409
+v 0.00732702 -0.02263204 -0.01960424
+v 0.00732702 -0.03922260 -0.01806195
+v 0.00877285 -0.03935602 -0.01806195
+v 0.00880497 -0.03896910 -0.01862038
+v 0.00880497 -0.03340556 -0.01960364
+v 0.00732702 -0.03333885 -0.01960424
+v 0.00732702 -0.03914255 -0.01819903
+v 0.00758036 -0.03925595 -0.01806195
+v 0.00880497 -0.03892908 -0.01866447
+v 0.00732702 -0.03884903 -0.01861797
+v 0.00873697 -0.03892908 -0.01866250
+v 0.00880497 -0.03548022 -0.01954763
+v 0.00732702 -0.03407265 -0.01958432
+v 0.00880497 -0.03766828 -0.01913926
+v 0.00873697 -0.03762158 -0.01915285
+v 0.00732702 -0.03762158 -0.01906710
+v 0.00880497 -0.03555360 -0.01953706
+v 0.00873697 -0.03548022 -0.01954627
+v 0.00732702 -0.03548022 -0.01950521
+v 0.00880497 -0.03762158 -0.01915617
+v 0.00732702 -0.03621402 -0.01937085
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 26
+f 1 26 23
+f 1 23 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 19
+f 3 19 25
+f 3 25 27
+f 3 27 22
+f 3 22 16
+f 3 16 13
+f 3 13 8
+f 4 9 10
+f 6 11 12
+f 8 13 14
+f 9 14 13
+f 9 13 10
+f 10 13 16
+f 10 16 17
+f 10 17 15
+f 11 18 12
+f 12 18 19
+f 15 17 20
+f 16 21 20
+f 16 20 17
+f 16 22 21
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 21 26
+f 21 22 27
+f 21 27 26
+f 23 27 25
+f 23 25 24
+f 23 26 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_118.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5a91d691007a5c9049b7ab9d49839ff1311d938
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_118.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03721938 -0.01025290
+v -0.00516783 0.03694288 -0.01100986
+v -0.00597001 0.03679931 -0.01025290
+v -0.00516783 -0.01710325 -0.01025290
+v -0.00516783 0.03687907 -0.01117340
+v -0.00572282 0.03659193 -0.01117340
+v -0.00597001 0.03674613 -0.01039788
+v -0.00597001 -0.01710325 -0.01025290
+v -0.00516783 -0.01710325 -0.01117340
+v -0.00579176 0.03654939 -0.01117340
+v -0.00597001 0.03643772 -0.01117340
+v -0.00597001 -0.01710325 -0.01117340
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 9 12
+f 5 12 11
+f 5 11 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_119.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f599016d027f92d2410df5222534ffb0caa63c3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_119.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00868255 -0.01407486 -0.00293675
+v 0.00868255 -0.01226826 -0.00293675
+v 0.01781006 -0.01407486 -0.00293675
+v 0.00868255 -0.01407486 0.00285823
+v 0.00868255 -0.01226826 0.00285823
+v 0.01781006 -0.01226826 -0.00293675
+v 0.01781006 -0.01407486 0.00285823
+v 0.01781006 -0.01226826 0.00285823
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_12.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2102d74bea413714d9c9d38594567576c5ed72
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02710351 -0.00549184 0.00590711
+v -0.02706568 -0.00559182 0.00635237
+v -0.02708040 -0.00549184 0.00635237
+v -0.02709616 -0.00321955 0.00590711
+v -0.02680191 -0.00748540 0.00590711
+v -0.02678405 -0.00745510 0.00635237
+v -0.02699387 -0.00321046 0.00635237
+v -0.02697601 -0.00178346 0.00590711
+v -0.02661836 -0.00843674 0.00590711
+v -0.02657352 -0.00852460 0.00635237
+v -0.02527113 0.00552425 0.00635237
+v -0.02553805 0.00521521 0.00624725
+v -0.02600815 0.00521521 0.00590711
+v -0.02655495 -0.00870335 0.00590711
+v -0.02621202 -0.00997887 0.00590711
+v -0.02655566 -0.00858822 0.00635237
+v -0.02399641 0.01164127 0.00635237
+v -0.02471836 0.01164127 0.00590711
+v -0.02477651 0.01135950 0.00590711
+v -0.02511735 0.00969921 0.00590711
+v -0.02542351 -0.01214209 0.00590711
+v -0.02621342 -0.00977891 0.00635237
+v -0.02625721 -0.00964863 0.00635237
+v -0.02352491 0.01308644 0.00635237
+v -0.02447211 0.01239870 0.00590711
+v -0.02468369 -0.01399023 0.00590711
+v -0.02477826 -0.01355697 0.00635237
+v -0.02550688 -0.01169672 0.00635237
+v -0.02352491 0.01361665 0.00624576
+v -0.02352491 -0.01574141 0.00635237
+v -0.02352491 0.01378328 0.00620375
+v -0.02399641 0.01368330 0.00590711
+v -0.02425387 -0.01486279 0.00590711
+v -0.02466862 -0.01375391 0.00635237
+v -0.02361389 -0.01597470 0.00590711
+v -0.02352491 -0.01611407 0.00590711
+v -0.02352491 0.01483763 0.00590711
+v -0.02395893 0.01378328 0.00590711
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 20
+f 1 20 19
+f 1 19 18
+f 1 18 25
+f 1 25 32
+f 1 32 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 33
+f 1 33 26
+f 1 26 21
+f 1 21 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 23
+f 2 23 22
+f 2 22 28
+f 2 28 27
+f 2 27 34
+f 2 34 30
+f 2 30 24
+f 2 24 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 24 25
+f 17 25 18
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 24 29 25
+f 24 30 36
+f 24 36 37
+f 24 37 31
+f 24 31 29
+f 25 29 31
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 30 34 33
+f 30 33 35
+f 30 35 36
+f 31 37 38
+f 31 38 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_120.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0f1bfb75626880dfeb752dff74f1ed7c49adb0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.00718529 0.00107512
+v -0.00083021 0.00718529 -0.00500385
+v -0.00182293 0.00718529 0.00107512
+v -0.00083021 -0.04085897 0.00107512
+v -0.00083021 0.00241898 -0.00500444
+v -0.00183008 0.00718529 -0.00500385
+v -0.00183008 0.00718529 -0.00210094
+v -0.00183008 0.00718058 0.00107512
+v -0.00083158 -0.04086838 0.00107512
+v -0.00083021 -0.04087309 0.00099121
+v -0.00083021 -0.03026298 -0.00500444
+v -0.00183008 0.00241898 -0.00500444
+v -0.00183008 -0.04046844 0.00107512
+v -0.00090831 -0.04084015 0.00107512
+v -0.00091536 -0.04084486 0.00091563
+v -0.00083021 -0.04088250 -0.00029957
+v -0.00183008 -0.03026298 -0.00500444
+v -0.00083021 -0.04087779 -0.00500385
+v -0.00183008 -0.04049197 -0.00029957
+v -0.00108507 -0.04076958 0.00107512
+v -0.00083021 -0.04088250 -0.00458252
+v -0.00158951 -0.04058607 -0.00500385
+v -0.00091927 -0.04084486 -0.00500385
+v -0.00183008 -0.04048256 -0.00500385
+v -0.00183008 -0.04049197 -0.00475212
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 20
+f 1 20 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 7 8
+f 4 9 10
+f 5 11 17
+f 5 17 12
+f 6 12 17
+f 6 17 24
+f 6 24 25
+f 6 25 19
+f 6 19 13
+f 6 13 8
+f 6 8 7
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 18 17
+f 13 19 15
+f 13 15 20
+f 14 20 15
+f 15 19 16
+f 16 19 22
+f 16 22 21
+f 17 18 23
+f 17 23 22
+f 17 22 24
+f 18 21 23
+f 19 25 22
+f 21 22 23
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_121.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1f7a27f6500efb480092eff7abb7cb9b86978d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.01264049 -0.01616037 0.01620288
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_122.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3313696967de39e4aed0ef0b7a7f74d7bed47d05
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_122.obj
@@ -0,0 +1,342 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_123.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978830e5ebb62ab90d95e9486c47a4e517d7c46e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03637370 0.00489815
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+v -0.00718584 0.03636179 0.00489815
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_124.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1829aee1426e64bc9f5c8d7828e96f35a2c86b82
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_124.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.01799958 0.01299044 -0.01079156
+v -0.01723698 0.01299044 -0.01079156
+v -0.01799958 0.01299044 -0.00550859
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+v -0.01777071 0.01299180 -0.01946189
+v -0.01723698 0.01299180 -0.01954018
+v -0.01723698 0.01299044 -0.00550859
+v -0.01799958 0.02686494 -0.00550859
+v -0.01799958 0.01378630 -0.01941518
+v -0.01723698 0.01378630 -0.01952782
+v -0.01723698 0.02402512 -0.00550859
+v -0.01799958 0.02686494 -0.00913359
+v -0.01723750 0.02686494 -0.00550859
+v -0.01799958 0.01600410 -0.01921601
+v -0.01723698 0.01594841 -0.01940007
+v -0.01723698 0.02686358 -0.01078743
+v -0.01748511 0.02686494 -0.01029018
+v -0.01794643 0.02542805 -0.01186161
+v -0.01799958 0.02550275 -0.01160612
+v -0.01723817 0.02686494 -0.01078194
+v -0.01799958 0.01807115 -0.01897837
+v -0.01723698 0.01807115 -0.01919815
+v -0.01723698 0.02671147 -0.01108551
+v -0.01723817 0.02686086 -0.01079156
+v -0.01723698 0.02659603 -0.01131079
+v -0.01799958 0.02537780 -0.01181353
+v -0.01723698 0.02560868 -0.01307864
+v -0.01723698 0.02438773 -0.01520914
+v -0.01725683 0.02436057 -0.01520639
+v -0.01783416 0.02311111 -0.01586298
+v -0.01799958 0.02336236 -0.01506079
+v -0.01799958 0.01975385 -0.01868304
+v -0.01723698 0.02017758 -0.01884238
+v -0.01723698 0.02436057 -0.01524760
+v -0.01799958 0.02295085 -0.01571875
+v -0.01723698 0.02270096 -0.01749897
+v -0.01799958 0.02192548 -0.01713359
+v -0.01799958 0.02090553 -0.01821463
+v -0.01785051 0.02102504 -0.01833963
+v -0.01723698 0.02043155 -0.01876134
+v -0.01723698 0.02237501 -0.01775035
+v -0.01742569 0.02237908 -0.01754980
+v -0.01799958 0.02124099 -0.01787260
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 19
+f 1 19 26
+f 1 26 31
+f 1 31 35
+f 1 35 37
+f 1 37 43
+f 1 43 38
+f 1 38 32
+f 1 32 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 22
+f 2 22 33
+f 2 33 40
+f 2 40 41
+f 2 41 36
+f 2 36 34
+f 2 34 28
+f 2 28 27
+f 2 27 25
+f 2 25 23
+f 2 23 16
+f 2 16 11
+f 2 11 7
+f 3 7 11
+f 3 11 13
+f 3 13 8
+f 4 9 5
+f 5 10 6
+f 5 9 10
+f 8 13 20
+f 8 20 17
+f 8 17 12
+f 9 14 15
+f 9 15 10
+f 11 16 13
+f 12 17 18
+f 12 18 19
+f 13 16 20
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 20
+f 17 20 24
+f 17 24 23
+f 17 23 25
+f 17 25 18
+f 18 26 19
+f 18 25 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 26
+f 21 32 33
+f 21 33 22
+f 28 34 30
+f 28 30 29
+f 30 35 31
+f 30 34 36
+f 30 36 37
+f 30 37 35
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 36 41 39
+f 36 39 42
+f 36 42 37
+f 37 42 43
+f 38 43 39
+f 39 43 42
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_125.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25673ba4ef2ad1997d7e899d2bf38a1756222cb6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00520518 -0.04290690 -0.00542641
+v 0.00520518 -0.04288577 -0.00601245
+v 0.00521831 -0.04291395 -0.00542641
+v 0.00520518 0.02878733 -0.00542641
+v 0.00550067 -0.04298439 -0.00572373
+v 0.00524158 -0.04292099 -0.00542641
+v 0.00520518 -0.04287168 -0.00612389
+v 0.00666349 0.02878733 -0.00542641
+v 0.00520518 0.02878733 -0.00612389
+v 0.00601242 -0.04304074 -0.00612389
+v 0.00665107 -0.04313935 -0.00612389
+v 0.00666349 -0.04317457 -0.00542641
+v 0.00578602 -0.04304074 -0.00542641
+v 0.00549767 -0.04298439 -0.00542641
+v 0.00666349 0.02878733 -0.00612389
+v 0.00666349 -0.04313935 -0.00612389
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 15
+f 4 15 9
+f 5 7 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 9 15
+f 7 15 16
+f 7 16 11
+f 7 11 10
+f 8 12 16
+f 8 16 15
+f 11 16 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_126.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330a0cef45c5ecb821d9fe86204cb3dc25c0f448
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 0.03234279 -0.00541545
+v -0.00295333 0.03234279 -0.00862845
+v -0.00351176 0.03234279 -0.00541545
+v -0.00295333 -0.03992744 -0.00541545
+v -0.00351176 0.03234279 -0.00862845
+v -0.00295333 -0.03944639 -0.00862845
+v -0.00351176 -0.03965862 -0.00541545
+v -0.00351176 -0.03960202 -0.00654358
+v -0.00295333 -0.03986377 -0.00665240
+v -0.00351176 -0.03918464 -0.00862845
+v -0.00295333 -0.03953128 -0.00822934
+v -0.00347793 -0.03920586 -0.00862845
+v -0.00351176 -0.03958787 -0.00669675
+v -0.00351176 -0.03951006 -0.00708799
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 12
+f 9 12 11
+f 10 12 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_127.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73d0803aeb9089367e714ba3a9cd70d0d6654aa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_127.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01542661 0.01940583 0.01483519
+v 0.01542661 0.02204815 0.01201187
+v 0.01426750 0.02004900 0.01230647
+v 0.01426750 0.01773834 0.01438555
+v 0.01426750 0.01745248 0.01458784
+v 0.01426750 0.01693025 0.01483519
+v 0.01542661 0.00332831 0.01483519
+v 0.01426750 0.02024873 0.01201187
+v 0.01542661 0.00332831 0.01201187
+v 0.01426750 0.00592299 0.01483519
+v 0.01513014 0.00332831 0.01483519
+v 0.01426750 0.00332831 0.01201187
+v 0.01426750 0.00332831 0.01410780
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 11
+f 1 11 7
+f 1 7 9
+f 1 9 2
+f 2 8 3
+f 2 9 12
+f 2 12 8
+f 3 8 12
+f 3 12 13
+f 3 13 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 11 13
+f 7 13 12
+f 7 12 9
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_128.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33edd39ca98863fa94432afb8f5b85363a0017f9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_128.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 -0.04184533 -0.01226691
+v 0.00880497 -0.04156640 -0.01307988
+v 0.00961628 -0.04199874 -0.01226691
+v 0.00880497 0.02877338 -0.01226691
+v 0.00880497 -0.04112708 -0.01434234
+v 0.00880567 -0.04102945 -0.01463980
+v 0.01088119 -0.04191506 -0.01315275
+v 0.01085319 -0.04221492 -0.01226691
+v 0.01420272 0.02878036 -0.01226691
+v 0.01004259 0.02878733 -0.01434234
+v 0.00880567 0.02878036 -0.01434234
+v 0.00880497 0.02877338 -0.01434234
+v 0.00880567 -0.04082723 -0.01518616
+v 0.01004259 -0.04105735 -0.01518616
+v 0.01090009 -0.04150364 -0.01434234
+v 0.01301971 -0.04243109 -0.01226691
+v 0.01178840 -0.04159429 -0.01434234
+v 0.01595624 0.02878036 -0.01226691
+v 0.01595484 0.02878733 -0.01434234
+v 0.01004259 0.02878733 -0.01518616
+v 0.00880567 0.02878036 -0.01518616
+v 0.01091689 -0.04121076 -0.01518616
+v 0.01516103 -0.04174073 -0.01434234
+v 0.01516313 -0.04245201 -0.01226691
+v 0.01301971 -0.04171284 -0.01434234
+v 0.01302041 -0.04141996 -0.01518616
+v 0.01595624 0.02878036 -0.01434234
+v 0.01595624 -0.01753637 -0.01226691
+v 0.01595484 0.02878733 -0.01518616
+v 0.01516103 -0.04144088 -0.01518616
+v 0.01595414 -0.04126655 -0.01518616
+v 0.01595554 -0.04185230 -0.01315332
+v 0.01595554 -0.04206848 -0.01226691
+v 0.01595624 -0.01753637 -0.01434234
+v 0.01595484 -0.01274571 -0.01518616
+v 0.01595554 -0.04144785 -0.01434234
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 33
+f 1 33 28
+f 1 28 18
+f 1 18 9
+f 1 9 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 6 7
+f 4 9 10
+f 4 10 11
+f 4 11 21
+f 4 21 12
+f 5 12 21
+f 5 21 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 16
+f 9 18 19
+f 9 19 10
+f 10 19 29
+f 10 29 20
+f 10 20 21
+f 10 21 11
+f 13 21 20
+f 13 20 29
+f 13 29 35
+f 13 35 31
+f 13 31 30
+f 13 30 26
+f 13 26 22
+f 13 22 14
+f 14 22 15
+f 15 22 17
+f 16 23 24
+f 16 17 25
+f 16 25 23
+f 17 22 26
+f 17 26 25
+f 18 27 29
+f 18 29 19
+f 18 28 34
+f 18 34 27
+f 23 25 26
+f 23 26 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 27 34 35
+f 27 35 29
+f 28 33 34
+f 31 36 32
+f 31 35 34
+f 31 34 36
+f 32 36 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_129.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5145e343711437941b6e304678b258b396bbded8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_129.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02528747 0.01196840 -0.01037589
+v -0.02580679 0.01196840 -0.00889685
+v -0.02528747 0.01347880 -0.00903200
+v -0.02528747 0.01196840 0.00513574
+v -0.02589302 0.01196840 -0.00854152
+v -0.02574984 0.01378498 -0.00672538
+v -0.02528747 0.01393839 -0.00842308
+v -0.02528747 0.01272912 0.00480926
+v -0.02581577 0.01196840 0.00416693
+v -0.02590867 0.01196840 -0.00847015
+v -0.02593750 0.01196840 -0.00833804
+v -0.02593750 0.01314168 -0.00674056
+v -0.02593750 0.01347722 -0.00458275
+v -0.02584377 0.01378498 -0.00458275
+v -0.02528747 0.01510094 -0.00540882
+v -0.02528747 0.01495132 -0.00669956
+v -0.02528747 0.01286517 0.00475004
+v -0.02583117 0.01196840 0.00413808
+v -0.02593750 0.01196840 0.00390878
+v -0.02593750 0.01347722 -0.00029902
+v -0.02584377 0.01378498 -0.00029902
+v -0.02528747 0.01519279 -0.00029902
+v -0.02528747 0.01519248 -0.00458275
+v -0.02528747 0.01299427 0.00467108
+v -0.02593750 0.01207225 0.00384501
+v -0.02593750 0.01337400 0.00137742
+v -0.02580361 0.01378498 0.00184209
+v -0.02528747 0.01507284 0.00195597
+v -0.02528747 0.01378498 0.00417908
+v -0.02537770 0.01378498 0.00398471
+v -0.02593750 0.01334433 0.00184209
+v -0.02528747 0.01401414 0.00398471
+v -0.02528747 0.01390461 0.00410164
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 15
+f 1 15 23
+f 1 23 22
+f 1 22 28
+f 1 28 32
+f 1 32 33
+f 1 33 29
+f 1 29 24
+f 1 24 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 19
+f 1 19 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 10 11
+f 8 17 9
+f 9 17 18
+f 11 19 25
+f 11 25 31
+f 11 31 26
+f 11 26 20
+f 11 20 13
+f 11 13 12
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 24 29 25
+f 25 29 30
+f 25 30 27
+f 25 27 31
+f 26 31 27
+f 27 30 28
+f 28 30 32
+f 29 33 30
+f 30 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_13.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d812014825c18866eec9102493186851029ef1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01190422 -0.03500009 0.00803372
+v 0.01260389 -0.03589889 0.00803372
+v 0.01190422 -0.03243863 0.00991719
+v 0.01190422 -0.01448886 0.00803372
+v 0.01422875 -0.03659747 0.00803372
+v 0.01485672 -0.03485646 0.00991719
+v 0.01310869 -0.03365299 0.00991719
+v 0.01269872 -0.03328520 0.00991719
+v 0.01190422 -0.01448886 0.00991719
+v 0.01781037 -0.01448886 0.00803372
+v 0.01516318 -0.03672151 0.00803372
+v 0.01517475 -0.03496527 0.00991719
+v 0.01781095 -0.01448886 0.00991719
+v 0.01781037 -0.03120035 0.00803372
+v 0.01686090 -0.03598158 0.00803372
+v 0.01684066 -0.03499138 0.00991719
+v 0.01637344 -0.03509367 0.00991719
+v 0.01781037 -0.03120035 0.00991719
+v 0.01774445 -0.03334178 0.00803372
+v 0.01774041 -0.03334178 0.00827010
+v 0.01762765 -0.03334178 0.00991719
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 16
+f 3 16 21
+f 3 21 18
+f 3 18 13
+f 3 13 9
+f 4 9 13
+f 4 13 10
+f 5 11 12
+f 5 12 6
+f 10 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_130.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d37162eadff313a8811daf21a5a836dace8472
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 -0.01707310 -0.01960425
+v -0.01062676 -0.01493910 -0.01960425
+v -0.00950790 -0.01707310 -0.01960425
+v -0.01062676 -0.01707310 0.00313107
+v -0.01054287 -0.01493910 -0.01960425
+v -0.01062676 -0.01493910 0.00313107
+v -0.00950790 -0.01620571 -0.01960425
+v -0.00950790 -0.01707310 0.00313107
+v -0.00950790 -0.01493910 -0.01960203
+v -0.00950790 -0.01493910 0.00313107
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 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 7 9
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 6
+f 5 9 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_131.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c707892a1546505abdc1a37b94f331fa63584f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_131.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.01155242 0.00878627 -0.00293675
+v 0.00666363 0.00878627 -0.00293675
+v 0.01155242 0.00343057 -0.00293675
+v 0.01155290 0.00343057 -0.00399615
+v 0.01155242 0.00878627 -0.01106200
+v 0.00666363 0.00878627 -0.01106200
+v 0.00666363 0.00343057 -0.00293675
+v 0.01155146 -0.04402635 -0.00293754
+v 0.01155290 -0.04402635 -0.00399615
+v 0.01155290 0.00343057 -0.00619607
+v 0.01155242 0.00343057 -0.01106200
+v 0.00666363 0.00343057 -0.01106200
+v 0.00666363 -0.04319922 -0.00293754
+v 0.00863542 -0.04356109 -0.00293754
+v 0.01087857 -0.04395915 -0.00293754
+v 0.01155146 -0.04402635 -0.00399615
+v 0.01155290 -0.04402635 -0.00458391
+v 0.01155290 -0.04395398 -0.00619607
+v 0.01155194 -0.04269777 -0.01106120
+v 0.01081300 -0.04262539 -0.01106120
+v 0.01069766 -0.04260471 -0.01106120
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+v 0.00732504 -0.04130715 -0.01106041
+v 0.00666363 -0.04181376 -0.01105961
+v 0.00666363 -0.04319922 -0.00399615
+v 0.00863542 -0.04356109 -0.00399615
+v 0.01087857 -0.04395915 -0.00458391
+v 0.01087857 -0.04389195 -0.00619607
+v 0.01155194 -0.04391779 -0.00672736
+v 0.01155194 -0.04342668 -0.00895831
+v 0.01155194 -0.04305447 -0.01018871
+v 0.00972947 -0.04243412 -0.01106041
+v 0.00882398 -0.04227386 -0.01106041
+v 0.01147728 -0.04304930 -0.01018314
+v 0.00868902 -0.04224284 -0.01106041
+v 0.00666363 -0.04187580 -0.01105882
+v 0.00666363 -0.04312167 -0.00646331
+v 0.00666507 -0.04319922 -0.00458391
+v 0.00773615 -0.04339566 -0.00458391
+v 0.00704842 -0.04320955 -0.00619607
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+v 0.01083406 -0.04352490 -0.00820114
+v 0.01080917 -0.04333880 -0.00900523
+v 0.00725373 -0.04304413 -0.00801264
+v 0.00666363 -0.04267709 -0.00876265
+v 0.00666507 -0.04317337 -0.00528858
+v 0.00666363 -0.04311651 -0.00656352
+v 0.00666363 -0.04298727 -0.00765792
+v 0.00882398 -0.04320438 -0.00833237
+v 0.00666363 -0.04270811 -0.00866642
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+f 1 7 3
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+f 22 35 24
+f 22 24 23
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+f 25 38 26
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+f 26 39 27
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+f 27 40 28
+f 28 41 42
+f 28 42 29
+f 28 40 41
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 34
+f 30 34 31
+f 32 34 33
+f 33 34 44
+f 33 44 45
+f 33 45 46
+f 33 46 36
+f 33 36 35
+f 37 47 38
+f 37 48 40
+f 37 40 47
+f 38 47 39
+f 39 47 40
+f 40 48 41
+f 41 48 49
+f 41 49 45
+f 41 45 42
+f 42 45 50
+f 42 50 43
+f 43 50 44
+f 44 50 45
+f 45 49 51
+f 45 51 46
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_132.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a525f87b257bcbca8414a6e38ab13944a5b83796
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_132.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01268510 -0.00800030 0.02230346
+v -0.01264076 -0.00798775 0.02230167
+v -0.01264076 -0.00794258 0.02229868
+v -0.01422798 -0.00846329 0.02226761
+v -0.01268510 -0.00904172 0.02230346
+v -0.01264076 -0.00903795 0.02230227
+v -0.01264076 -0.00691497 0.02203874
+v -0.01422798 -0.00895388 0.02226761
+v -0.01533644 -0.00769038 0.02175848
+v -0.01533644 -0.00972679 0.02179254
+v -0.01268510 -0.01011074 0.02189532
+v -0.01264076 -0.01007560 0.02190608
+v -0.01264076 -0.00689866 0.02202798
+v -0.01533644 -0.00604419 0.02068465
+v -0.01489596 -0.00971299 0.02190667
+v -0.01533644 -0.01007184 0.02161148
+v -0.01482708 -0.01172681 0.02079281
+v -0.01268510 -0.01175316 0.02082448
+v -0.01264076 -0.01171176 0.02084360
+v -0.01264076 -0.01010195 0.02189293
+v -0.01264076 -0.00546200 0.02091113
+v -0.01264076 -0.00335157 0.01920746
+v -0.01281072 -0.00335157 0.01909989
+v -0.01533644 -0.00335157 0.01727133
+v -0.01533644 -0.01165028 0.02072708
+v -0.01482708 -0.01279834 0.01982953
+v -0.01268510 -0.01282469 0.01987315
+v -0.01264076 -0.01174814 0.02081970
+v -0.01264076 -0.00335157 0.01619870
+v -0.01533644 -0.00335157 0.01619870
+v -0.01533644 -0.01272180 0.01974407
+v -0.01482708 -0.01593138 0.01619870
+v -0.01268510 -0.01616852 0.01619870
+v -0.01264076 -0.01281967 0.01986777
+v -0.01264076 -0.01279709 0.01988809
+v -0.01264076 -0.01615973 0.01620288
+v -0.01264076 -0.01528645 0.01619870
+v -0.01533644 -0.01576952 0.01619870
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 6 2
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+f 22 24 23
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+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 27 34 35
+f 27 35 28
+f 27 33 36
+f 27 36 34
+f 29 37 33
+f 29 33 32
+f 29 32 38
+f 29 38 30
+f 31 38 32
+f 33 37 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_133.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4e651813fb030e7b80c9e49ad7376e7018e5cb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_133.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00083011 -0.04079231 -0.00654433
+v 0.00006335 -0.04113759 -0.00653067
+v -0.00083011 -0.04079231 -0.00653067
+v -0.00083011 -0.04075217 -0.00708899
+v 0.00023052 -0.04119379 -0.00655894
+v 0.00023052 -0.04119379 -0.00653067
+v -0.00074673 -0.04077626 -0.00713750
+v -0.00083011 0.04038643 -0.00653067
+v -0.00083011 -0.04073611 -0.00717085
+v -0.00073240 -0.04077626 -0.00717085
+v -0.00070800 -0.04078428 -0.00717085
+v 0.00023052 -0.04108941 -0.00717085
+v 0.00023052 0.04082003 -0.00653067
+v -0.00078162 0.04041052 -0.00653067
+v -0.00083011 0.04037841 -0.00672553
+v -0.00083011 0.04026599 -0.00717085
+v 0.00023052 0.04070762 -0.00717085
+v 0.00023052 0.04081200 -0.00672553
+v -0.00066232 0.04045870 -0.00672553
+v -0.00058102 0.04049885 -0.00653067
+v -0.00067291 0.04045870 -0.00653067
+v -0.00051176 0.04041052 -0.00717085
+v 0.00020394 0.04069959 -0.00717085
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+f 13 19 20
+f 14 21 19
+f 14 19 15
+f 15 19 16
+f 16 19 22
+f 17 23 18
+f 18 23 19
+f 19 21 20
+f 19 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_134.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1797217b2f7a52a5212fb1b661959cfeb9f25c29
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_134.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 -0.01956256 -0.01924090
+v -0.01634805 -0.01956256 0.00634729
+v -0.01680296 -0.01956256 -0.01913673
+v -0.01634805 -0.01898835 -0.01932983
+v -0.01635642 -0.01956256 0.00634983
+v -0.01634805 -0.01956011 0.00634983
+v -0.01680296 -0.01956256 0.00632188
+v -0.01680296 -0.01851230 -0.01929680
+v -0.01634805 -0.01896872 -0.01933237
+v -0.01680002 -0.01956256 0.00634983
+v -0.01634805 -0.01431124 0.00635237
+v -0.01680296 -0.01953066 0.00634983
+v -0.01680296 -0.01637251 -0.01948481
+v -0.01634805 -0.01682648 -0.01950514
+v -0.01680296 -0.01431124 0.00635237
+v -0.01634805 -0.01344257 0.00635237
+v -0.01680296 -0.01425726 -0.01958136
+v -0.01634805 -0.01478730 -0.01958136
+v -0.01680296 -0.01344257 0.00635237
+v -0.01634805 0.00550390 0.00634983
+v -0.01634872 0.00550635 0.00634983
+v -0.01680296 -0.01211256 -0.01960169
+v -0.01634805 -0.01264015 -0.01960169
+v -0.01680296 0.00550635 0.00634983
+v -0.01634805 0.00550635 -0.00295958
+v -0.01680296 0.00395550 -0.01960169
+v -0.01653792 -0.00171544 -0.01960423
+v -0.01634805 -0.00171544 -0.01960423
+v -0.01680296 0.00550635 -0.01959915
+v -0.01634805 0.00550635 -0.01959915
+v -0.01634805 0.00521434 -0.01960169
+v -0.01634805 -0.00121239 -0.01960423
+f 1 2 5
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+f 22 27 23
+f 23 27 28
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+f 26 31 27
+f 27 31 32
+f 27 32 28
+f 29 30 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_135.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480c06cfbed5c84551ad13678a4ea6f43687eb1b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.02102015 0.00329745
+v -0.00295333 -0.02102015 -0.00334341
+v -0.00351176 -0.02102015 0.00329745
+v -0.00295333 -0.03417948 0.00329745
+v -0.00351176 -0.02102015 -0.00334341
+v -0.00295333 -0.03417948 -0.00334341
+v -0.00351176 -0.03417948 0.00329745
+v -0.00351176 -0.03417948 -0.00334341
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_136.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b99210c3498a1d7d6955431643b1fc6aa84cf0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_136.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v -0.02309098 0.01417294 0.00635237
+v -0.02309094 0.01579430 0.00588965
+v -0.02309094 0.01614029 0.00582565
+v -0.02309094 0.01697118 0.00561152
+v -0.02318325 0.01399110 0.00635237
+v -0.02309098 -0.00558398 0.00635237
+v -0.02309090 -0.00558398 -0.01759362
+v -0.02309090 0.00952856 -0.01759362
+v -0.02309094 0.01773388 0.00519802
+v -0.02352479 0.01570338 0.00565336
+v -0.02352479 0.01564530 0.00567305
+v -0.02352479 0.01378401 0.00619977
+v -0.02339603 0.01378401 0.00628838
+v -0.02339603 0.01348095 0.00635237
+v -0.02352479 -0.00558398 0.00635237
+v -0.02309090 -0.00558398 -0.01840093
+v -0.02309090 0.00949825 -0.01760347
+v -0.02352479 0.00815721 -0.01732288
+v -0.02319387 0.00949573 -0.01743364
+v -0.02309098 0.00995031 -0.01745087
+v -0.02309098 0.01037965 -0.01723919
+v -0.02309098 0.01109689 -0.01688231
+v -0.02309098 0.01159946 -0.01662879
+v -0.02309098 0.01319304 -0.01534399
+v -0.02309094 0.01579430 -0.01254303
+v -0.02309094 0.01595088 -0.01236336
+v -0.02309094 0.01706967 -0.01107856
+v -0.02309094 0.01805967 -0.00994144
+v -0.02309094 0.01900168 -0.00877478
+v -0.02309094 0.01999672 -0.00671713
+v -0.02309094 0.02021139 -0.00463734
+v -0.02309094 0.02021644 -0.00458319
+v -0.02309094 0.02021644 -0.00030299
+v -0.02309094 0.02021139 -0.00017992
+v -0.02309094 0.02012805 0.00175466
+v -0.02309094 0.02012299 0.00184819
+v -0.02309094 0.01951435 0.00333236
+v -0.02309094 0.01923402 0.00390584
+v -0.02309094 0.01867589 0.00455316
+v -0.02352479 0.01728687 0.00475006
+v -0.02352483 0.00692983 -0.01759362
+v -0.02352479 0.01361480 0.00624407
+v -0.02352479 0.01308697 0.00635237
+v -0.02352483 -0.00558398 -0.01759362
+v -0.02352483 -0.00558398 -0.01790867
+v -0.02352483 -0.00423285 -0.01829755
+v -0.02309090 -0.00498039 -0.01856584
+v -0.02352479 0.00722026 -0.01755178
+v -0.02309090 0.00728592 -0.01811049
+v -0.02352483 0.00521754 -0.01803912
+v -0.02352479 0.00951340 -0.01668048
+v -0.02352479 0.01163229 -0.01556305
+v -0.02352479 0.01195808 -0.01530461
+v -0.02309098 0.01381179 -0.01479020
+v -0.02309098 0.01579430 -0.01254303
+v -0.02352479 0.01797633 -0.00887570
+v -0.02348927 0.01806724 -0.00886339
+v -0.02352479 0.01805714 -0.00872802
+v -0.02352479 0.01905976 -0.00669744
+v -0.02352479 0.01927695 -0.00458319
+v -0.02309336 0.02021139 -0.00458319
+v -0.02309336 0.02021139 -0.00030299
+v -0.02352479 0.01927695 -0.00030299
+v -0.02352479 0.01922897 0.00081937
+v -0.02352479 0.01917341 0.00193188
+v -0.02352479 0.01882237 0.00278841
+v -0.02352479 0.01824655 0.00396983
+v -0.02352479 0.01816069 0.00407075
+v -0.02352479 0.01593068 -0.01122131
+v -0.02352479 0.01579430 -0.01137638
+v -0.02352479 0.01369309 -0.01375153
+v -0.02352483 -0.00231600 -0.01846984
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+v -0.02309090 0.00521754 -0.01847969
+v -0.02352483 0.00307340 -0.01830740
+v -0.02352483 -0.00120731 -0.01850922
+v -0.02309090 -0.00120731 -0.01879227
+v -0.02309090 0.00307340 -0.01866182
+v -0.02352483 0.00093431 -0.01842554
+v -0.02309090 0.00093431 -0.01874059
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+f 12 41 42
+f 12 42 13
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+f 15 43 41
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+f 16 45 46
+f 16 46 47
+f 17 48 18
+f 17 49 50
+f 17 50 48
+f 18 48 50
+f 18 50 41
+f 18 41 51
+f 18 51 20
+f 18 20 19
+f 20 51 21
+f 21 51 22
+f 22 51 23
+f 23 51 52
+f 23 52 53
+f 23 53 24
+f 24 54 25
+f 24 53 54
+f 25 54 55
+f 25 55 26
+f 26 56 27
+f 26 55 56
+f 27 56 28
+f 28 56 57
+f 28 57 29
+f 29 57 58
+f 29 58 59
+f 29 59 30
+f 30 59 31
+f 31 59 60
+f 31 60 61
+f 31 61 32
+f 32 61 62
+f 32 62 33
+f 33 62 34
+f 34 62 63
+f 34 63 64
+f 34 64 35
+f 35 64 65
+f 35 65 36
+f 36 65 66
+f 36 66 37
+f 37 66 67
+f 37 67 38
+f 38 67 68
+f 38 68 39
+f 39 68 40
+f 40 68 41
+f 41 50 75
+f 41 75 79
+f 41 79 76
+f 41 76 72
+f 41 72 46
+f 41 46 45
+f 41 45 44
+f 41 43 42
+f 41 68 67
+f 41 67 66
+f 41 66 65
+f 41 65 64
+f 41 64 63
+f 41 63 60
+f 41 60 59
+f 41 59 58
+f 41 58 56
+f 41 56 69
+f 41 69 70
+f 41 70 71
+f 41 71 53
+f 41 53 52
+f 41 52 51
+f 46 72 47
+f 47 72 73
+f 49 74 50
+f 50 74 75
+f 53 71 54
+f 54 71 70
+f 54 70 55
+f 55 70 69
+f 55 69 56
+f 56 58 57
+f 60 63 62
+f 60 62 61
+f 72 76 73
+f 73 76 77
+f 74 78 75
+f 75 78 79
+f 76 79 78
+f 76 78 80
+f 76 80 77
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_137.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0fd40b82400b5ac52fc46fc73a5652d0bc5513
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_137.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.02181543 -0.02288572 -0.00458733
+v -0.02185241 -0.02282513 -0.00458733
+v -0.02181543 -0.02287411 -0.00472890
+v -0.02181543 -0.02288572 -0.00029900
+v -0.02185241 -0.02282513 -0.00029900
+v -0.02309082 -0.02052355 -0.00458298
+v -0.02309065 -0.02052355 -0.00458733
+v -0.02237850 -0.02165984 -0.00672170
+v -0.02181543 -0.02270589 -0.00672170
+v -0.02181543 -0.02275617 -0.00614890
+v -0.02181543 -0.02281353 0.00181140
+v -0.02183032 -0.02278775 0.00184189
+v -0.02240878 -0.02171720 0.00184189
+v -0.02309082 -0.02052355 -0.00030118
+v -0.02310872 -0.02049003 -0.00458298
+v -0.02309082 -0.02049003 -0.00496194
+v -0.02300782 -0.02048939 -0.00672170
+v -0.02232696 -0.02156380 -0.00779977
+v -0.02181543 -0.02270074 -0.00675001
+v -0.02181543 -0.02281224 0.00184189
+v -0.02236762 -0.02164050 0.00302451
+v -0.02309082 -0.02044492 0.00184189
+v -0.02309082 -0.02049003 0.00061790
+v -0.02310872 -0.02049003 -0.00030118
+v -0.02352470 -0.01970694 -0.00458298
+v -0.02309082 -0.02033342 -0.00672387
+v -0.02352470 -0.01865638 -0.00870578
+v -0.02309065 -0.01949425 -0.00868183
+v -0.02262296 -0.02039658 -0.00865569
+v -0.02181543 -0.02211616 -0.00835296
+v -0.02352470 -0.01951617 -0.00672387
+v -0.02352470 -0.01922355 -0.00741428
+v -0.02181543 -0.02223733 0.00361254
+v -0.02208918 -0.02112231 0.00445322
+v -0.02269391 -0.02044105 0.00383687
+v -0.02352470 -0.01883878 0.00388261
+v -0.02352470 -0.01962702 0.00184189
+v -0.02352470 -0.01970694 -0.00030118
+v -0.02352470 -0.01844820 -0.00899327
+v -0.02352470 -0.01823357 -0.00928947
+v -0.02309065 -0.01891483 -0.00948112
+v -0.02253646 -0.01767735 -0.01263258
+v -0.02181543 -0.01848171 -0.01338396
+v -0.02181543 -0.02188026 0.00410475
+v -0.02247337 -0.01969405 0.00525252
+v -0.02352470 -0.01826838 0.00442055
+v -0.02352470 -0.01749044 -0.01014539
+v -0.02226254 -0.01712629 -0.01406130
+v -0.02181543 -0.01761419 -0.01455133
+v -0.02181543 -0.01839341 -0.01350375
+v -0.02181543 -0.02012266 0.00558139
+v -0.02238335 -0.01755103 0.00635237
+v -0.02282878 -0.01834830 0.00556832
+v -0.02352470 -0.01630195 0.00579700
+v -0.02352470 -0.01630195 -0.01148481
+v -0.02283096 -0.01637478 -0.01331427
+v -0.02240912 -0.01637478 -0.01445985
+v -0.02206910 -0.01637478 -0.01535934
+v -0.02200937 -0.01637478 -0.01549872
+v -0.02309082 -0.01630195 -0.01268049
+v -0.02181543 -0.01681821 -0.01544863
+v -0.02181543 -0.01836828 0.00635237
+v -0.02297954 -0.01637478 0.00635237
+v -0.02309082 -0.01630195 0.00629357
+v -0.02309065 -0.01738087 0.00577958
+v -0.02338281 -0.01630195 0.00601479
+v -0.02181543 -0.01655589 -0.01574265
+v -0.02181543 -0.01637478 -0.01589728
+v -0.02181543 -0.01637478 0.00635237
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 19
+f 1 19 30
+f 1 30 43
+f 1 43 50
+f 1 50 49
+f 1 49 61
+f 1 61 67
+f 1 67 68
+f 1 68 69
+f 1 69 62
+f 1 62 51
+f 1 51 44
+f 1 44 33
+f 1 33 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 14
+f 2 14 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 14 24
+f 6 24 15
+f 6 15 7
+f 7 16 17
+f 7 17 8
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 15 24 38
+f 15 38 25
+f 16 26 17
+f 17 26 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 26 31
+f 18 31 32
+f 18 32 27
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 38 24
+f 25 38 37
+f 25 37 36
+f 25 36 46
+f 25 46 54
+f 25 54 55
+f 25 55 47
+f 25 47 40
+f 25 40 39
+f 25 39 27
+f 25 27 32
+f 25 32 31
+f 25 31 26
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 33 44 34
+f 34 44 45
+f 34 45 36
+f 34 36 35
+f 36 45 46
+f 40 47 48
+f 40 48 42
+f 40 42 41
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 46
+f 47 55 48
+f 48 56 57
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 48 55 60
+f 48 60 56
+f 49 59 61
+f 51 62 52
+f 52 62 69
+f 52 69 63
+f 52 63 64
+f 52 64 53
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 64
+f 54 64 60
+f 54 60 55
+f 56 60 57
+f 57 60 58
+f 58 60 59
+f 59 67 61
+f 59 60 68
+f 59 68 67
+f 60 64 69
+f 60 69 68
+f 63 69 64
+f 64 66 65
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_138.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5af2650eb32c9e1783c481ef9ddf31e767265b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_138.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01644455 0.01490288 -0.01952383
+v -0.01634805 0.01490288 -0.01952383
+v -0.01680296 0.01490288 -0.01951761
+v -0.01634805 0.01592720 -0.01950517
+v -0.01634805 0.01490288 0.00165611
+v -0.01680296 0.01592720 -0.01947614
+v -0.01680296 0.01490288 0.00165611
+v -0.01668402 0.01629814 -0.01945125
+v -0.01634805 0.01629814 -0.01947199
+v -0.01634805 0.01629814 0.00165611
+v -0.01680296 0.01629814 -0.01944296
+v -0.01680296 0.01629814 0.00165611
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 9
+f 2 9 10
+f 2 10 5
+f 3 6 4
+f 3 7 12
+f 3 12 11
+f 3 11 6
+f 4 6 8
+f 4 8 9
+f 5 10 12
+f 5 12 7
+f 6 11 8
+f 8 11 12
+f 8 12 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_139.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5bd1be8c40d631205f87bd424c876300c0fd5a2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00067615 0.00949100 0.01948920
+v 0.00222653 0.00539770 0.01948920
+v 0.00292119 0.00539770 0.02053215
+v 0.00232461 0.00949060 0.02116416
+v 0.00233901 0.00949060 0.02117572
+v 0.00436809 0.00949060 0.02249783
+v 0.00442838 0.00949060 0.02252312
+v 0.00658794 0.00949060 0.02267925
+v 0.00659334 0.00949060 0.02267894
+v 0.00783778 0.00949060 0.02233171
+v 0.00876909 0.00949060 0.02112388
+v 0.00966981 0.00949060 0.01981114
+v 0.00986777 0.00949060 0.01948920
+v 0.00966981 0.00539770 0.01948920
+v 0.00304266 0.00539770 0.02062270
+v 0.00367253 0.00884030 0.02204349
+v 0.00550546 0.00625555 0.02220087
+v 0.00519322 0.00735861 0.02231703
+v 0.00556755 0.00625555 0.02220087
+v 0.00640707 0.00745196 0.02231672
+v 0.00772171 0.00822847 0.02223491
+v 0.00952854 0.00539770 0.01968592
+v 0.00963022 0.00735861 0.01978553
+v 0.00982908 0.00735861 0.01948920
+v 0.00464793 0.00539770 0.02161101
+v 0.00465513 0.00539770 0.02161538
+v 0.00640797 0.00539770 0.02186987
+v 0.00699555 0.00680087 0.02207097
+v 0.00844516 0.00539770 0.02086314
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 24
+f 1 24 14
+f 1 14 2
+f 2 14 22
+f 2 22 29
+f 2 29 27
+f 2 27 26
+f 2 26 25
+f 2 25 15
+f 2 15 3
+f 3 15 16
+f 3 16 5
+f 3 5 4
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 19 9
+f 8 18 17
+f 8 17 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 24 13
+f 12 23 24
+f 14 24 23
+f 14 23 22
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 19
+f 19 27 20
+f 20 27 28
+f 20 28 21
+f 21 28 27
+f 21 27 29
+f 21 29 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_14.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8a8cf902bb50e923cec7a3e4a7ca8108e7bdef
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03696125 0.00550877
+v -0.00516783 0.03705950 0.00535564
+v -0.00555981 0.03679498 0.00550877
+v -0.00516783 0.02730245 0.00550877
+v -0.00516783 0.03753564 0.00461153
+v -0.00587327 0.03668161 0.00547588
+v -0.00590860 0.03660604 0.00550877
+v -0.00597001 0.02730245 0.00550877
+v -0.00516783 -0.03732380 0.00550823
+v -0.00516783 0.03786062 0.00403889
+v -0.00597001 0.03665138 0.00544461
+v -0.00597001 0.03655313 0.00550877
+v -0.00597001 -0.03687033 0.00550823
+v -0.00560229 -0.03711974 0.00550823
+v -0.00597001 -0.03699126 0.00544353
+v -0.00516783 -0.03822317 0.00418286
+v -0.00516783 0.03835943 0.00184432
+v -0.00597001 0.03792108 0.00184432
+v -0.00597001 0.03738448 0.00412247
+v -0.00597001 -0.03789063 0.00382860
+v -0.00516783 -0.03827607 0.00406154
+v -0.00516783 0.03839722 0.00000023
+v -0.00597001 0.03795131 0.00000023
+v -0.00597001 -0.03794353 0.00370297
+v -0.00516783 -0.03859350 0.00327861
+v -0.00516783 -0.03873710 0.00000023
+v -0.00597001 -0.03832898 0.00000023
+v -0.00597001 -0.03829875 0.00184432
+v -0.00554332 -0.03836677 0.00327861
+v -0.00516783 -0.03871442 0.00297719
+v -0.00516783 -0.03877489 0.00183839
+v -0.00517144 -0.03881267 0.00000023
+v -0.00597001 -0.03831386 0.00111046
+v -0.00516783 -0.03877489 0.00184432
+v -0.00521000 -0.03869175 0.00294700
+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 16
+f 1 16 21
+f 1 21 25
+f 1 25 30
+f 1 30 34
+f 1 34 31
+f 1 31 26
+f 1 26 22
+f 1 22 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 8 12 11
+f 8 11 19
+f 8 19 18
+f 8 18 23
+f 8 23 27
+f 8 27 33
+f 8 33 28
+f 8 28 24
+f 8 24 20
+f 8 20 15
+f 8 15 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 15 14
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 32
+f 22 32 27
+f 22 27 23
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 32
+f 27 32 33
+f 28 33 32
+f 28 32 34
+f 28 34 35
+f 28 35 29
+f 29 35 30
+f 30 35 34
+f 31 34 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_140.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b534fec2a11dfcf43c98537bc22ef7fa1dd99d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_140.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01542661 0.00332831 0.01483519
+v 0.01542661 0.00332831 0.01201187
+v 0.01513014 0.00332831 0.01483519
+v 0.01542661 0.00300238 0.01483519
+v 0.01426750 0.00332831 0.01201187
+v 0.01542661 -0.00277382 0.01201187
+v 0.01426750 0.00332831 0.01410780
+v 0.01426750 0.00298412 0.01461824
+v 0.01426750 0.00191310 0.01483463
+v 0.01516565 0.00313666 0.01483519
+v 0.01520445 0.00300759 0.01483519
+v 0.01426750 -0.00035148 0.01469065
+v 0.01426750 -0.00333117 0.01419568
+v 0.01542661 0.00105329 0.01427832
+v 0.01426750 -0.00333117 0.01201187
+v 0.01542661 -0.00044796 0.01362085
+v 0.01538270 -0.00333117 0.01201187
+v 0.01435657 -0.00333117 0.01405474
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 16
+f 1 16 6
+f 1 6 2
+f 2 6 17
+f 2 17 15
+f 2 15 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 9
+f 4 9 12
+f 4 12 13
+f 4 13 14
+f 5 15 13
+f 5 13 12
+f 5 12 9
+f 5 9 8
+f 5 8 7
+f 6 16 17
+f 9 11 10
+f 13 15 17
+f 13 17 18
+f 13 18 14
+f 14 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_141.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99932c5f0b2634e4f28396e1da3e5f6587b4f1b0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_141.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.00850034 -0.03683764 -0.00458533
+v -0.00922268 -0.03640149 -0.00458533
+v -0.00850034 -0.03677257 -0.00592133
+v -0.00850034 -0.03683764 -0.00030093
+v -0.00950790 -0.03618475 -0.00458533
+v -0.00913608 -0.03634771 -0.00672389
+v -0.00850034 -0.03673277 -0.00672389
+v -0.00922268 -0.03640149 -0.00030093
+v -0.00850034 -0.03679462 0.00184248
+v -0.00918875 -0.03638051 0.00184248
+v -0.00950790 -0.03616002 -0.00502662
+v -0.00950790 -0.03618475 -0.00030093
+v -0.00950790 -0.03606429 -0.00673117
+v -0.00950790 -0.03587874 -0.00746827
+v -0.00850034 -0.03656390 -0.00751919
+v -0.00950790 -0.03613850 0.00184248
+v -0.00850034 -0.03631598 0.00398347
+v -0.00879582 -0.03613581 0.00398347
+v -0.00950790 -0.03564964 0.00390588
+v -0.00950790 -0.03545657 -0.00893520
+v -0.00850034 -0.03611699 -0.00903461
+v -0.00850034 -0.03530545 0.00554253
+v -0.00950790 -0.03484509 0.00540917
+v -0.00950790 -0.03544635 -0.00896187
+v -0.00850034 -0.03609118 -0.00910250
+v -0.00950790 -0.03455630 0.00556678
+v -0.00850034 -0.03410669 0.00618992
+v -0.00950790 -0.03352640 0.00612445
+v -0.00950790 -0.03495696 -0.01022270
+v -0.00938926 -0.03435462 -0.01194906
+v -0.00850034 -0.03463105 -0.01268617
+v -0.00850034 -0.03380660 0.00634995
+v -0.00927613 -0.03326719 0.00634995
+v -0.00950790 -0.03328601 0.00625296
+v -0.00950790 -0.03429062 -0.01186178
+v -0.00950790 -0.03420457 -0.01205333
+v -0.00950790 -0.03225988 -0.01634742
+v -0.00947585 -0.03227656 -0.01637167
+v -0.00850034 -0.03341938 -0.01544787
+v -0.00850034 -0.03377756 -0.01465985
+v -0.00850034 -0.03423523 -0.01361724
+v -0.00850034 -0.03134347 0.00634995
+v -0.00950790 -0.03302571 0.00634995
+v -0.00950790 -0.03222654 -0.01640319
+v -0.00950790 -0.03142898 -0.01753551
+v -0.00891693 -0.03175435 -0.01779980
+v -0.00850034 -0.03235508 -0.01742398
+v -0.00850034 -0.03259762 -0.01706998
+v -0.00950790 -0.03134347 0.00634995
+v -0.00850034 -0.03134347 -0.01841567
+v -0.00950790 -0.03134347 -0.01763492
+v -0.00914476 -0.03134347 -0.01803015
+v -0.00850034 -0.03193828 -0.01802772
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 21
+f 1 21 25
+f 1 25 31
+f 1 31 41
+f 1 41 40
+f 1 40 39
+f 1 39 48
+f 1 48 47
+f 1 47 53
+f 1 53 50
+f 1 50 42
+f 1 42 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 12
+f 2 12 5
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 5 12 16
+f 5 16 19
+f 5 19 23
+f 5 23 26
+f 5 26 28
+f 5 28 34
+f 5 34 43
+f 5 43 49
+f 5 49 51
+f 5 51 45
+f 5 45 44
+f 5 44 37
+f 5 37 36
+f 5 36 35
+f 5 35 29
+f 5 29 24
+f 5 24 20
+f 5 20 14
+f 5 14 13
+f 5 13 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 11 13
+f 8 10 16
+f 8 16 12
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 14 20 15
+f 15 20 21
+f 17 22 23
+f 17 23 18
+f 18 23 19
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 22 27 28
+f 22 28 26
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 32 42 49
+f 32 49 43
+f 32 43 33
+f 33 43 34
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 42 50 52
+f 42 52 51
+f 42 51 49
+f 45 51 52
+f 45 52 46
+f 46 52 53
+f 46 53 47
+f 50 53 52
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_142.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a822ce2714806a9ec5b69a92af3519f112e94e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_142.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02181543 -0.00521081 -0.01911327
+v -0.02237089 -0.00521081 -0.01891654
+v -0.02181543 -0.00479276 -0.01913495
+v -0.02181543 -0.00521081 -0.00216397
+v -0.02281548 -0.00521081 -0.01875815
+v -0.02296817 -0.00335222 -0.01879816
+v -0.02181543 -0.00272415 -0.01918163
+v -0.02308179 -0.00521081 -0.00216397
+v -0.02181543 0.00149182 -0.00216397
+v -0.02295743 -0.00521081 -0.01864978
+v -0.02309077 -0.00312383 -0.01872647
+v -0.02304845 -0.00121076 -0.01881984
+v -0.02181543 -0.00121076 -0.01919664
+v -0.02309077 -0.00520819 -0.00216397
+v -0.02309077 -0.00521081 -0.00221899
+v -0.02191781 0.00149379 -0.00216397
+v -0.02181543 0.00149379 -0.00232902
+v -0.02309077 -0.00521081 -0.01850139
+v -0.02309077 -0.00498111 -0.01856642
+v -0.02309077 -0.00130920 -0.01878816
+v -0.02299564 0.00093136 -0.01880817
+v -0.02181543 0.00093136 -0.01917996
+v -0.02309077 -0.00121076 -0.01879149
+v -0.02309077 0.00149379 -0.00216397
+v -0.02181543 0.00149379 -0.01916996
+v -0.02309077 0.00072660 -0.01874481
+v -0.02309077 0.00093136 -0.01873981
+v -0.02297853 0.00149379 -0.01880483
+v -0.02309077 0.00149379 -0.01871313
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 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 9 16
+f 4 16 24
+f 4 24 14
+f 4 14 8
+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 9 17 16
+f 10 18 19
+f 10 19 11
+f 11 19 18
+f 11 18 15
+f 11 15 14
+f 11 14 24
+f 11 24 29
+f 11 29 27
+f 11 27 26
+f 11 26 23
+f 11 23 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 23
+f 12 23 21
+f 16 17 25
+f 16 25 28
+f 16 28 29
+f 16 29 24
+f 21 23 26
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 25
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_143.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8555be4e05865bb38105072574012aef16305bc5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00066972 0.02878732 0.00285823
+v 0.00066972 0.02878732 -0.00293675
+v 0.00023056 0.02878732 0.00285823
+v 0.00066972 -0.04119677 0.00285823
+v 0.00023056 0.02878732 -0.00293675
+v 0.00066972 -0.04144426 -0.00293675
+v 0.00023056 -0.04104553 0.00285823
+v 0.00063976 -0.04118990 0.00285823
+v 0.00066972 -0.04140301 0.00175324
+v 0.00023056 -0.04127927 -0.00293675
+v 0.00066972 -0.04144426 -0.00029849
+v 0.00023056 -0.04112115 0.00249349
+v 0.00034577 -0.04110740 0.00285823
+v 0.00023056 -0.04123802 0.00172885
+v 0.00023056 -0.04127927 -0.00029849
+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 14
+f 3 14 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 14 15
+f 9 15 11
+f 9 13 12
+f 9 12 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_144.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749baaf65bfe13a256c0aa6ad9ae2bf4e7ef2324
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_144.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.02763657 -0.00728854
+v 0.00147309 -0.02763657 -0.00728854
+v 0.00023052 -0.02763657 -0.00664594
+v 0.00023052 0.02878733 -0.00728854
+v 0.00147309 -0.02763657 -0.00664594
+v 0.00147309 0.02878733 -0.00728854
+v 0.00023052 0.02878733 -0.00664594
+v 0.00147309 0.02878733 -0.00664594
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_145.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac43f3bdce10f2ae92f392fe277d511178cf9c84
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_145.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01875175 0.02074017 0.00457699
+v -0.02000983 0.02074017 0.00457699
+v -0.01875175 -0.01893121 0.00457699
+v -0.01875163 0.02074017 -0.00219854
+v -0.02000983 0.02074017 -0.00646094
+v -0.02000983 -0.01893121 0.00457699
+v -0.01875163 -0.01893121 -0.00219854
+v -0.01875163 0.02074017 -0.00646094
+v -0.02000983 -0.01893121 -0.00646094
+v -0.01875163 -0.01893121 -0.00646094
+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 9
+f 2 9 6
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 8 10
+f 5 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_146.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cbb7b3cb4ff85ce9b184e2f348cfe9e855b710
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_146.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01781079 0.02878732 -0.01226691
+v 0.01781079 0.02878732 -0.01315903
+v 0.01595641 0.02878732 -0.01226691
+v 0.01781079 0.01142809 -0.01226691
+v 0.01630242 0.02878732 -0.01518616
+v 0.01781079 0.02878562 -0.01518616
+v 0.01595641 0.02878732 -0.01518616
+v 0.01595641 0.01142809 -0.01226691
+v 0.01781079 0.01142809 -0.01518616
+v 0.01595641 0.01142809 -0.01518616
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 5 6 9
+f 5 9 10
+f 5 10 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_147.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b5e40683d1c906e513cce3e9039d9e195032c2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_147.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00088389 0.00600140 0.01176190
+v 0.00023052 0.00600140 0.01176190
+v -0.00088389 0.00600140 0.01515225
+v -0.00088389 0.01100810 0.01176190
+v 0.00023052 0.01100810 0.01176190
+v 0.00023052 0.00600140 0.01630495
+v -0.00088389 0.00741921 0.01681644
+v -0.00088389 0.01100810 0.01955318
+v 0.00023052 0.01100810 0.01889626
+v 0.00023052 0.00945845 0.01901277
+v -0.00088389 0.00951383 0.01874587
+v 0.00022703 0.01100810 0.02020266
+v 0.00023052 0.00950893 0.01904748
+v 0.00023052 0.00948883 0.01903426
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 14
+f 2 14 10
+f 2 10 6
+f 3 6 7
+f 4 8 12
+f 4 12 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 11 12
+f 9 12 13
+f 10 14 12
+f 10 12 11
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_148.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b2f5aeeb1c8526860cabd7cd1d6586227fb72bf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_148.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03703160 -0.00716684
+v -0.00716753 0.03677645 -0.00828370
+v -0.00767237 0.03652131 -0.00828370
+v -0.00783660 0.03664524 -0.00716684
+v -0.00716753 -0.03744165 -0.00716684
+v -0.00716753 -0.03717193 -0.00828370
+v -0.00803770 0.03620055 -0.00828370
+v -0.00805384 0.03645570 -0.00716684
+v -0.00805384 -0.03690221 -0.00716684
+v -0.00805384 -0.03677828 -0.00776507
+v -0.00760149 -0.03693865 -0.00828370
+v -0.00716753 -0.03728857 -0.00784925
+v -0.00805384 0.03618597 -0.00828370
+v -0.00783105 -0.03680015 -0.00828370
+v -0.00805384 -0.03670538 -0.00807948
+v -0.00789065 -0.03676370 -0.00828370
+v -0.00805384 -0.03664706 -0.00828370
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 16
+f 2 16 17
+f 2 17 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 5 11 12
+f 6 12 11
+f 7 13 8
+f 8 13 17
+f 8 17 15
+f 8 15 10
+f 8 10 9
+f 10 14 11
+f 10 15 16
+f 10 16 14
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_149.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510ca20f945497ed29a00f7f8949673315fbf562
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_149.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00428649 -0.04133128 -0.01106200
+v 0.00428649 -0.04056204 -0.01321645
+v 0.00432815 -0.04057590 -0.01321752
+v 0.00433291 -0.04134514 -0.01106200
+v 0.00428649 0.02878733 -0.01106200
+v 0.00428649 -0.04054818 -0.01324552
+v 0.00664059 -0.04112338 -0.01324552
+v 0.00495879 -0.04099863 -0.01254768
+v 0.00432756 -0.04056204 -0.01324552
+v 0.00659624 -0.04187183 -0.01106200
+v 0.00732658 0.02878733 -0.01106200
+v 0.00428649 0.02878733 -0.01324552
+v 0.00732658 -0.04124812 -0.01324552
+v 0.00732658 -0.04150453 -0.01251262
+v 0.00732658 -0.04201043 -0.01106200
+v 0.00732658 0.02878733 -0.01324552
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 5 11 16
+f 5 16 12
+f 6 12 16
+f 6 16 13
+f 6 13 7
+f 6 7 9
+f 7 13 14
+f 7 14 15
+f 7 15 10
+f 7 10 8
+f 11 15 14
+f 11 14 13
+f 11 13 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_15.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58c9d5af9fa6bdb74c61e3be1b5db813ceffbb2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01190422 -0.01448886 0.00803481
+v 0.01190422 -0.00789321 0.00803481
+v 0.01781037 -0.01448886 0.00803481
+v 0.01190422 -0.01448886 0.01912437
+v 0.01774966 -0.00789321 0.00803481
+v 0.01190422 -0.00789321 0.01782164
+v 0.01781037 -0.01168466 0.00803481
+v 0.01781095 -0.01448886 0.01041231
+v 0.01271260 -0.01448886 0.01859242
+v 0.01190422 -0.00847045 0.01799316
+v 0.01779707 -0.00954357 0.00803481
+v 0.01774099 -0.00789321 0.00827039
+v 0.01779534 -0.00977990 0.00827039
+v 0.01191231 -0.00789321 0.01781404
+v 0.01781095 -0.01406335 0.01041231
+v 0.01780344 -0.01448886 0.01083787
+v 0.01380663 -0.01448886 0.01764251
+v 0.01497294 -0.01448886 0.01659706
+v 0.01198112 -0.00853502 0.01793780
+v 0.01296760 -0.00789321 0.01680224
+v 0.01769704 -0.00789321 0.00852551
+v 0.01760163 -0.01406335 0.01255531
+v 0.01763575 -0.01448886 0.01255531
+v 0.01772711 -0.01192098 0.01041231
+v 0.01605252 -0.01448886 0.01556790
+v 0.01298784 -0.00789321 0.01678053
+v 0.01697886 -0.00789321 0.01055778
+v 0.01697539 -0.01174212 0.01274638
+v 0.01748482 -0.01448886 0.01306555
+v 0.01658277 -0.01448886 0.01490893
+v 0.01409575 -0.00869257 0.01576982
+v 0.01456933 -0.00789321 0.01487093
+v 0.01685281 -0.00789321 0.01084872
+v 0.01681349 -0.01406335 0.01438783
+v 0.01686900 -0.01448886 0.01449857
+v 0.01461270 -0.00789321 0.01481122
+v 0.01588888 -0.00789321 0.01263131
+v 0.01653015 -0.01233744 0.01395141
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 29
+f 1 29 35
+f 1 35 30
+f 1 30 25
+f 1 25 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 14
+f 2 14 20
+f 2 20 26
+f 2 26 32
+f 2 32 36
+f 2 36 37
+f 2 37 33
+f 2 33 27
+f 2 27 21
+f 2 21 12
+f 2 12 5
+f 3 7 15
+f 3 15 8
+f 4 9 10
+f 5 12 13
+f 5 13 11
+f 6 10 14
+f 7 11 15
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 14
+f 11 13 15
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 16
+f 12 16 13
+f 13 16 15
+f 16 24 23
+f 18 25 19
+f 19 25 20
+f 20 25 26
+f 21 27 22
+f 22 28 29
+f 22 29 23
+f 22 27 28
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 32
+f 30 32 31
+f 30 35 36
+f 33 37 38
+f 33 38 34
+f 34 38 36
+f 34 36 35
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_150.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed40b4cd26e3f62967bc5b367c45988219e98d2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_150.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02069376 0.01980567 -0.01403555
+v -0.02130381 0.01980567 -0.01239548
+v -0.02181527 0.02016263 -0.01063643
+v -0.02181527 0.02032569 -0.01042026
+v -0.02069376 0.02012841 -0.01357744
+v -0.02069376 0.01980567 0.00622036
+v -0.02130381 0.01980567 0.00591495
+v -0.02181527 0.02016263 0.00530017
+v -0.02181527 0.02178731 -0.00829829
+v -0.02069376 0.02198247 -0.01071575
+v -0.02069376 0.02078867 0.00592883
+v -0.02101504 0.01980567 0.00605972
+v -0.02129602 0.01980567 0.00591892
+v -0.02130381 0.02016263 0.00580389
+v -0.02132720 0.02016263 0.00579001
+v -0.02069376 0.02192207 0.00546477
+v -0.02069376 0.02220256 0.00529224
+v -0.02130381 0.02160820 0.00493329
+v -0.02181527 0.02111015 0.00462987
+v -0.02181527 0.02226001 -0.00672367
+v -0.02168581 0.02245645 -0.00672367
+v -0.02130381 0.02303560 -0.00672367
+v -0.02069376 0.02395947 -0.00672367
+v -0.02069376 0.02333215 -0.00854420
+v -0.02069376 0.02081444 0.00591892
+v -0.02130381 0.02018459 0.00579596
+v -0.02130381 0.02022008 0.00578208
+v -0.02069376 0.02122674 0.00575035
+v -0.02069376 0.02294689 0.00458822
+v -0.02181527 0.02146415 0.00418366
+v -0.02181527 0.02242096 -0.00458187
+v -0.02173907 0.02253713 -0.00458187
+v -0.02069376 0.02411704 -0.00463541
+v -0.02069376 0.02334440 0.00394766
+v -0.02130381 0.02237196 0.00402897
+v -0.02181527 0.02189038 0.00355698
+v -0.02181527 0.02242096 -0.00030025
+v -0.02173907 0.02253713 -0.00030025
+v -0.02069376 0.02412084 -0.00458187
+v -0.02069376 0.02405283 0.00184156
+v -0.02181527 0.02233310 0.00202202
+v -0.02181527 0.02241420 -0.00006227
+v -0.02069376 0.02412084 -0.00030025
+v -0.02069376 0.02405621 0.00174438
+v -0.02130381 0.02312896 0.00184156
+v -0.02181527 0.02235422 0.00184156
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 24
+f 1 24 23
+f 1 23 33
+f 1 33 39
+f 1 39 43
+f 1 43 44
+f 1 44 40
+f 1 40 34
+f 1 34 29
+f 1 29 17
+f 1 17 16
+f 1 16 28
+f 1 28 25
+f 1 25 11
+f 1 11 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 19
+f 3 19 30
+f 3 30 36
+f 3 36 41
+f 3 41 46
+f 3 46 42
+f 3 42 37
+f 3 37 31
+f 3 31 20
+f 3 20 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 7 13 11
+f 7 11 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 11 25 26
+f 11 26 14
+f 11 13 12
+f 14 26 15
+f 15 27 16
+f 15 26 27
+f 16 27 28
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 25 28 27
+f 25 27 26
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 31 37 38
+f 31 38 32
+f 32 38 43
+f 32 43 39
+f 32 39 33
+f 34 40 36
+f 34 36 35
+f 36 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 42 46 43
+f 43 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_151.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36ca86f19f51db7c699c63e513c7a7c6f2ea11f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_151.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00384123 0.02878732 -0.00796109
+v 0.00384123 0.02878732 -0.01106200
+v 0.00314291 0.02878732 -0.00796109
+v 0.00384123 -0.04214721 -0.00796109
+v 0.00080188 0.02878732 -0.01106200
+v 0.00384123 -0.04117512 -0.01106200
+v 0.00080188 0.02878732 -0.00809799
+v 0.00314291 -0.04191113 -0.00796109
+v 0.00095065 -0.04118901 -0.00809799
+v 0.00223095 -0.04160562 -0.00809799
+v 0.00384123 -0.04195279 -0.00890266
+v 0.00080188 -0.04010582 -0.01106200
+v 0.00384123 -0.04123067 -0.01095212
+v 0.00314291 -0.04095293 -0.01106200
+v 0.00080188 -0.04113346 -0.00809799
+v 0.00080188 -0.04110569 -0.00824793
+v 0.00080188 -0.04107096 -0.00842004
+v 0.00217889 -0.04137648 -0.00899736
+v 0.00280490 -0.04105708 -0.01052990
+v 0.00384123 -0.04175143 -0.00948514
+v 0.00212652 -0.04060575 -0.01106200
+v 0.00080188 -0.04011971 -0.01102861
+v 0.00226815 -0.04065436 -0.01106200
+v 0.00080188 -0.04091127 -0.00886927
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 21
+f 2 21 12
+f 2 12 5
+f 3 7 15
+f 3 15 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 22
+f 5 22 24
+f 5 24 17
+f 5 17 16
+f 5 16 15
+f 5 15 7
+f 6 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 17 18
+f 12 21 22
+f 13 20 19
+f 13 19 14
+f 14 19 23
+f 17 24 18
+f 18 24 19
+f 19 24 22
+f 19 22 21
+f 19 21 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_152.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa73816680baa2bb319bece95d15bb821d9db648
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_152.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02528747 0.00758847 -0.00507996
+v -0.02528747 0.00758847 -0.00947375
+v -0.02593750 0.00758847 -0.00507996
+v -0.02528747 -0.01185427 -0.00507996
+v -0.02593750 0.00758847 -0.00947375
+v -0.02528747 -0.01185427 -0.00947375
+v -0.02593750 -0.01185427 -0.00507996
+v -0.02593750 -0.01115377 -0.00947375
+v -0.02574685 -0.01185427 -0.00947375
+v -0.02593750 -0.01185427 -0.00894593
+v -0.02577129 -0.01176481 -0.00947375
+v -0.02593750 -0.01179336 -0.00900099
+v -0.02576715 -0.01185427 -0.00941869
+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 11
+f 2 11 8
+f 2 8 5
+f 3 5 8
+f 3 8 12
+f 3 12 10
+f 3 10 7
+f 4 7 10
+f 4 10 13
+f 4 13 9
+f 4 9 6
+f 8 11 12
+f 9 13 11
+f 10 12 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_153.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1166ec2dd96e30cc58bba764b8dc1aff08d7b0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_153.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 0.02878732 -0.01106200
+v 0.00880497 0.02878732 -0.01363689
+v 0.00732702 0.02878732 -0.01106200
+v 0.00880497 -0.04227863 -0.01106200
+v 0.00732702 0.02878732 -0.01363689
+v 0.00880497 -0.04137431 -0.01363689
+v 0.00732702 -0.04200734 -0.01106200
+v 0.00732702 -0.04149952 -0.01252915
+v 0.00880497 -0.04157604 -0.01307962
+v 0.00732702 -0.04110301 -0.01363689
+v 0.00822051 -0.04126997 -0.01363689
+v 0.00732702 -0.04126997 -0.01317439
+v 0.00734178 -0.04127692 -0.01317439
+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 11
+f 2 11 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 9 11
+f 8 12 13
+f 8 13 9
+f 9 13 11
+f 10 11 13
+f 10 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_154.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014c127ae00dcf9ea07e5fc4ff39098606546fca
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_154.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.00167162 -0.00462873
+v -0.00295333 -0.00167162 -0.00541537
+v -0.00351176 -0.00167162 -0.00462873
+v -0.00295333 -0.03997315 -0.00462873
+v -0.00351176 -0.00167162 -0.00541537
+v -0.00295333 -0.03992816 -0.00541537
+v -0.00351176 -0.03970696 -0.00462873
+v -0.00351176 -0.03969196 -0.00489980
+v -0.00302499 -0.03989442 -0.00541537
+v -0.00351176 -0.03966197 -0.00541537
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 6
+f 8 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_155.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f13212f9509f063451c5eb4a81edd75b87383d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_155.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.02912758 -0.01328791
+v -0.01399461 0.02812679 -0.01529541
+v -0.01407737 0.02804051 -0.01529541
+v -0.01496672 0.02758613 -0.01434266
+v -0.01512946 0.02793123 -0.01328791
+v -0.01399461 -0.02963193 -0.01328791
+v -0.01399461 0.02794848 -0.01564102
+v -0.01512946 0.02698795 -0.01519711
+v -0.01512946 0.02741357 -0.01434266
+v -0.01512946 -0.02840682 -0.01328791
+v -0.01429810 -0.02933284 -0.01328791
+v -0.01399461 -0.02955716 -0.01347833
+v -0.01399461 0.02741357 -0.01662159
+v -0.01512946 0.02693618 -0.01529541
+v -0.01512946 -0.02795818 -0.01423509
+v -0.01512735 -0.02842982 -0.01328791
+v -0.01459791 -0.02902225 -0.01328791
+v -0.01399461 -0.02915454 -0.01434266
+v -0.01399461 0.02713174 -0.01698142
+v -0.01512946 0.02593538 -0.01698080
+v -0.01512946 0.02605042 -0.01683118
+v -0.01512946 -0.02790067 -0.01434266
+v -0.01399461 -0.02807897 -0.01657460
+v -0.01399461 -0.02824577 -0.01625434
+v -0.01444040 -0.02868865 -0.01434266
+v -0.01511324 -0.02844708 -0.01328791
+v -0.01464179 -0.02897624 -0.01328791
+v -0.01399461 0.02674062 -0.01746861
+v -0.01458803 0.02638402 -0.01713598
+v -0.01512946 0.02541773 -0.01760525
+v -0.01512946 -0.02730824 -0.01544627
+v -0.01399461 -0.02795818 -0.01673720
+v -0.01512946 -0.02636496 -0.01689733
+v -0.01469500 -0.02891872 -0.01328791
+v -0.01399461 0.02580309 -0.01849184
+v -0.01512946 0.02473903 -0.01817158
+v -0.01399461 0.02567080 -0.01860684
+v -0.01399461 -0.02712418 -0.01766522
+v -0.01512946 -0.02609463 -0.01722872
+v -0.01512946 0.02408908 -0.01868721
+v -0.01399461 0.02439968 -0.01891906
+v -0.01472788 0.02434791 -0.01874595
+v -0.01512946 -0.02576103 -0.01759907
+v -0.01512946 -0.02541593 -0.01794282
+v -0.01499804 -0.02550220 -0.01801763
+v -0.01399461 -0.02610038 -0.01858891
+v -0.01512946 0.02265691 -0.01899449
+v -0.01399461 0.02234056 -0.01928940
+v -0.01482719 0.02234056 -0.01914720
+v -0.01512946 -0.02438637 -0.01869772
+v -0.01399461 -0.02605437 -0.01861549
+v -0.01512946 0.02234056 -0.01905632
+v -0.01399461 0.02020092 -0.01949281
+v -0.01482719 0.02020092 -0.01942480
+v -0.01512946 0.02021243 -0.01935061
+v -0.01512946 -0.02417931 -0.01874471
+v -0.01473488 -0.02463944 -0.01875460
+v -0.01399461 -0.02542743 -0.01877315
+v -0.01399461 0.01805553 -0.01957875
+v -0.01482719 0.01805553 -0.01956329
+v -0.01512946 0.01805553 -0.01952249
+v -0.01512946 -0.02261484 -0.01908537
+v -0.01482719 -0.02261484 -0.01917008
+v -0.01399461 -0.02345459 -0.01920223
+v -0.01399461 0.01592165 -0.01960348
+v -0.01482719 0.01592165 -0.01960348
+v -0.01512946 0.01592165 -0.01958431
+v -0.01512946 -0.02235601 -0.01913483
+v -0.01512946 -0.02017611 -0.01943037
+v -0.01482719 -0.02048095 -0.01945386
+v -0.01399461 -0.02130345 -0.01947674
+v -0.01399461 -0.01702993 -0.01960348
+v -0.01512946 0.01377051 -0.01959853
+v -0.01512946 0.01163087 -0.01960348
+v -0.01512946 -0.01803072 -0.01955834
+v -0.01482719 -0.01833556 -0.01957133
+v -0.01399461 -0.01917532 -0.01958431
+v -0.01482719 -0.01619593 -0.01960348
+v -0.01512946 -0.01375145 -0.01960348
+v -0.01512946 -0.01589684 -0.01960101
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 26
+f 1 26 34
+f 1 34 27
+f 1 27 17
+f 1 17 11
+f 1 11 6
+f 1 6 12
+f 1 12 18
+f 1 18 24
+f 1 24 23
+f 1 23 32
+f 1 32 38
+f 1 38 46
+f 1 46 51
+f 1 51 58
+f 1 58 64
+f 1 64 71
+f 1 71 77
+f 1 77 72
+f 1 72 65
+f 1 65 59
+f 1 59 53
+f 1 53 48
+f 1 48 41
+f 1 41 37
+f 1 37 35
+f 1 35 28
+f 1 28 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 5 9 8
+f 5 8 14
+f 5 14 21
+f 5 21 20
+f 5 20 30
+f 5 30 36
+f 5 36 40
+f 5 40 47
+f 5 47 52
+f 5 52 55
+f 5 55 61
+f 5 61 67
+f 5 67 73
+f 5 73 74
+f 5 74 79
+f 5 79 80
+f 5 80 75
+f 5 75 69
+f 5 69 68
+f 5 68 62
+f 5 62 56
+f 5 56 50
+f 5 50 44
+f 5 44 43
+f 5 43 39
+f 5 39 33
+f 5 33 31
+f 5 31 22
+f 5 22 15
+f 5 15 10
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 25
+f 17 25 18
+f 18 25 24
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 22 31 23
+f 23 31 33
+f 23 33 32
+f 25 27 34
+f 25 34 26
+f 28 35 30
+f 28 30 29
+f 30 35 37
+f 30 37 36
+f 32 33 39
+f 32 39 38
+f 36 37 40
+f 37 41 42
+f 37 42 40
+f 38 39 43
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 40 42 47
+f 41 48 49
+f 41 49 42
+f 42 49 47
+f 44 50 45
+f 45 50 46
+f 46 50 51
+f 47 49 52
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 49 55 52
+f 50 56 57
+f 50 57 51
+f 51 57 58
+f 53 59 60
+f 53 60 54
+f 54 61 55
+f 54 60 61
+f 56 62 63
+f 56 63 57
+f 57 63 64
+f 57 64 58
+f 59 65 66
+f 59 66 60
+f 60 66 67
+f 60 67 61
+f 62 68 63
+f 63 68 69
+f 63 69 70
+f 63 70 64
+f 64 70 71
+f 65 72 78
+f 65 78 79
+f 65 79 74
+f 65 74 66
+f 66 73 67
+f 66 74 73
+f 69 75 70
+f 70 75 76
+f 70 76 71
+f 71 76 77
+f 72 77 78
+f 75 80 76
+f 76 80 77
+f 77 80 78
+f 78 80 79
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_156.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c98ff67f3c4adfb3d6ce1c565252dc2562d065
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_156.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01723698 0.00842674 -0.01959138
+v -0.01797196 0.00842674 -0.01955542
+v -0.01799958 0.00950065 -0.01955370
+v -0.01723698 0.00950065 -0.01958967
+v -0.01723698 0.00842674 -0.00209459
+v -0.01799958 0.00842674 -0.01955370
+v -0.01799958 0.01164268 -0.01950917
+v -0.01723698 0.01164268 -0.01957939
+v -0.01799958 0.00842674 -0.00209459
+v -0.01723698 0.01298999 -0.00209459
+v -0.01777071 0.01298999 -0.01946293
+v -0.01723698 0.01298999 -0.01954172
+v -0.01799958 0.01298999 -0.01942868
+v -0.01799958 0.01298999 -0.00209459
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 10
+f 1 10 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 14
+f 3 14 13
+f 3 13 7
+f 5 10 14
+f 5 14 9
+f 7 11 12
+f 7 12 8
+f 7 13 11
+f 10 12 11
+f 10 11 13
+f 10 13 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_157.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd0d30ead1663db70583b6926ead3a16d98a37c0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_157.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03234279 -0.01330778
+v -0.00183017 0.03234279 -0.01766391
+v -0.00351176 0.03234279 -0.01330778
+v -0.00183017 -0.00632108 -0.01330778
+v -0.00351176 0.03234279 -0.01766391
+v -0.00183017 -0.00632108 -0.01766391
+v -0.00351176 -0.00632108 -0.01330778
+v -0.00351176 -0.00632108 -0.01766391
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_158.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99f729f39046e74352d32a814309d2c74094e11
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_158.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03721120 0.00137650
+v -0.00716753 0.03724256 -0.00009740
+v -0.00796977 0.03671557 0.00137650
+v -0.00716753 -0.02684997 0.00137650
+v -0.00797420 0.03674066 -0.00009740
+v -0.00716753 -0.02684997 -0.00009740
+v -0.00805384 0.03668420 -0.00009740
+v -0.00805384 0.03665283 0.00137650
+v -0.00805384 -0.02684997 0.00137650
+v -0.00805384 -0.02684997 -0.00009740
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 7
+f 2 7 5
+f 3 7 8
+f 3 5 7
+f 4 9 10
+f 4 10 6
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_159.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e898b78f19f6f284295ce175245e1362c4f3bc0b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_159.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 0.02017938 -0.01816322
+v -0.01875131 0.02017938 -0.01757642
+v -0.01875131 0.02030275 -0.01758604
+v -0.01799965 0.02090747 -0.01821613
+v -0.01799965 0.02017938 0.00635237
+v -0.01875131 0.02017938 0.00635237
+v -0.01875131 0.02067436 -0.01720607
+v -0.01830566 0.02168475 -0.01691026
+v -0.01799965 0.02124200 -0.01787222
+v -0.01799965 0.02367904 0.00635237
+v -0.01875131 0.02266260 0.00635237
+v -0.01875131 0.02212448 -0.01521721
+v -0.01799965 0.02295171 -0.01571743
+v -0.01799965 0.02192694 -0.01713151
+v -0.01799965 0.02547504 0.00567178
+v -0.01799965 0.02564078 0.00560685
+v -0.01853367 0.02486578 0.00560685
+v -0.01875131 0.02461677 0.00558040
+v -0.01875131 0.02341490 -0.01314659
+v -0.01858746 0.02238105 -0.01520759
+v -0.01799965 0.02336343 -0.01505849
+v -0.01799965 0.02606159 0.00543851
+v -0.01828491 0.02590190 0.00533750
+v -0.01875131 0.02486578 0.00548179
+v -0.01839167 0.02395756 -0.01315140
+v -0.01875131 0.02464250 -0.01116976
+v -0.01799965 0.02537892 -0.01180946
+v -0.01799965 0.02662393 0.00485652
+v -0.01875131 0.02554921 0.00489019
+v -0.01875131 0.02490664 0.00546496
+v -0.01799965 0.02708409 0.00418074
+v -0.01852109 0.02662469 0.00379596
+v -0.01854294 0.02486578 -0.01131886
+v -0.01875131 0.02472197 -0.01103749
+v -0.01868649 0.02486578 -0.01096053
+v -0.01799965 0.02550380 -0.01160264
+v -0.01875131 0.02627426 0.00383203
+v -0.01799965 0.02777509 0.00299272
+v -0.01805991 0.02773044 0.00295665
+v -0.01824290 0.02584438 -0.01042905
+v -0.01875131 0.02486502 -0.01079700
+v -0.01875131 0.02599650 -0.00888991
+v -0.01799965 0.02701976 -0.00886586
+v -0.01875131 0.02639309 0.00347851
+v -0.01799965 0.02779780 0.00288931
+v -0.01799965 0.02786288 0.00184318
+v -0.01809155 0.02776601 0.00184318
+v -0.01875131 0.02685174 0.00205962
+v -0.01856362 0.02628410 -0.00886586
+v -0.01875131 0.02676848 -0.00678562
+v -0.01801106 0.02767367 -0.00754557
+v -0.01799965 0.02766005 -0.00760088
+v -0.01799965 0.02786818 0.00160990
+v -0.01875131 0.02691153 0.00021987
+v -0.01875131 0.02686687 0.00184318
+v -0.01811362 0.02779098 -0.00030200
+v -0.01875131 0.02692515 -0.00030200
+v -0.01875131 0.02679724 -0.00640324
+v -0.01808934 0.02776374 -0.00611706
+v -0.01870650 0.02683055 -0.00678802
+v -0.01799965 0.02768730 -0.00753354
+v -0.01799965 0.02791057 -0.00030200
+v -0.01811362 0.02779098 -0.00458273
+v -0.01875131 0.02692515 -0.00458273
+v -0.01799965 0.02784926 -0.00618920
+v -0.01799965 0.02791057 -0.00458273
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 21
+f 1 21 27
+f 1 27 36
+f 1 36 43
+f 1 43 52
+f 1 52 61
+f 1 61 65
+f 1 65 66
+f 1 66 62
+f 1 62 53
+f 1 53 46
+f 1 46 45
+f 1 45 38
+f 1 38 31
+f 1 31 28
+f 1 28 22
+f 1 22 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 24
+f 2 24 30
+f 2 30 29
+f 2 29 37
+f 2 37 44
+f 2 44 48
+f 2 48 55
+f 2 55 54
+f 2 54 57
+f 2 57 64
+f 2 64 58
+f 2 58 50
+f 2 50 42
+f 2 42 41
+f 2 41 34
+f 2 34 26
+f 2 26 19
+f 2 19 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 16 22 23
+f 16 23 24
+f 16 24 18
+f 16 18 17
+f 19 25 20
+f 19 26 25
+f 20 25 21
+f 21 25 27
+f 22 28 23
+f 23 29 30
+f 23 30 24
+f 23 28 31
+f 23 31 32
+f 23 32 29
+f 25 26 33
+f 25 33 27
+f 26 34 35
+f 26 35 33
+f 27 33 36
+f 29 32 37
+f 31 38 39
+f 31 39 32
+f 32 39 37
+f 33 35 40
+f 33 40 36
+f 34 41 35
+f 35 41 42
+f 35 42 40
+f 36 40 43
+f 37 39 44
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 44
+f 40 42 49
+f 40 49 43
+f 42 50 51
+f 42 51 49
+f 43 49 51
+f 43 51 52
+f 46 53 47
+f 47 54 55
+f 47 55 48
+f 47 53 56
+f 47 56 57
+f 47 57 54
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 51 60 59
+f 51 59 61
+f 51 61 52
+f 53 62 56
+f 56 63 64
+f 56 64 57
+f 56 62 66
+f 56 66 63
+f 58 64 59
+f 59 65 61
+f 59 64 63
+f 59 63 66
+f 59 66 65
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_16.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499730269defddd30b9e6288ce8261bdae2a979d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00080578 0.00757483
+v 0.00023052 -0.01435411 0.00757483
+v 0.00023052 0.00080578 0.00635237
+v -0.02397763 0.00080578 0.00757483
+v 0.00022785 -0.01950346 0.00757483
+v 0.00023052 -0.02479314 0.00735657
+v 0.00023052 -0.02479314 0.00635237
+v -0.02585318 0.00080578 0.00635237
+v -0.02446726 0.00080578 0.00734903
+v -0.02477227 0.00010667 0.00757483
+v -0.00411988 -0.02193155 0.00757483
+v -0.01054382 -0.02315437 0.00757483
+v -0.01268424 -0.02322453 0.00757483
+v -0.01054382 -0.02479314 0.00735944
+v -0.01748948 -0.02479314 0.00635237
+v -0.02653811 -0.00121387 0.00635237
+v -0.02693409 -0.00352419 0.00757483
+v -0.02669597 -0.00291028 0.00757483
+v -0.02648728 -0.00247928 0.00757483
+v -0.02551874 0.00080578 0.00665535
+v -0.02525118 0.00080578 0.00686476
+v -0.02570602 -0.00119132 0.00757483
+v -0.01602865 -0.02225981 0.00757483
+v -0.01268424 -0.02479314 0.00735585
+v -0.01680990 -0.02479314 0.00669771
+v -0.02152953 -0.01745876 0.00757483
+v -0.01763396 -0.02462275 0.00635237
+v -0.02698760 -0.00321347 0.00635237
+v -0.02710265 -0.00549873 0.00757483
+v -0.01656108 -0.02206436 0.00757483
+v -0.01463738 -0.02479314 0.00726778
+v -0.01637647 -0.02479314 0.00686153
+v -0.01679385 -0.02461272 0.00677250
+v -0.01925266 -0.01994448 0.00757483
+v -0.02093289 -0.01811777 0.00757483
+v -0.01910550 -0.02280356 0.00635237
+v -0.02291813 -0.01573980 0.00757483
+v -0.02699028 -0.00325356 0.00635237
+v -0.02707589 -0.00549873 0.00635237
+v -0.02706519 -0.00559646 0.00635237
+v -0.02678426 -0.00745824 0.00635237
+v -0.02680299 -0.00747328 0.00757483
+v -0.01729150 -0.02174111 0.00757483
+v -0.01492633 -0.02479314 0.00721226
+v -0.01921788 -0.02263066 0.00635237
+v -0.02364855 -0.01477258 0.00757483
+v -0.02657022 -0.00852820 0.00635237
+v -0.02657022 -0.00854073 0.00757483
+v -0.02457695 -0.01333176 0.00757483
+v -0.02347464 -0.01584504 0.00635237
+v -0.02625718 -0.00965079 0.00635237
+v -0.02645517 -0.00894917 0.00757483
+v -0.02503714 -0.01251237 0.00757483
+v -0.02466792 -0.01375273 0.00635237
+v -0.02621170 -0.00978109 0.00635237
+v -0.02617157 -0.00978109 0.00757483
+v -0.02477494 -0.01355728 0.00635237
+v -0.02591472 -0.01047519 0.00757483
+v -0.02550268 -0.01169549 0.00635237
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 21
+f 1 21 9
+f 1 9 4
+f 1 4 10
+f 1 10 22
+f 1 22 19
+f 1 19 18
+f 1 18 17
+f 1 17 29
+f 1 29 42
+f 1 42 48
+f 1 48 52
+f 1 52 56
+f 1 56 58
+f 1 58 53
+f 1 53 49
+f 1 49 46
+f 1 46 37
+f 1 37 26
+f 1 26 35
+f 1 35 34
+f 1 34 43
+f 1 43 30
+f 1 30 23
+f 1 23 13
+f 1 13 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 27
+f 3 27 36
+f 3 36 45
+f 3 45 50
+f 3 50 54
+f 3 54 57
+f 3 57 59
+f 3 59 55
+f 3 55 51
+f 3 51 47
+f 3 47 41
+f 3 41 40
+f 3 40 39
+f 3 39 38
+f 3 38 28
+f 3 28 16
+f 3 16 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 24
+f 6 24 31
+f 6 31 44
+f 6 44 32
+f 6 32 25
+f 6 25 15
+f 6 15 7
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 10
+f 10 21 22
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 26 27
+f 16 28 17
+f 17 28 29
+f 19 22 20
+f 20 22 21
+f 23 30 31
+f 23 31 24
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 36 27
+f 26 37 36
+f 28 38 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 38 39
+f 30 43 31
+f 31 43 44
+f 32 44 43
+f 32 43 34
+f 32 34 33
+f 36 37 46
+f 36 46 45
+f 41 47 42
+f 42 47 48
+f 45 46 49
+f 45 49 50
+f 47 51 48
+f 48 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 56
+f 51 56 52
+f 53 57 54
+f 53 58 57
+f 55 59 58
+f 55 58 56
+f 57 58 59
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_160.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7724af30c1c2bd524d326f53e55e5d4552b7684
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_160.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00540030 0.00928897
+v 0.00023052 0.00540030 0.01051904
+v 0.00023052 0.00540295 0.00885500
+v 0.01086907 0.00540030 0.00928897
+v 0.01086907 0.00540030 0.01051904
+v 0.00023052 0.03172755 0.01051904
+v 0.01086907 0.00540295 0.00885500
+v 0.00023052 0.03243680 0.00885500
+v 0.01086907 0.02424064 0.01051904
+v 0.00220494 0.03155288 0.01051904
+v 0.00106569 0.03238917 0.00885500
+v 0.00103133 0.03239182 0.00885500
+v 0.01086907 0.02629166 0.00885500
+v 0.01086907 0.02575707 0.00928897
+v 0.01075453 0.02449470 0.01051904
+v 0.00231116 0.03153965 0.01051904
+v 0.00231116 0.03227272 0.00885500
+v 0.01083992 0.02635253 0.00885500
+v 0.01001516 0.02587881 0.01051904
+v 0.00286725 0.03217215 0.00885500
+v 0.00434598 0.03098653 0.01051904
+v 0.01072120 0.02657219 0.00885500
+v 0.01061602 0.02673627 0.00885500
+v 0.00931953 0.02696122 0.01051904
+v 0.00448761 0.03160052 0.00885500
+v 0.00445845 0.03094948 0.01051904
+v 0.00989019 0.02773664 0.00885500
+v 0.00826255 0.02835857 0.01051904
+v 0.00635477 0.03090184 0.00885500
+v 0.00607673 0.03019788 0.01051904
+v 0.00659220 0.03079334 0.00885500
+v 0.00775644 0.02998351 0.00885500
+v 0.00714725 0.02942510 0.01051904
+f 1 2 6
+f 1 6 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 15
+f 2 15 19
+f 2 19 24
+f 2 24 28
+f 2 28 33
+f 2 33 30
+f 2 30 26
+f 2 26 21
+f 2 21 16
+f 2 16 10
+f 2 10 6
+f 3 8 12
+f 3 12 11
+f 3 11 17
+f 3 17 20
+f 3 20 25
+f 3 25 29
+f 3 29 31
+f 3 31 32
+f 3 32 27
+f 3 27 23
+f 3 23 22
+f 3 22 18
+f 3 18 13
+f 3 13 7
+f 4 7 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 8
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 13 15 14
+f 13 18 15
+f 15 18 19
+f 16 20 17
+f 16 21 20
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 21 26
+f 20 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 29
+f 26 30 31
+f 26 31 29
+f 27 32 28
+f 28 32 33
+f 30 33 32
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_161.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c265e0fc0822b464dd16be98330adabef5a37d0a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_161.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03234279 -0.01934723
+v -0.00192573 0.03234279 -0.01934472
+v -0.00183017 0.03306550 -0.01924409
+v -0.00183017 0.03234279 0.00620395
+v -0.00197419 0.03234279 -0.01933969
+v -0.00197419 0.03306550 -0.01923403
+v -0.00183017 0.03469703 -0.01873594
+v -0.00183017 0.03253041 0.00635237
+v -0.00183245 0.03234279 0.00635237
+v -0.00413645 0.03234279 -0.01905542
+v -0.00415443 0.03315180 -0.01885166
+v -0.00415443 0.03316081 -0.01884914
+v -0.00345551 0.03429627 -0.01860512
+v -0.00197419 0.03465200 -0.01872839
+v -0.00183017 0.03582273 -0.01766428
+v -0.00183017 0.03733569 0.00635237
+v -0.00415443 0.03234279 0.00635237
+v -0.00415033 0.03234279 -0.01905291
+v -0.00415443 0.03234279 -0.01871330
+v -0.00415443 0.03474055 -0.01754605
+v -0.00183017 0.03603362 -0.01731964
+v -0.00183017 0.03734094 0.00634985
+v -0.00211957 0.03719460 0.00635237
+v -0.00415443 0.03604563 0.00635237
+v -0.00415443 0.03474581 -0.01753599
+v -0.00283145 0.03617621 -0.01609453
+v -0.00183017 0.03672255 -0.01588825
+v -0.00183017 0.03747452 0.00627439
+v -0.00197419 0.03734920 0.00631212
+v -0.00415443 0.03728691 0.00566309
+v -0.00415443 0.03580172 -0.01534739
+v -0.00411279 0.03582724 -0.01534488
+v -0.00415443 0.03584300 -0.01525180
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_162.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6822212f70136eb2561509bc4b42cf41df07d9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_162.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01087810 -0.03542286 0.00750194
+v 0.01124702 -0.03725437 0.00750194
+v 0.01087810 -0.03403143 0.00803362
+v 0.01087810 0.02878352 0.00750194
+v 0.01136607 -0.03726084 0.00750194
+v 0.01260345 -0.03589530 0.00803367
+v 0.01159217 -0.03482099 0.00803362
+v 0.01253888 -0.03551993 0.00803367
+v 0.01087810 -0.00794374 0.00803367
+v 0.01087810 0.02878352 0.00774959
+v 0.01225745 0.02878352 0.00750194
+v 0.01302643 -0.03733203 0.00750194
+v 0.01302643 -0.03591471 0.00803367
+v 0.01087810 0.02069382 0.00803367
+v 0.01087810 0.02805221 0.00803362
+v 0.01088630 0.02878352 0.00774901
+v 0.01181491 0.02761861 0.00803362
+v 0.01277319 0.02853760 0.00750194
+v 0.01302685 -0.03551993 0.00750194
+v 0.01302685 -0.03551993 0.00803362
+v 0.01302685 -0.00794374 0.00803367
+v 0.01302685 0.02069382 0.00803367
+v 0.01302685 0.02550881 0.00803362
+v 0.01302685 0.02756036 0.00750194
+f 1 2 3
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+f 1 15 10
+f 1 10 4
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+f 15 17 16
+f 15 22 17
+f 17 22 23
+f 17 23 18
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+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_163.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9129ee9b97e4d3546b93430d22b7e62fee6048ef
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_163.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01723698 0.01298866 0.00635237
+v -0.01723698 0.01298866 -0.00209459
+v -0.01799958 0.01298866 0.00635237
+v -0.01723698 -0.02508478 0.00635237
+v -0.01799958 0.01298866 -0.00209459
+v -0.01723698 -0.02884797 -0.00209459
+v -0.01799958 -0.02402019 0.00635237
+v -0.01763791 -0.02462264 0.00635237
+v -0.01723698 -0.02552217 0.00619279
+v -0.01799958 -0.02820840 -0.00209459
+v -0.01723698 -0.02916570 -0.00033177
+v -0.01723989 -0.02915745 -0.00209459
+v -0.01799958 -0.02462676 0.00617129
+v -0.01723698 -0.02677657 0.00573307
+v -0.01799958 -0.02820840 -0.00029705
+v -0.01723698 -0.02916570 -0.00029705
+v -0.01799958 -0.02635568 0.00545939
+v -0.01723698 -0.02842297 0.00404963
+v -0.01799958 -0.02815063 0.00184611
+v -0.01723698 -0.02910381 0.00184611
+v -0.01799958 -0.02738726 0.00419598
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+v -0.01723698 -0.02868705 0.00357337
+v -0.01799958 -0.02805160 0.00299459
+v -0.01799958 -0.02793193 0.00321122
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+f 22 25 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_164.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1753ad231bcfce68dc344c0d05d56da2bd53d98d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_164.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.02000983 0.00325869 -0.01949104
+v -0.02069345 0.00325869 -0.01939997
+v -0.02000983 0.00521781 -0.01947333
+v -0.02000983 0.00325869 0.00634984
+v -0.02069351 0.01609799 -0.01680703
+v -0.02069351 0.01623303 -0.01780879
+v -0.02069351 0.01628876 -0.01782650
+v -0.02069345 0.00521781 -0.01937467
+v -0.02069345 0.00325869 0.00634984
+v -0.02000983 0.00735912 -0.01941262
+v -0.02000983 0.02051351 0.00634984
+v -0.02069351 0.01609799 0.00634984
+v -0.02069351 0.01687178 -0.01734585
+v -0.02043805 0.01806782 -0.01691075
+v -0.02014630 0.01692322 -0.01847410
+v -0.02069345 0.01378520 -0.01873466
+v -0.02069345 0.01159459 -0.01898510
+v -0.02069345 0.00950258 -0.01917230
+v -0.02069345 0.00735912 -0.01929372
+v -0.02000983 0.00950258 -0.01931143
+v -0.02000983 0.02055852 0.00633972
+v -0.02069351 0.01940320 0.00634984
+v -0.02069351 0.01806782 -0.01627832
+v -0.02020018 0.01916956 -0.01640480
+v -0.02000983 0.01737120 -0.01828184
+v -0.02000983 0.01679032 -0.01854493
+v -0.02035894 0.01549568 -0.01861324
+v -0.02000983 0.01931746 -0.01655912
+v -0.02000983 0.01569502 -0.01870683
+v -0.02000983 0.01378520 -0.01895474
+v -0.02000983 0.01160102 -0.01916724
+v -0.02000983 0.02146306 0.00608169
+v -0.02069351 0.02078572 0.00592991
+v -0.02069351 0.01891663 -0.01529174
+v -0.02040927 0.01952109 -0.01529174
+v -0.02069351 0.02198177 -0.01071551
+v -0.02032072 0.02149092 -0.01241294
+v -0.02000983 0.02101722 -0.01393076
+v -0.02000983 0.02014912 -0.01529174
+v -0.02000983 0.02147806 0.00607663
+v -0.02069351 0.02081145 0.00591979
+v -0.02069351 0.02012768 -0.01357913
+v -0.02069351 0.02284344 -0.00933177
+v -0.02000983 0.02178886 -0.01269374
+v -0.02000983 0.02303421 0.00544168
+v -0.02069351 0.02191961 0.00546445
+v -0.02069351 0.02333215 -0.00854250
+v -0.02000983 0.02422597 -0.00877270
+v -0.02000983 0.02355721 0.00513053
+v -0.02018439 0.02342646 0.00505717
+v -0.02053851 0.02235259 0.00538350
+v -0.02069351 0.02220255 0.00529243
+v -0.02069351 0.02395804 -0.00672365
+v -0.02043523 0.02380585 -0.00840843
+v -0.02000983 0.02499547 -0.00672365
+v -0.02000983 0.02393017 0.00467265
+v -0.02069351 0.02294633 0.00458917
+v -0.02061474 0.02407807 -0.00672365
+v -0.02069351 0.02411665 -0.00463917
+v -0.02066795 0.02415952 -0.00458605
+v -0.02000983 0.02515623 -0.00458605
+v -0.02000983 0.02435887 0.00398204
+v -0.02069351 0.02334287 0.00394916
+v -0.02069351 0.02411880 -0.00458605
+v -0.02066795 0.02415952 -0.00030074
+v -0.02000983 0.02515623 -0.00030074
+v -0.02000983 0.02498047 0.00216572
+v -0.02064452 0.02412737 0.00183939
+v -0.02069351 0.02405235 0.00183939
+v -0.02069351 0.02411880 -0.00030074
+v -0.02000983 0.02508978 0.00183939
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+f 24 39 28
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+f 33 40 41
+f 34 42 35
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+f 37 44 38
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+f 48 54 55
+f 49 56 50
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+f 50 57 52
+f 50 52 51
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+f 54 58 55
+f 55 58 60
+f 55 60 61
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+f 58 59 60
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+f 60 64 70
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+f 63 67 68
+f 63 68 69
+f 65 70 69
+f 65 69 68
+f 65 68 71
+f 65 71 66
+f 67 71 68
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_165.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1898388ed2e79993ed5dc2c7ae19653be6d122a6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_165.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.03740529 0.00546961
+v -0.00415443 0.03824762 0.00435361
+v -0.00516773 0.03696880 0.00546961
+v -0.00415443 -0.03784618 0.00546961
+v -0.00465652 0.03814807 0.00398558
+v -0.00516773 0.03783411 0.00407225
+v -0.00516773 0.03753546 0.00461197
+v -0.00516773 0.03738231 0.00484733
+v -0.00415443 0.03836249 0.00407225
+v -0.00516773 -0.03733312 0.00546961
+v -0.00420591 -0.03783086 0.00546961
+v -0.00415443 -0.03894888 0.00387714
+v -0.00516773 0.03804087 0.00322406
+v -0.00516773 0.03784943 0.00403898
+v -0.00415443 0.03839312 0.00398558
+v -0.00415443 0.03856158 0.00322406
+v -0.00500774 0.03833186 0.00236437
+v -0.00516773 -0.03822906 0.00418438
+v -0.00473021 -0.03841284 0.00437702
+v -0.00437939 -0.03874212 0.00407225
+v -0.00493335 -0.03875744 0.00322406
+v -0.00415443 -0.03901014 0.00372024
+v -0.00512081 0.03838546 0.00184354
+v -0.00516773 0.03835483 0.00184354
+v -0.00415443 0.03884492 0.00184354
+v -0.00516773 -0.03827501 0.00407225
+v -0.00511754 -0.03865023 0.00322406
+v -0.00516773 -0.03868086 0.00307455
+v -0.00483386 -0.03881104 0.00322406
+v -0.00415443 -0.03935473 0.00184354
+v -0.00513341 0.03838546 0.00127384
+v -0.00415443 0.03885258 0.00164228
+v -0.00415443 0.03886023 0.00127384
+v -0.00516773 0.03836249 0.00127384
+v -0.00516773 -0.03871149 0.00297966
+v -0.00415443 -0.03937005 0.00127343
+v -0.00516773 -0.03878041 0.00184354
+v -0.00516773 -0.03103089 0.00127343
+v -0.00415443 -0.03103089 0.00127343
+v -0.00516773 -0.03879572 0.00127343
+f 1 2 3
+f 1 3 10
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+f 1 4 12
+f 1 12 22
+f 1 22 30
+f 1 30 36
+f 1 36 39
+f 1 39 33
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+f 10 18 19
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+f 13 23 24
+f 16 25 23
+f 16 23 17
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+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 21
+f 21 29 22
+f 21 28 29
+f 22 29 30
+f 23 31 24
+f 23 25 32
+f 23 32 33
+f 23 33 31
+f 24 31 34
+f 26 28 27
+f 28 35 29
+f 29 35 30
+f 30 35 37
+f 30 37 40
+f 30 40 36
+f 31 33 38
+f 31 38 34
+f 33 39 38
+f 36 40 38
+f 36 38 39
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_166.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864f5d4cf89fb09954b7f2596d7dfb50f6dde971
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_166.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01680300 0.00359997 -0.00027028
+v -0.01680300 0.00359997 -0.00184933
+v -0.01723698 0.00359997 -0.00027028
+v -0.01680300 -0.02530883 -0.00027028
+v -0.01723698 0.00359997 -0.00184933
+v -0.01680300 -0.02530883 -0.00184933
+v -0.01723698 -0.02530883 -0.00027028
+v -0.01723698 -0.02530883 -0.00184933
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_167.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee601e17d4615b29a433c616c85a9770b3b5a69b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_167.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00540023 0.01308267
+v 0.00455306 0.00540023 0.01308267
+v 0.00023052 0.00540023 0.01459652
+v 0.00023052 0.03119528 0.01308267
+v 0.01086765 0.00540275 0.01308282
+v 0.00455306 0.00540023 0.01459652
+v 0.00455306 0.03014489 0.01308267
+v 0.00692936 0.00540275 0.01459667
+v 0.00023052 0.03067008 0.01459652
+v 0.00177272 0.03100591 0.01308267
+v 0.01086765 0.02088079 0.01308282
+v 0.01086765 0.00540275 0.01459652
+v 0.00434896 0.03028882 0.01308267
+v 0.00542881 0.02979392 0.01308282
+v 0.00591719 0.02937225 0.01308282
+v 0.00656594 0.02876879 0.01308282
+v 0.00712825 0.02822844 0.01308282
+v 0.00767599 0.02769315 0.01308282
+v 0.00800505 0.02717806 0.01308282
+v 0.00845594 0.02641804 0.01308282
+v 0.00940875 0.02450159 0.01308282
+v 0.00946082 0.02437787 0.01308282
+v 0.01026264 0.02243112 0.01308282
+v 0.01086765 0.01863105 0.01459652
+v 0.00945040 0.02243112 0.01459652
+v 0.00939730 0.02255989 0.01459652
+v 0.00854549 0.02460512 0.01459652
+v 0.00789050 0.02594587 0.01459652
+v 0.00725738 0.02690284 0.01459652
+v 0.00609109 0.02826127 0.01459652
+v 0.00464678 0.02935963 0.01459652
+v 0.00439373 0.02950608 0.01459652
+v 0.00354714 0.02995300 0.01459652
+v 0.00264431 0.03024084 0.01459652
+v 0.00223819 0.03034941 0.01459652
+v 0.00026905 0.03066504 0.01459652
+v 0.00229234 0.03092258 0.01308267
+v 0.01086765 0.02024955 0.01351723
+v 0.00503519 0.02998077 0.01308282
+v 0.00390535 0.03009944 0.01409126
+v 0.00533405 0.02973585 0.01337213
+v 0.00757082 0.02756185 0.01346180
+v 0.00799984 0.02613272 0.01421962
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 37
+f 1 37 13
+f 1 13 7
+f 1 7 2
+f 2 5 12
+f 2 12 6
+f 2 7 11
+f 2 11 5
+f 3 6 8
+f 3 8 9
+f 4 9 10
+f 5 11 38
+f 5 38 24
+f 5 24 12
+f 6 12 8
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 11
+f 8 12 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 34
+f 8 34 35
+f 8 35 36
+f 8 36 9
+f 9 36 10
+f 10 36 35
+f 10 35 37
+f 11 23 25
+f 11 25 38
+f 13 39 14
+f 13 37 40
+f 13 40 41
+f 13 41 39
+f 14 41 15
+f 14 39 41
+f 15 41 16
+f 16 30 17
+f 16 41 30
+f 17 30 42
+f 17 42 18
+f 18 42 19
+f 19 42 20
+f 20 42 43
+f 20 43 21
+f 21 43 28
+f 21 28 27
+f 21 27 22
+f 22 27 26
+f 22 26 25
+f 22 25 23
+f 24 38 25
+f 28 43 42
+f 28 42 29
+f 29 42 30
+f 30 41 31
+f 31 41 32
+f 32 41 40
+f 32 40 33
+f 33 40 34
+f 34 40 37
+f 34 37 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_168.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136bcb519b681247c19c0a9cd602214c52e1c6ab
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_168.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03818541 0.00635103
+v 0.00023052 0.03922330 0.00577475
+v 0.00020124 0.03817737 0.00635103
+v 0.00023052 -0.03856130 0.00635103
+v 0.00016802 0.03920720 0.00576970
+v 0.00023052 0.03927961 0.00572809
+v -0.00083011 0.03775096 0.00635103
+v 0.00013937 -0.03853716 0.00635103
+v 0.00023052 -0.03955090 0.00580753
+v -0.00083011 0.03898193 0.00559820
+v -0.00083011 0.03833828 0.00602316
+v 0.00023052 0.03945662 0.00548850
+v -0.00083011 -0.03815097 0.00635103
+v 0.00016802 -0.03954286 0.00580249
+v 0.00023052 -0.04067728 0.00433341
+v -0.00083000 0.03906238 0.00548850
+v -0.00083011 0.03902215 0.00554020
+v 0.00023052 0.04002785 0.00469154
+v -0.00083011 -0.03934977 0.00567891
+v -0.00083011 -0.04034742 0.00409508
+v -0.00001553 -0.04064510 0.00417453
+v 0.00023052 -0.04081406 0.00393115
+v 0.00023052 0.04032554 0.00427036
+v -0.00082751 0.03961753 0.00469154
+v -0.00083011 0.03960948 0.00468902
+v -0.00083011 -0.04081406 0.00239020
+v 0.00023052 -0.04094279 0.00334604
+v 0.00003907 0.04029336 0.00414931
+v -0.00083011 0.03992326 0.00407743
+v 0.00023052 0.04043817 0.00396520
+v -0.00083011 -0.04082211 0.00232715
+v 0.00023052 -0.04124047 0.00172817
+v 0.00023052 -0.04111979 0.00249234
+v 0.00023052 -0.04107152 0.00273320
+v 0.00023052 0.04059909 0.00334604
+v -0.00000141 0.04063932 0.00273320
+v -0.00083011 0.04023704 0.00273320
+v -0.00083011 -0.04083015 0.00209134
+v -0.00051543 -0.04095083 0.00209134
+v 0.00023052 -0.04128070 -0.00029701
+v -0.00083011 -0.04087038 0.00080512
+v 0.00023052 0.04067150 0.00301440
+v -0.00073418 0.04048645 0.00184166
+v -0.00083011 0.04040599 0.00200812
+v 0.00023052 0.04072782 0.00273320
+v 0.00023052 0.04083241 0.00209134
+v 0.00023052 -0.04128070 -0.00458191
+v -0.00083011 -0.04087842 -0.00468657
+v 0.00023052 0.04086459 0.00184166
+v 0.00023052 0.04087264 0.00163864
+v 0.00023052 0.04091286 -0.00029701
+v -0.00075567 0.04049449 0.00080512
+v -0.00083011 0.04046231 0.00080512
+v -0.00083011 0.04043817 0.00184166
+v 0.00023052 -0.04120025 -0.00638515
+v -0.00083011 -0.04087038 -0.00561972
+v -0.00076366 -0.04088647 -0.00583913
+v 0.00023052 0.04091286 -0.00458191
+v -0.00078557 0.04050254 -0.00271940
+v -0.00077851 0.04050254 -0.00029701
+v -0.00083011 0.04047840 -0.00020495
+v 0.00023052 -0.04119220 -0.00652890
+v -0.00083011 -0.04086233 -0.00578239
+v -0.00083011 -0.04078992 -0.00652890
+v 0.00004831 -0.04112784 -0.00652890
+v 0.00023052 0.04085655 -0.00583913
+v -0.00078131 0.04050254 -0.00468657
+v -0.00082128 0.04048645 -0.00200189
+v -0.00082128 0.04048645 -0.00200063
+v -0.00083011 0.04047840 -0.00468657
+v 0.00023052 0.04082436 -0.00652890
+v -0.00083011 0.04038186 -0.00652890
+v -0.00067282 0.04046231 -0.00652890
+v -0.00083011 0.04042208 -0.00583913
+v -0.00083011 0.04038990 -0.00645072
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 34
+f 1 34 33
+f 1 33 32
+f 1 32 40
+f 1 40 47
+f 1 47 55
+f 1 55 62
+f 1 62 71
+f 1 71 66
+f 1 66 58
+f 1 58 51
+f 1 51 50
+f 1 50 49
+f 1 49 46
+f 1 46 45
+f 1 45 42
+f 1 42 35
+f 1 35 30
+f 1 30 23
+f 1 23 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 4 8 9
+f 5 10 11
+f 5 11 7
+f 5 6 10
+f 6 12 10
+f 7 11 10
+f 7 10 17
+f 7 17 25
+f 7 25 29
+f 7 29 37
+f 7 37 44
+f 7 44 54
+f 7 54 53
+f 7 53 61
+f 7 61 70
+f 7 70 74
+f 7 74 75
+f 7 75 72
+f 7 72 64
+f 7 64 63
+f 7 63 56
+f 7 56 48
+f 7 48 41
+f 7 41 38
+f 7 38 31
+f 7 31 26
+f 7 26 20
+f 7 20 19
+f 7 19 13
+f 8 14 9
+f 8 13 14
+f 9 14 15
+f 10 12 16
+f 10 16 17
+f 12 18 16
+f 13 19 14
+f 14 19 15
+f 15 20 21
+f 15 21 22
+f 15 19 20
+f 16 18 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 20 26 22
+f 20 22 21
+f 22 26 27
+f 23 28 29
+f 23 29 24
+f 23 30 28
+f 24 29 25
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 28 30 29
+f 29 30 35
+f 29 35 36
+f 29 36 37
+f 31 38 39
+f 31 39 32
+f 32 39 41
+f 32 41 40
+f 35 42 36
+f 36 43 44
+f 36 44 37
+f 36 42 45
+f 36 45 46
+f 36 46 43
+f 38 41 39
+f 40 41 48
+f 40 48 47
+f 43 46 49
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 47 48 56
+f 47 56 57
+f 47 57 55
+f 51 58 59
+f 51 59 60
+f 51 60 52
+f 52 60 53
+f 53 60 61
+f 55 57 62
+f 56 63 57
+f 57 63 64
+f 57 64 65
+f 57 65 62
+f 58 66 67
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 60
+f 60 69 61
+f 61 69 68
+f 61 68 70
+f 62 65 64
+f 62 64 72
+f 62 72 73
+f 62 73 71
+f 66 71 73
+f 66 73 67
+f 67 73 74
+f 67 74 70
+f 67 70 68
+f 72 75 73
+f 73 75 74
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_169.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab00bca0f0aca1dea9850aa7ea306f5a3de404f6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_169.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00666349 -0.01617808 -0.00293675
+v 0.00666349 -0.01617808 -0.00542628
+v 0.00520518 -0.01617808 -0.00293675
+v 0.00666349 -0.04320702 -0.00293675
+v 0.00520518 -0.01617808 -0.00542628
+v 0.00666349 -0.04317262 -0.00542628
+v 0.00520518 -0.04291863 -0.00293675
+v 0.00548910 -0.04299007 -0.00293675
+v 0.00666349 -0.04320702 -0.00458287
+v 0.00520518 -0.04291334 -0.00542628
+v 0.00578602 -0.04304033 -0.00542628
+v 0.00520518 -0.04291863 -0.00458287
+v 0.00548910 -0.04299007 -0.00458287
+v 0.00549767 -0.04298742 -0.00542628
+v 0.00521831 -0.04291863 -0.00542628
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 13
+f 4 13 9
+f 6 9 11
+f 7 12 13
+f 7 13 8
+f 9 13 14
+f 9 14 11
+f 10 15 12
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_17.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaaa3c418b7a62ae00b62742ed437d64d7c77f8a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.03982673 0.00542116
+v 0.00517611 -0.04157631 0.00542064
+v 0.00265795 -0.04099542 0.00542116
+v 0.00023052 -0.03955012 0.00580841
+v 0.00023052 -0.02903879 0.00542116
+v 0.00023116 -0.02903188 0.00542064
+v 0.00656229 -0.04183218 0.00542064
+v 0.00445213 -0.04147950 0.00542116
+v 0.00301704 -0.04113373 0.00542116
+v 0.00023052 -0.03752392 0.00692721
+v 0.00445213 -0.04135502 0.00564343
+v 0.00445213 -0.03976449 0.00664840
+v 0.00023052 0.02878732 0.00542141
+v 0.00023116 -0.02225484 0.00542064
+v 0.00680491 -0.04185984 0.00542064
+v 0.00680491 -0.04160397 0.00580585
+v 0.00659447 -0.04158323 0.00579869
+v 0.00517611 -0.04144492 0.00569587
+v 0.00517547 -0.03906604 0.00698297
+v 0.00562787 -0.03860963 0.00719271
+v 0.00023052 -0.03736487 0.00698015
+v 0.00517611 -0.03971609 0.00675097
+v 0.00023052 0.02878732 0.00803296
+v 0.00517611 0.02878732 0.00542064
+v 0.00680491 0.02878732 0.00542064
+v 0.00680491 -0.03968151 0.00693309
+v 0.00644259 -0.03960544 0.00693130
+v 0.00680491 -0.03914211 0.00710932
+v 0.00680491 -0.03838142 0.00725282
+v 0.00078589 -0.03671483 0.00724591
+v 0.00023052 -0.03575359 0.00728223
+v 0.00023052 -0.01781519 0.00803296
+v 0.00089208 0.02878732 0.00803372
+v 0.00680491 0.02878732 0.00750169
+v 0.00680491 -0.03775904 0.00729118
+v 0.00664145 -0.02816746 0.00803296
+v 0.00231172 -0.03688771 0.00727328
+v 0.00582222 -0.02772488 0.00803372
+v 0.00023052 -0.03554613 0.00729349
+v 0.00089208 -0.01797424 0.00803372
+v 0.00664145 0.02878732 0.00803372
+v 0.00680491 -0.03114106 0.00750169
+v 0.00680491 -0.03312576 0.00744235
+v 0.00664145 -0.02706100 0.00803372
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 31
+f 1 31 39
+f 1 39 32
+f 1 32 23
+f 1 23 13
+f 1 13 5
+f 1 5 14
+f 1 14 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 14
+f 2 14 24
+f 2 24 25
+f 2 25 15
+f 2 15 7
+f 3 9 4
+f 4 9 11
+f 4 11 12
+f 4 12 10
+f 5 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 11
+f 7 11 8
+f 8 11 9
+f 10 19 20
+f 10 20 21
+f 10 12 19
+f 11 18 12
+f 12 18 17
+f 12 17 22
+f 12 22 19
+f 13 23 33
+f 13 33 41
+f 13 41 34
+f 13 34 25
+f 13 25 24
+f 13 24 14
+f 15 25 34
+f 15 34 42
+f 15 42 43
+f 15 43 35
+f 15 35 29
+f 15 29 28
+f 15 28 26
+f 15 26 16
+f 16 26 17
+f 17 26 22
+f 19 27 20
+f 19 22 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 22 26 27
+f 23 32 40
+f 23 40 33
+f 26 28 27
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 30 37 36
+f 30 36 38
+f 30 38 31
+f 31 38 39
+f 32 39 38
+f 32 38 40
+f 33 40 38
+f 33 38 44
+f 33 44 41
+f 34 41 44
+f 34 44 42
+f 35 43 36
+f 36 43 42
+f 36 42 44
+f 36 44 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_170.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d008e1fbae76b5cb40dcaa9b82ff563f93134b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_170.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01680300 0.00359997 -0.00184933
+v -0.01680300 0.00359997 -0.00727802
+v -0.01723698 0.00359997 -0.00184933
+v -0.01680300 -0.02968983 -0.00184933
+v -0.01723698 0.00359997 -0.00727802
+v -0.01680300 -0.02944217 -0.00727802
+v -0.01723698 -0.02916519 -0.00184933
+v -0.01680300 -0.02968983 -0.00458281
+v -0.01723698 -0.02885562 -0.00727802
+v -0.01680300 -0.02954645 -0.00675195
+v -0.01681906 -0.02942262 -0.00727802
+v -0.01723698 -0.02916519 -0.00458281
+v -0.01680300 -0.02963769 -0.00544047
+v -0.01723698 -0.02899249 -0.00688001
+v -0.01723698 -0.02901204 -0.00676895
+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 15
+f 3 15 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 8 12 13
+f 9 11 14
+f 10 13 12
+f 10 12 15
+f 10 15 14
+f 10 14 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_171.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ea696e98532402221206d2da248bb24e9b25997
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_171.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.02746555 -0.01902963
+v -0.01159234 0.02746555 -0.01878118
+v -0.01062676 0.02861225 -0.01875882
+v -0.01062676 0.02746555 0.00635237
+v -0.01159234 0.02807276 -0.01863459
+v -0.01159234 0.02746555 0.00635237
+v -0.01112014 0.02936783 -0.01794141
+v -0.01062676 0.02887155 -0.01856751
+v -0.01062676 0.03184777 0.00635237
+v -0.01159234 0.02908692 -0.01768053
+v -0.01159234 0.03104753 0.00635237
+v -0.01159234 0.02983097 -0.01675628
+v -0.01159234 0.02994550 -0.01659976
+v -0.01062676 0.03032725 -0.01720350
+v -0.01062676 0.03013277 -0.01746934
+v -0.01062676 0.03300526 0.00571881
+v -0.01159234 0.03257309 0.00552005
+v -0.01159234 0.02996350 -0.01657491
+v -0.01062676 0.03131259 -0.01541463
+v -0.01062676 0.03403311 0.00449145
+v -0.01159234 0.03319110 0.00462562
+v -0.01159234 0.03197742 -0.01232884
+v -0.01123460 0.03168930 -0.01357111
+v -0.01062676 0.03143216 -0.01516618
+v -0.01062676 0.03428233 0.00398461
+v -0.01122212 0.03385088 0.00398461
+v -0.01159234 0.03356277 0.00395728
+v -0.01159234 0.03204224 -0.01218226
+v -0.01062676 0.03244200 -0.01290277
+v -0.01062676 0.03445016 0.00326410
+v -0.01156512 0.03410010 0.00184294
+v -0.01159234 0.03406696 0.00189015
+v -0.01159234 0.03357069 0.00392498
+v -0.01159234 0.03342879 -0.00882813
+v -0.01113063 0.03378461 -0.00886540
+v -0.01062676 0.03349794 -0.01040830
+v -0.01062676 0.03478005 0.00184294
+v -0.01062676 0.03482326 -0.00030121
+v -0.01159234 0.03412026 -0.00018941
+v -0.01159234 0.03407777 0.00184294
+v -0.01159234 0.03343383 -0.00881571
+v -0.01151824 0.03406624 -0.00672373
+v -0.01062676 0.03456612 -0.00728772
+v -0.01062676 0.03415052 -0.00886540
+v -0.01062676 0.03482326 -0.00458455
+v -0.01159234 0.03412242 -0.00030121
+v -0.01159234 0.03400502 -0.00672373
+v -0.01062676 0.03471378 -0.00672373
+v -0.01159234 0.03401294 -0.00658708
+v -0.01159234 0.03412026 -0.00462679
+v -0.01062676 0.03481246 -0.00480816
+v -0.01159234 0.03412242 -0.00458455
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 36
+f 1 36 44
+f 1 44 43
+f 1 43 48
+f 1 48 51
+f 1 51 45
+f 1 45 38
+f 1 38 37
+f 1 37 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 17
+f 2 17 21
+f 2 21 27
+f 2 27 33
+f 2 33 32
+f 2 32 40
+f 2 40 39
+f 2 39 46
+f 2 46 52
+f 2 52 50
+f 2 50 49
+f 2 49 47
+f 2 47 41
+f 2 41 34
+f 2 34 28
+f 2 28 22
+f 2 22 18
+f 2 18 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 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 9 17 11
+f 13 18 14
+f 14 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 21 26 27
+f 22 28 29
+f 22 29 24
+f 22 24 23
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 34 41 35
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 38 45 52
+f 38 52 46
+f 38 46 39
+f 41 47 42
+f 42 48 43
+f 42 47 49
+f 42 49 50
+f 42 50 51
+f 42 51 48
+f 45 51 52
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_172.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4ad1dc57645bb2b5ee871c588d7a884ffbcb0f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_172.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03463782 -0.01551208
+v -0.00597001 0.03452184 -0.01586498
+v -0.00611370 0.03457642 -0.01551208
+v -0.00597001 -0.03505980 -0.01551208
+v -0.00597001 0.03437857 -0.01617341
+v -0.00697777 0.03387372 -0.01576484
+v -0.00668486 0.03418755 -0.01551208
+v -0.00657938 -0.03469821 -0.01551208
+v -0.00704845 -0.03424111 -0.01594669
+v -0.00671358 -0.03434345 -0.01617341
+v -0.00597001 -0.03456177 -0.01667813
+v -0.00597001 0.03383278 -0.01727657
+v -0.00716741 0.03384643 -0.01551208
+v -0.00705173 0.03392829 -0.01551208
+v -0.00716741 0.03283671 -0.01748166
+v -0.00716741 0.03375773 -0.01569994
+v -0.00716741 -0.03430934 -0.01551208
+v -0.00716741 -0.03418653 -0.01588140
+v -0.00716741 -0.03409102 -0.01607007
+v -0.00706697 -0.03410466 -0.01617341
+v -0.00597001 -0.03450036 -0.01679309
+v -0.00597001 0.03354624 -0.01770598
+v -0.00626221 0.03345073 -0.01754094
+v -0.00716741 0.03210671 -0.01856519
+v -0.00716741 -0.03332009 -0.01741036
+v -0.00711725 -0.03371579 -0.01679269
+v -0.00630429 -0.03383859 -0.01755176
+v -0.00597001 -0.03424111 -0.01724052
+v -0.00597001 0.03250924 -0.01869057
+v -0.00625857 0.03240008 -0.01866413
+v -0.00625857 0.03091962 -0.01909954
+v -0.00716741 0.03180653 -0.01865331
+v -0.00703122 -0.03294485 -0.01818305
+v -0.00716741 -0.03277430 -0.01830122
+v -0.00597001 -0.03392728 -0.01774243
+v -0.00597001 0.03091962 -0.01914120
+v -0.00716741 0.03086504 -0.01892370
+v -0.00716741 0.02877738 -0.01937593
+v -0.00716741 -0.03247411 -0.01861286
+v -0.00597001 -0.03350429 -0.01818305
+v -0.00597001 0.02877738 -0.01950532
+v -0.00625857 0.02877738 -0.01949130
+v -0.00716741 0.02662833 -0.01957181
+v -0.00716741 -0.03115057 -0.01898138
+v -0.00625857 -0.03119150 -0.01916443
+v -0.00625857 -0.03274701 -0.01870499
+v -0.00597001 -0.03306766 -0.01862688
+v -0.00597001 0.02662833 -0.01960385
+v -0.00625857 0.02662833 -0.01960385
+v -0.00716741 0.02448610 -0.01960385
+v -0.00716741 -0.03028412 -0.01919648
+v -0.00597001 -0.03119150 -0.01920008
+v -0.00597001 -0.03150533 -0.01912438
+v -0.00625857 -0.02904927 -0.01951533
+v -0.00597001 -0.02934263 -0.01950371
+v -0.00597001 -0.03284252 -0.01872822
+v -0.00716741 -0.02476480 -0.01960426
+v -0.00597001 -0.02719357 -0.01960385
+v -0.00716741 -0.02904927 -0.01939836
+v -0.00597001 -0.02904927 -0.01952695
+v -0.00716741 -0.02814871 -0.01952214
+v -0.00716741 -0.02599965 -0.01960426
+v -0.00716741 -0.02690703 -0.01957301
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 17
+f 1 17 8
+f 1 8 4
+f 1 4 11
+f 1 11 21
+f 1 21 28
+f 1 28 35
+f 1 35 40
+f 1 40 47
+f 1 47 56
+f 1 56 53
+f 1 53 52
+f 1 52 55
+f 1 55 60
+f 1 60 58
+f 1 58 48
+f 1 48 41
+f 1 41 36
+f 1 36 29
+f 1 29 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 15
+f 6 15 16
+f 6 16 13
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 21 11
+f 10 20 21
+f 12 22 23
+f 12 23 15
+f 13 16 15
+f 13 15 24
+f 13 24 32
+f 13 32 37
+f 13 37 38
+f 13 38 43
+f 13 43 50
+f 13 50 57
+f 13 57 62
+f 13 62 63
+f 13 63 61
+f 13 61 59
+f 13 59 51
+f 13 51 44
+f 13 44 39
+f 13 39 34
+f 13 34 25
+f 13 25 19
+f 13 19 18
+f 13 18 17
+f 15 23 24
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 22 29 24
+f 22 24 23
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 25 33 27
+f 25 27 26
+f 25 34 33
+f 27 33 35
+f 27 35 28
+f 29 36 31
+f 29 31 30
+f 31 37 32
+f 31 36 38
+f 31 38 37
+f 33 34 35
+f 34 39 40
+f 34 40 35
+f 36 41 42
+f 36 42 38
+f 38 42 43
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 41 48 49
+f 41 49 43
+f 41 43 42
+f 43 49 50
+f 44 51 45
+f 45 52 53
+f 45 53 46
+f 45 51 54
+f 45 54 55
+f 45 55 52
+f 46 53 56
+f 46 56 47
+f 48 57 49
+f 48 58 62
+f 48 62 57
+f 49 57 50
+f 51 59 54
+f 54 60 55
+f 54 59 61
+f 54 61 60
+f 58 60 61
+f 58 61 63
+f 58 63 62
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_173.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f31379fd8a3adb7735b4465f50fde4539e8958e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_173.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01875175 0.02073629 -0.00646094
+v -0.01875163 0.02074017 -0.01584708
+v -0.01875175 0.02074017 -0.01496782
+v -0.02000983 0.02073629 -0.00646094
+v -0.01875175 0.01849953 -0.00646094
+v -0.01875163 0.02074017 -0.01711212
+v -0.01875163 -0.01893121 -0.01584708
+v -0.01976571 0.02074017 -0.01496782
+v -0.02000983 0.02073629 -0.01435563
+v -0.02000983 0.01849953 -0.00646094
+v -0.01875175 -0.01892733 -0.00646314
+v -0.01963465 0.02074017 -0.01528655
+v -0.01875163 0.02067027 -0.01720664
+v -0.02000983 0.01931502 -0.01656258
+v -0.01875175 -0.01893121 -0.01496782
+v -0.01875163 -0.01893121 -0.01768914
+v -0.01979638 0.02069357 -0.01496782
+v -0.02000983 0.02014992 -0.01529315
+v -0.02000983 -0.01892733 -0.00646314
+v -0.01972937 0.02058873 -0.01529315
+v -0.01875163 0.02030136 -0.01758692
+v -0.01987213 0.01827430 -0.01768914
+v -0.02000983 0.01864321 -0.01715169
+v -0.02000983 -0.01893121 -0.01496782
+v -0.01875163 0.02002177 -0.01768914
+v -0.01956641 -0.01893121 -0.01768914
+v -0.01882270 0.01997129 -0.01768914
+v -0.01941430 0.01904319 -0.01768914
+v -0.02000983 0.01800248 -0.01768914
+v -0.02000983 -0.01893121 -0.01706047
+v -0.01974033 -0.01893121 -0.01748691
+v -0.01989688 -0.01850793 -0.01768914
+v -0.02000983 -0.01832542 -0.01768914
+v -0.01977630 -0.01893121 -0.01744295
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 12
+f 2 12 8
+f 2 8 3
+f 2 7 16
+f 2 16 25
+f 2 25 21
+f 2 21 13
+f 2 13 6
+f 4 8 9
+f 4 9 18
+f 4 18 14
+f 4 14 23
+f 4 23 29
+f 4 29 33
+f 4 33 30
+f 4 30 24
+f 4 24 19
+f 4 19 10
+f 5 10 19
+f 5 19 11
+f 5 11 7
+f 6 13 14
+f 6 14 12
+f 7 15 24
+f 7 24 30
+f 7 30 34
+f 7 34 31
+f 7 31 26
+f 7 26 16
+f 7 11 15
+f 8 12 17
+f 8 17 9
+f 9 17 18
+f 11 19 24
+f 11 24 15
+f 12 20 17
+f 12 14 20
+f 13 21 14
+f 14 22 23
+f 14 18 20
+f 14 21 22
+f 16 26 32
+f 16 32 33
+f 16 33 29
+f 16 29 22
+f 16 22 28
+f 16 28 27
+f 16 27 25
+f 17 20 18
+f 21 25 27
+f 21 27 28
+f 21 28 22
+f 22 29 23
+f 26 31 32
+f 30 33 32
+f 30 32 34
+f 31 34 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_174.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68697f61d565ea23c5a9e47c3b1033b68035295
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_174.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00252048 -0.03458636 0.00224698
+v 0.00252048 -0.03458636 0.00063490
+v 0.00174202 -0.03458636 0.00224698
+v 0.00252048 -0.04200274 0.00224698
+v 0.00174202 -0.03458636 0.00063490
+v 0.00252048 -0.04210804 0.00063490
+v 0.00174202 -0.04171557 0.00224698
+v 0.00227725 -0.04192101 0.00224698
+v 0.00252048 -0.04204472 0.00205336
+v 0.00174202 -0.04182971 0.00063490
+v 0.00252048 -0.04208522 0.00183386
+v 0.00243993 -0.04208374 0.00063490
+v 0.00174202 -0.04180835 0.00181209
+v 0.00196833 -0.04180246 0.00224698
+v 0.00231039 -0.04201968 0.00184317
+v 0.00252048 -0.04206607 0.00193833
+v 0.00231039 -0.04204324 0.00063490
+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 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 8 14 13
+f 8 13 15
+f 9 15 16
+f 10 17 13
+f 11 16 15
+f 11 15 12
+f 12 15 17
+f 13 17 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_175.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f2769a4601352a8e7193d17eef6b6f19aed706
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_175.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.03234279 -0.01339927
+v -0.00351176 0.03234279 -0.01546625
+v -0.00415443 0.03234279 -0.01339927
+v -0.00351176 0.01082326 -0.01339927
+v -0.00415443 0.03234279 -0.01546625
+v -0.00351176 0.01082326 -0.01546625
+v -0.00415443 0.01082326 -0.01339927
+v -0.00415443 0.01082326 -0.01546625
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_176.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35a73e8b35cb4425600b6a26aeca834ae81f3fd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_176.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.03693938 -0.01637871
+v -0.00083021 0.03664078 -0.01714215
+v -0.00140296 0.03651697 -0.01690409
+v -0.00162445 0.03661893 -0.01637871
+v -0.00083021 -0.03746278 -0.01637871
+v -0.00083021 0.03640044 -0.01758134
+v -0.00183008 0.03602901 -0.01732117
+v -0.00183008 0.03648055 -0.01637871
+v -0.00101891 0.03631305 -0.01758134
+v -0.00183008 0.03581781 -0.01766880
+v -0.00181696 -0.03704037 -0.01637871
+v -0.00156357 -0.03688015 -0.01706069
+v -0.00084900 -0.03651600 -0.01848876
+v -0.00083021 -0.03653057 -0.01846981
+v -0.00083021 0.03621109 -0.01791286
+v -0.00183008 -0.03703309 -0.01637871
+v -0.00183008 0.03468896 -0.01873945
+v -0.00083021 0.03602901 -0.01820428
+v -0.00183008 -0.03681460 -0.01691766
+v -0.00083021 -0.03651600 -0.01849381
+v -0.00114732 -0.03645046 -0.01829521
+v -0.00183008 -0.03577315 -0.01829490
+v -0.00183008 -0.03525606 -0.01872777
+v -0.00183008 0.03305759 -0.01924747
+v -0.00083021 0.03500212 -0.01880102
+v -0.00183008 -0.03628295 -0.01785160
+v -0.00083021 -0.03543085 -0.01883954
+v -0.00183008 -0.03511768 -0.01877229
+v -0.00083021 0.03305759 -0.01933808
+v -0.00183008 0.03090913 -0.01956225
+v -0.00183008 -0.03350816 -0.01924084
+v -0.00083021 -0.03470256 -0.01904982
+v -0.00083021 0.03090913 -0.01958309
+v -0.00183008 0.02877524 -0.01960393
+v -0.00183008 -0.03333337 -0.01928157
+v -0.00083021 -0.03333337 -0.01937281
+v -0.00083021 0.02877524 -0.01960393
+v -0.00183008 -0.02262750 -0.01960425
+v -0.00183008 -0.03133057 -0.01955468
+v -0.00083021 -0.03233562 -0.01950953
+v -0.00083021 -0.02590481 -0.01960425
+v -0.00183008 -0.02919668 -0.01960425
+v -0.00183008 -0.03119220 -0.01956415
+v -0.00083021 -0.03119220 -0.01958404
+v -0.00083021 -0.03019444 -0.01960425
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 11
+f 1 11 5
+f 1 5 14
+f 1 14 20
+f 1 20 27
+f 1 27 32
+f 1 32 36
+f 1 36 40
+f 1 40 44
+f 1 44 45
+f 1 45 41
+f 1 41 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 18
+f 1 18 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 9
+f 7 10 17
+f 7 17 24
+f 7 24 30
+f 7 30 34
+f 7 34 38
+f 7 38 42
+f 7 42 43
+f 7 43 39
+f 7 39 35
+f 7 35 31
+f 7 31 28
+f 7 28 23
+f 7 23 22
+f 7 22 26
+f 7 26 19
+f 7 19 16
+f 7 16 8
+f 9 15 10
+f 10 15 18
+f 10 18 17
+f 11 16 19
+f 11 19 12
+f 12 19 13
+f 13 20 14
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 13 23 20
+f 17 18 25
+f 17 25 24
+f 19 26 21
+f 20 23 28
+f 20 28 27
+f 21 26 22
+f 24 25 29
+f 24 29 30
+f 27 28 31
+f 27 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 45
+f 38 45 42
+f 39 43 40
+f 40 43 44
+f 42 45 43
+f 43 45 44
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_177.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1675bb48fff30568998563268fe9c3e3d5472e61
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_177.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00881253 0.01843789
+v 0.00158718 0.00539770 0.01843789
+v 0.00023052 0.00946010 0.01901403
+v 0.00023052 0.02828872 0.01843789
+v 0.01046812 0.00539770 0.01843789
+v 0.00171961 0.00539770 0.01870980
+v 0.00023052 0.01008077 0.01948920
+v 0.00178936 0.00539770 0.01884617
+v 0.00023052 0.02757618 0.01948920
+v 0.00040440 0.02753360 0.01948920
+v 0.00039024 0.02824839 0.01843789
+v 0.00966949 0.00539770 0.01948920
+v 0.01055708 0.00736056 0.01843789
+v 0.00982921 0.00736056 0.01948920
+v 0.00222608 0.00539770 0.01948920
+v 0.00193594 0.02701152 0.01948920
+v 0.00168625 0.02791452 0.01843789
+v 0.01055202 0.00950267 0.01843789
+v 0.00986864 0.00950267 0.01948920
+v 0.00201378 0.02778456 0.01843789
+v 0.00239288 0.02682778 0.01948920
+v 0.01035692 0.01164478 0.01843789
+v 0.00971599 0.01164478 0.01948920
+v 0.00288520 0.02740140 0.01843789
+v 0.00383951 0.02581050 0.01948920
+v 0.00937329 0.01378689 0.01948920
+v 0.00996569 0.01378689 0.01843789
+v 0.00431969 0.02631242 0.01843789
+v 0.00417513 0.02551025 0.01948920
+v 0.00890422 0.01590436 0.01948920
+v 0.00975137 0.01472575 0.01843789
+v 0.00455524 0.02609059 0.01843789
+v 0.00537105 0.02524137 0.01843789
+v 0.00479685 0.02584635 0.01843789
+v 0.00499499 0.02449073 0.01948920
+v 0.00946326 0.01587971 0.01843789
+v 0.00928332 0.01647574 0.01843789
+v 0.00876775 0.01811145 0.01843789
+v 0.00816726 0.01813610 0.01948920
+v 0.00589673 0.02447728 0.01843789
+v 0.00560761 0.02370200 0.01948920
+v 0.00856152 0.01869851 0.01843789
+v 0.00799743 0.02019306 0.01843789
+v 0.00762945 0.02112295 0.01843789
+v 0.00663066 0.02190496 0.01948920
+v 0.00675905 0.02299618 0.01843789
+v 0.00645779 0.02227467 0.01948920
+v 0.00696527 0.02261078 0.01843789
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 34
+f 1 34 33
+f 1 33 40
+f 1 40 46
+f 1 46 48
+f 1 48 44
+f 1 44 43
+f 1 43 42
+f 1 42 38
+f 1 38 37
+f 1 37 36
+f 1 36 31
+f 1 31 27
+f 1 27 22
+f 1 22 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 12
+f 2 12 15
+f 2 15 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 5 13 14
+f 5 14 12
+f 7 8 15
+f 7 15 12
+f 7 12 14
+f 7 14 19
+f 7 19 23
+f 7 23 26
+f 7 26 30
+f 7 30 39
+f 7 39 45
+f 7 45 47
+f 7 47 41
+f 7 41 35
+f 7 35 29
+f 7 29 25
+f 7 25 21
+f 7 21 16
+f 7 16 10
+f 7 10 9
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 14
+f 16 20 17
+f 16 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 24
+f 22 26 23
+f 22 27 26
+f 24 25 28
+f 25 29 28
+f 26 27 30
+f 27 31 30
+f 28 29 32
+f 29 33 34
+f 29 34 32
+f 29 35 33
+f 30 31 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 33 35 41
+f 33 41 40
+f 38 42 39
+f 39 42 43
+f 39 43 44
+f 39 44 45
+f 40 41 47
+f 40 47 46
+f 44 48 45
+f 45 48 47
+f 46 47 48
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_178.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba47933b2f07ae8c4358d9370d5057c4637822ec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_178.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03488113 -0.01599470
+v -0.00516783 0.03448054 -0.01707471
+v -0.00555007 0.03438268 -0.01689622
+v -0.00591716 0.03451152 -0.01599470
+v -0.00516783 0.02768884 -0.01599470
+v -0.00516783 0.03412079 -0.01771562
+v -0.00597001 0.03446646 -0.01599470
+v -0.00597001 0.03355616 -0.01770692
+v -0.00597001 0.03383636 -0.01727652
+v -0.00597001 0.02768884 -0.01599470
+v -0.00516783 0.02768884 -0.01897934
+v -0.00516783 0.03382932 -0.01816273
+v -0.00597001 0.03250928 -0.01869055
+v -0.00597001 0.02768884 -0.01954892
+v -0.00516869 0.02768884 -0.01954892
+v -0.00516783 0.02769025 -0.01954857
+v -0.00516783 0.03279300 -0.01876362
+v -0.00597001 0.03092312 -0.01914114
+v -0.00597001 0.02878078 -0.01950508
+v -0.00516783 0.02878078 -0.01954405
+v -0.00516783 0.02861744 -0.01954475
+v -0.00516783 0.03092312 -0.01925700
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 20
+f 1 20 22
+f 1 22 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 5 10 14
+f 5 14 15
+f 5 15 11
+f 6 12 8
+f 7 9 8
+f 7 8 13
+f 7 13 18
+f 7 18 19
+f 7 19 14
+f 7 14 10
+f 8 12 13
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 19
+f 19 22 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_179.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d375b2e5cccdec433a64f2584b167a5ea56f957
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_179.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01781096 0.00689344 -0.00293675
+v 0.01521340 0.00689344 -0.00293675
+v 0.01781096 0.00496500 -0.00293675
+v 0.01781096 0.00689344 -0.01106200
+v 0.01521340 0.00689344 -0.01106200
+v 0.01521340 0.00496500 -0.00293675
+v 0.01521340 -0.04414552 -0.00293754
+v 0.01695714 -0.04356099 -0.00293754
+v 0.01774536 -0.04190232 -0.00293754
+v 0.01776011 -0.04140772 -0.00293754
+v 0.01780588 -0.03975904 -0.00293754
+v 0.01780995 -0.03547748 -0.00293754
+v 0.01781046 -0.03975904 -0.00838168
+v 0.01781096 0.00453035 -0.00838168
+v 0.01781096 0.00496500 -0.01106200
+v 0.01521340 0.00496500 -0.01106200
+v 0.01521340 -0.04414552 -0.00458391
+v 0.01695714 -0.04356099 -0.00458391
+v 0.01780995 -0.03975904 -0.00458391
+v 0.01774536 -0.04190232 -0.00458391
+v 0.01781046 -0.03975904 -0.01100871
+v 0.01781046 -0.03970409 -0.01106041
+v 0.01780868 -0.03975904 -0.01106041
+v 0.01700698 -0.04190732 -0.01106041
+v 0.01696706 -0.04199225 -0.01106041
+v 0.01551394 -0.04283657 -0.01106041
+v 0.01521340 -0.04285156 -0.01106041
+v 0.01521340 -0.04404060 -0.00672498
+v 0.01692714 -0.04351602 -0.00672498
+v 0.01771536 -0.04190232 -0.00672498
+v 0.01753585 -0.04190232 -0.00838168
+v 0.01748322 -0.04190232 -0.00886685
+v 0.01640691 -0.04306139 -0.01019746
+v 0.01669525 -0.04329620 -0.00886685
+v 0.01521340 -0.04359596 -0.00886685
+v 0.01521340 -0.04310635 -0.01032233
+v 0.01521340 -0.04383577 -0.00773348
+v 0.01735710 -0.04227202 -0.00838168
+v 0.01521340 -0.04370087 -0.00838168
+f 1 2 6
+f 1 6 3
+f 1 3 14
+f 1 14 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 5 16
+f 2 16 27
+f 2 27 36
+f 2 36 35
+f 2 35 39
+f 2 39 37
+f 2 37 28
+f 2 28 17
+f 2 17 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 16
+f 4 16 5
+f 7 17 18
+f 7 18 8
+f 8 18 20
+f 8 20 9
+f 9 13 19
+f 9 19 10
+f 9 20 21
+f 9 21 13
+f 10 19 11
+f 11 19 12
+f 12 19 13
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 20
+f 20 30 21
+f 21 23 22
+f 21 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 25
+f 25 33 26
+f 25 32 34
+f 25 34 33
+f 26 33 35
+f 26 35 36
+f 26 36 27
+f 28 37 34
+f 28 34 29
+f 29 34 38
+f 29 38 30
+f 30 38 31
+f 31 38 32
+f 32 38 34
+f 33 34 35
+f 34 37 39
+f 34 39 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_18.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532dc9c182a8db0a5f026858719aeb25f32c0177
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01190364 -0.00333117 0.00803462
+v 0.01354250 -0.00333117 0.00803462
+v 0.01190364 -0.00333117 0.01715848
+v 0.01190364 0.00451627 0.00803462
+v 0.01354250 0.00451627 0.00803462
+v 0.01354250 -0.00333117 0.01530959
+v 0.01261126 -0.00333117 0.01644572
+v 0.01190364 0.00451627 0.01668420
+v 0.01354250 0.00451627 0.01444231
+v 0.01354250 0.00103040 0.01495500
+v 0.01232940 0.00451627 0.01619652
+v 0.01262200 -0.00333117 0.01643322
+v 0.01346759 0.00451627 0.01459862
+v 0.01310985 0.00451627 0.01512024
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 7 8
+f 4 8 11
+f 4 11 14
+f 4 14 13
+f 4 13 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 12 11
+f 7 11 8
+f 9 13 10
+f 10 14 11
+f 10 13 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_180.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a079e376db1780b28aa0e909ae327f1fff3ccf1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_180.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03233607 -0.01766465
+v -0.00183017 0.03233607 -0.01811975
+v -0.00183034 0.03234279 -0.01849263
+v -0.00185898 0.03234279 -0.01812013
+v -0.00265039 0.03234279 -0.01811994
+v -0.00351176 0.03233607 -0.01766465
+v -0.00183017 -0.03635294 -0.01766465
+v -0.00183034 0.02876545 -0.01960368
+v -0.00183034 0.03091051 -0.01956230
+v -0.00183034 0.03234279 -0.01934681
+v -0.00183017 -0.03596966 -0.01811975
+v -0.00351176 0.03234279 -0.01811994
+v -0.00351176 -0.03536447 -0.01766465
+v -0.00211774 -0.03621846 -0.01766465
+v -0.00183017 -0.03628570 -0.01785148
+v -0.00183034 -0.02919153 -0.01960368
+v -0.00265023 -0.02905032 -0.01960406
+v -0.00265039 0.02663384 -0.01960388
+v -0.00197437 0.02876545 -0.01960368
+v -0.00197437 0.03091051 -0.01955926
+v -0.00265039 0.02876545 -0.01960122
+v -0.00351176 0.02876545 -0.01959742
+v -0.00197437 0.03234279 -0.01934377
+v -0.00183034 -0.03526360 -0.01872786
+v -0.00183034 -0.03512239 -0.01877267
+v -0.00183034 -0.03350855 -0.01924086
+v -0.00183034 -0.03334044 -0.01928130
+v -0.00183034 -0.03272181 -0.01936560
+v -0.00183034 -0.03132987 -0.01955470
+v -0.00183034 -0.03118866 -0.01956400
+v -0.00351176 0.03234279 -0.01910113
+v -0.00351176 -0.03501480 -0.01811975
+v -0.00351045 -0.03539136 -0.01766465
+v -0.00342107 -0.03544516 -0.01766465
+v -0.00183034 -0.03597638 -0.01811975
+v -0.00351176 -0.03460462 -0.01861547
+v -0.00349251 -0.03461134 -0.01861908
+v -0.00351176 -0.02966224 -0.01959191
+v -0.00351176 -0.02905032 -0.01960406
+v -0.00351176 0.02663384 -0.01960388
+v -0.00265039 0.03091724 -0.01951179
+v -0.00351176 0.03091724 -0.01945104
+v -0.00197437 -0.03507532 -0.01876299
+v -0.00265023 -0.03458445 -0.01879564
+v -0.00197437 -0.03334044 -0.01926839
+v -0.00265023 -0.03266129 -0.01931928
+v -0.00351176 -0.03179385 -0.01938440
+v -0.00351176 -0.03118866 -0.01946717
+v -0.00265039 -0.03118866 -0.01951996
+v -0.00197437 -0.03118866 -0.01956116
+v -0.00265023 -0.03052295 -0.01957464
+v -0.00351176 -0.03457772 -0.01862629
+v -0.00351176 -0.03393891 -0.01883703
+v -0.00351176 -0.03341441 -0.01899215
+v -0.00265039 -0.03337407 -0.01914688
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 13
+f 1 13 33
+f 1 33 34
+f 1 34 14
+f 1 14 7
+f 1 7 15
+f 1 15 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 11 16
+f 2 16 8
+f 3 10 23
+f 3 23 31
+f 3 31 12
+f 3 12 5
+f 3 5 4
+f 6 12 31
+f 6 31 42
+f 6 42 22
+f 6 22 40
+f 6 40 39
+f 6 39 38
+f 6 38 48
+f 6 48 47
+f 6 47 54
+f 6 54 53
+f 6 53 52
+f 6 52 36
+f 6 36 32
+f 6 32 13
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 8 18 40
+f 8 40 19
+f 8 19 9
+f 9 20 23
+f 9 23 10
+f 9 19 21
+f 9 21 22
+f 9 22 20
+f 11 15 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 16
+f 13 32 33
+f 14 34 15
+f 15 35 24
+f 15 34 33
+f 15 33 32
+f 15 32 36
+f 15 36 37
+f 15 37 35
+f 16 30 38
+f 16 38 39
+f 16 39 17
+f 17 39 40
+f 17 40 18
+f 19 40 21
+f 20 41 23
+f 20 22 41
+f 21 40 22
+f 22 42 41
+f 23 41 42
+f 23 42 31
+f 24 43 25
+f 24 35 37
+f 24 37 44
+f 24 44 43
+f 25 43 45
+f 25 45 26
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 38
+f 36 52 37
+f 37 52 53
+f 37 53 44
+f 38 51 48
+f 43 44 45
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 45 55 46
+f 46 55 47
+f 47 55 54
+f 48 51 49
+f 49 51 50
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_181.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d7dd12b69a07690be2ae621c0c22195c27f265
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_181.obj
@@ -0,0 +1,306 @@
+# https://github.com/mikedh/trimesh
+v -0.02485488 0.01097325 0.00590584
+v -0.02485488 0.01163744 0.00582165
+v -0.02511717 0.00969528 0.00590584
+v -0.02485488 -0.01354534 0.00590584
+v -0.02485488 0.01189837 0.00576847
+v -0.02505870 0.01163744 0.00569536
+v -0.02528741 0.00950848 0.00582386
+v -0.02528741 0.00874941 0.00590584
+v -0.02528741 -0.01247493 0.00590584
+v -0.02485488 -0.01402865 0.00539627
+v -0.02485488 0.01296581 0.00549818
+v -0.02528741 0.01126680 0.00546716
+v -0.02528741 0.00957668 0.00581500
+v -0.02528741 -0.01402865 0.00420875
+v -0.02528741 -0.01403162 0.00280854
+v -0.02485488 -0.01403162 0.00280854
+v -0.02485488 0.01357069 0.00523675
+v -0.02528741 0.01286203 0.00474712
+v -0.02528741 -0.01403162 -0.00714136
+v -0.02485488 -0.01403162 -0.00714136
+v -0.02485488 0.01377825 0.00510825
+v -0.02528741 0.01377825 0.00417773
+v -0.02528741 -0.01402865 -0.00873875
+v -0.02525963 -0.01402865 -0.00886503
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_182.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998af946770fca328c495467038c27ed8706976e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_182.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01723825 0.02686647 -0.01078140
+v -0.01748492 0.02686647 -0.01028680
+v -0.01680300 0.02688765 -0.01171755
+v -0.01723708 0.02686647 -0.00275654
+v -0.01787765 0.02686647 -0.00940541
+v -0.01774237 0.02735558 -0.00886632
+v -0.01723708 0.02794494 -0.00877903
+v -0.01680300 0.02845094 -0.00870373
+v -0.01680300 0.02688765 0.00576633
+v -0.01723708 0.02686647 0.00531794
+v -0.01799958 0.02686647 -0.00912988
+v -0.01799958 0.02702035 -0.00886632
+v -0.01799958 0.02766107 -0.00760158
+v -0.01799958 0.02768766 -0.00753483
+v -0.01680300 0.02870800 -0.00789423
+v -0.01680300 0.02703003 0.00569103
+v -0.01686953 0.02688765 0.00572868
+v -0.01790412 0.02686647 0.00469327
+v -0.01799958 0.02686647 0.00450159
+v -0.01723708 0.02857598 -0.00680748
+v -0.01680300 0.02903444 -0.00676812
+v -0.01799958 0.02784964 -0.00618965
+v -0.01680300 0.02744141 0.00536415
+v -0.01772105 0.02733035 0.00438522
+v -0.01680300 0.02783950 0.00504754
+v -0.01723708 0.02759889 0.00473435
+v -0.01799958 0.02708501 0.00417984
+v -0.01723708 0.02858003 -0.00677325
+v -0.01721728 0.02859896 -0.00678865
+v -0.01680300 0.02916804 -0.00458263
+v -0.01799958 0.02791137 -0.00458263
+v -0.01723708 0.02871318 -0.00458263
+v -0.01709500 0.02886232 -0.00458263
+v -0.01680300 0.02866452 0.00372461
+v -0.01683545 0.02864041 0.00370578
+v -0.01799958 0.02777597 0.00299383
+v -0.01709500 0.02886232 -0.00030065
+v -0.01680300 0.02916782 -0.00030065
+v -0.01799958 0.02791137 -0.00030065
+v -0.01680300 0.02867082 0.00371263
+v -0.01680300 0.02868659 0.00368011
+v -0.01680300 0.02909257 0.00212443
+v -0.01799958 0.02779850 0.00288943
+v -0.01723708 0.02870620 0.00000569
+v -0.01707076 0.02883754 0.00184204
+v -0.01680300 0.02911758 0.00184204
+v -0.01799958 0.02786789 0.00164523
+v -0.01799958 0.02779940 0.00287574
+v -0.01723708 0.02866317 0.00184204
+v -0.01723708 0.02865145 0.00203030
+v -0.01799958 0.02786316 0.00184204
+f 1 2 3
+f 1 3 4
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+f 46 50 48
+f 47 51 49
+f 48 50 49
+f 48 49 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_183.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a6ba4629df3b126420bdd108eebfa57e096d4d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_183.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.01158661 -0.01960170
+v -0.00850034 0.01158661 -0.01960170
+v -0.00950790 0.01158661 0.00634983
+v -0.00950790 0.01664995 -0.01960170
+v -0.00850034 0.01664995 -0.01960170
+v -0.00850034 0.01158661 0.00634983
+v -0.00950790 0.01664995 0.00634983
+v -0.00850034 0.01664995 0.00634983
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_184.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd8d94c0aff3911601473a66fea4866b070d852
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_184.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00986334 0.02878732 -0.01518616
+v 0.00986334 0.02878732 -0.01777261
+v 0.00880508 0.02878732 -0.01518616
+v 0.00986334 -0.01111067 -0.01518616
+v 0.00880508 0.02878732 -0.01777261
+v 0.00986334 -0.01111067 -0.01777261
+v 0.00880508 -0.01111067 -0.01518616
+v 0.00880508 -0.01111067 -0.01777261
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_185.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5c6db8cdbaabb7c26d48e3a4d0d7a540eb3705
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_185.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.00186608 -0.01112910
+v -0.00183017 -0.00186608 -0.01112910
+v -0.00295333 -0.00186608 0.00300477
+v -0.00295333 0.00919388 -0.01112910
+v -0.00183017 0.00919388 -0.01112910
+v -0.00183017 -0.00186608 0.00300477
+v -0.00295333 0.00919388 0.00300477
+v -0.00183017 0.00919388 0.00300477
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_186.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3aad927c61d89458ff80333fa8241c9195b6e6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_186.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03323541 -0.00239727
+v -0.01266345 0.03323541 -0.00458433
+v -0.01344330 0.03257833 -0.00239727
+v -0.01266345 -0.02777825 -0.00239727
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+v -0.01344330 -0.02777825 -0.00743467
+v -0.01344330 0.03227965 -0.00743467
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+f 1 7 3
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+f 6 11 12
+f 6 12 7
+f 9 13 14
+f 9 14 11
+f 9 11 10
+f 11 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_187.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ed2e745a04724e2ee8ecacc7ebe23beba143c0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_187.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.03664233 -0.00043750
+v -0.00415443 0.03707954 -0.00044224
+v -0.00415810 0.03888401 -0.00044224
+v -0.00516773 0.03664233 -0.00043750
+v -0.00415443 0.01182219 -0.00043750
+v -0.00415443 0.03888931 -0.00244659
+v -0.00516773 0.03839646 -0.00044224
+v -0.00516773 0.01182219 -0.00043750
+v -0.00415443 0.01182219 -0.01656073
+v -0.00415443 0.03888931 -0.00458668
+v -0.00516773 0.03839646 -0.00458668
+v -0.00516773 0.01182219 -0.01656073
+v -0.00415443 0.01255352 -0.01656073
+v -0.00415443 0.03878597 -0.00672676
+v -0.00505724 0.03834876 -0.00672676
+v -0.00516773 0.03829047 -0.00672676
+v -0.00516773 0.01255352 -0.01656073
+v -0.00415443 0.03521147 -0.01655915
+v -0.00415443 0.03822688 -0.00899626
+v -0.00516773 0.03767043 -0.00903729
+v -0.00516773 0.03463382 -0.01655915
+v -0.00415443 0.03551354 -0.01593891
+v -0.00415443 0.03664498 -0.01316595
+v -0.00423775 0.03815798 -0.00907359
+v -0.00516773 0.03641445 -0.01245259
+v -0.00516773 0.03523267 -0.01524606
+v -0.00415443 0.03579441 -0.01534707
+v -0.00415443 0.03654959 -0.01341373
+v -0.00482484 0.03608853 -0.01376094
+v -0.00516773 0.03627136 -0.01282663
+v -0.00415443 0.03583681 -0.01525080
+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 18
+f 1 18 22
+f 1 22 27
+f 1 27 31
+f 1 31 28
+f 1 28 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
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+f 4 7 11
+f 4 11 16
+f 4 16 20
+f 4 20 25
+f 4 25 30
+f 4 30 26
+f 4 26 21
+f 4 21 17
+f 4 17 12
+f 4 12 8
+f 5 8 12
+f 5 12 9
+f 6 10 11
+f 6 11 7
+f 9 12 17
+f 9 17 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 13 17 18
+f 14 19 15
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 22
+f 23 28 29
+f 23 29 24
+f 24 29 25
+f 25 29 30
+f 26 31 27
+f 26 30 29
+f 26 29 31
+f 28 31 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_188.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc65531ac97a7b402be455bf2857cc1eae3d3692
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_188.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00880550 0.01513922 -0.01226691
+v 0.00880550 0.01513922 -0.01106200
+v 0.00880550 0.02878733 -0.01226691
+v 0.00880639 -0.04184479 -0.01226691
+v 0.00880639 -0.04226559 -0.01106200
+v 0.00880550 0.02878733 -0.01106200
+v 0.01422587 0.02878733 -0.01226691
+v 0.01085324 -0.04222351 -0.01226691
+v 0.01081533 -0.04263029 -0.01106200
+v 0.01422587 0.02878733 -0.01106200
+v 0.01781006 0.02878031 -0.01226691
+v 0.01302085 -0.04243391 -0.01226691
+v 0.01302085 -0.04284770 -0.01106200
+v 0.01781006 0.02878031 -0.01106200
+v 0.01781094 -0.03664784 -0.01226691
+v 0.01422587 -0.04286173 -0.01106200
+v 0.01516378 -0.04243391 -0.01226691
+v 0.01781094 -0.03664784 -0.01106200
+v 0.01781094 -0.03850640 -0.01226691
+v 0.01516378 -0.04285472 -0.01106200
+v 0.01695764 -0.04169750 -0.01226691
+v 0.01551286 -0.04282666 -0.01106200
+v 0.01781094 -0.03970569 -0.01106200
+v 0.01776774 -0.03975479 -0.01226691
+v 0.01742837 -0.04066653 -0.01226691
+v 0.01700613 -0.04190791 -0.01106200
+v 0.01696734 -0.04199207 -0.01106200
+v 0.01780829 -0.03975479 -0.01106200
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 25
+f 1 25 21
+f 1 21 17
+f 1 17 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 16
+f 2 16 20
+f 2 20 22
+f 2 22 27
+f 2 27 26
+f 2 26 28
+f 2 28 23
+f 2 23 18
+f 2 18 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 18
+f 11 18 15
+f 12 16 13
+f 12 17 16
+f 15 18 23
+f 15 23 19
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 19 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 25
+f 25 28 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_189.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0db683a650c1370e402dececdcf2ed312b49a5b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_189.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02528747 0.00759037 0.00590711
+v -0.02528747 0.00759037 -0.00502038
+v -0.02543542 0.00759037 0.00590711
+v -0.02528747 -0.00352779 0.00590711
+v -0.02528747 0.00758928 -0.00507953
+v -0.02530344 0.00759037 -0.00507953
+v -0.02550809 0.00759037 0.00590496
+v -0.02551166 0.00755772 0.00590711
+v -0.02593750 -0.00352779 0.00590711
+v -0.02528747 -0.00352779 -0.00507953
+v -0.02593750 0.00759037 -0.00507953
+v -0.02566050 0.00759037 0.00581785
+v -0.02566775 0.00692650 0.00590711
+v -0.02593750 -0.00352779 -0.00507953
+v -0.02593750 0.00557156 0.00590711
+v -0.02593750 0.00759037 0.00553716
+v -0.02593750 0.00720728 0.00566944
+v -0.02593750 0.00690909 0.00571353
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 15
+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 3 7 8
+f 4 9 14
+f 4 14 10
+f 5 10 14
+f 5 14 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 9 15 18
+f 9 18 17
+f 9 17 16
+f 9 16 11
+f 9 11 14
+f 12 16 17
+f 12 17 18
+f 12 18 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_19.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee221bcb1e54a9c8099673eb7b975032f6f8443
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.01426750 0.00592421 0.01483519
+v 0.01520474 0.00300887 0.01483519
+v 0.01600030 0.00358991 0.01599611
+v 0.01576290 0.00521684 0.01629874
+v 0.01426750 0.00691619 0.01511613
+v 0.01426750 0.01693040 0.01483519
+v 0.01698386 0.00291624 0.01483519
+v 0.01658488 0.00358991 0.01599611
+v 0.01684526 0.00521684 0.01629874
+v 0.01546890 0.00948290 0.01702923
+v 0.01554129 0.00735914 0.01662865
+v 0.01426750 0.01157467 0.01642847
+v 0.01426750 0.00735914 0.01524156
+v 0.01426750 0.01478642 0.01588914
+v 0.01573031 0.01788702 0.01686771
+v 0.01592380 0.01951900 0.01617287
+v 0.01575879 0.02012194 0.01483519
+v 0.01700993 0.00292803 0.01483519
+v 0.01701610 0.00295497 0.01484679
+v 0.01754956 0.00521684 0.01483519
+v 0.01696636 0.00735914 0.01662865
+v 0.01690873 0.00948290 0.01702923
+v 0.01523013 0.01159488 0.01702923
+v 0.01521984 0.01219108 0.01702923
+v 0.01520680 0.01383149 0.01702923
+v 0.01426750 0.01303823 0.01643277
+v 0.01426750 0.01365296 0.01641000
+v 0.01580373 0.01776071 0.01702923
+v 0.01665212 0.01951900 0.01617287
+v 0.01685829 0.02012194 0.01483519
+v 0.01701988 0.00295666 0.01483519
+v 0.01706242 0.00313013 0.01483519
+v 0.01769811 0.00735914 0.01483519
+v 0.01718112 0.01164204 0.01683871
+v 0.01691113 0.00947953 0.01702536
+v 0.01703428 0.01139278 0.01702923
+v 0.01522704 0.01444285 0.01702923
+v 0.01541881 0.01612367 0.01702923
+v 0.01673170 0.01776071 0.01702923
+v 0.01681404 0.01788702 0.01686771
+v 0.01762744 0.01805712 0.01483519
+v 0.01774751 0.00949975 0.01483519
+v 0.01721165 0.01378433 0.01683871
+v 0.01708197 0.01378433 0.01702923
+v 0.01704972 0.01164204 0.01702923
+v 0.01700787 0.01592662 0.01702923
+v 0.01713858 0.01592662 0.01683871
+v 0.01764768 0.01793081 0.01483519
+v 0.01777015 0.01164204 0.01483519
+v 0.01777221 0.01378433 0.01483519
+v 0.01776020 0.01578852 0.01483519
+v 0.01702091 0.01557463 0.01702923
+v 0.01775540 0.01592662 0.01483519
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 26
+f 1 26 27
+f 1 27 14
+f 1 14 6
+f 1 6 17
+f 1 17 30
+f 1 30 41
+f 1 41 48
+f 1 48 53
+f 1 53 51
+f 1 51 50
+f 1 50 49
+f 1 49 42
+f 1 42 33
+f 1 33 20
+f 1 20 32
+f 1 32 31
+f 1 31 18
+f 1 18 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 22
+f 4 22 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 10 22 36
+f 10 36 45
+f 10 45 44
+f 10 44 52
+f 10 52 46
+f 10 46 39
+f 10 39 28
+f 10 28 38
+f 10 38 37
+f 10 37 25
+f 10 25 24
+f 10 24 23
+f 10 23 12
+f 10 12 11
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 14 27 15
+f 15 28 16
+f 15 27 28
+f 16 28 39
+f 16 39 29
+f 16 29 30
+f 16 30 17
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 33 34
+f 20 34 21
+f 21 35 22
+f 21 34 35
+f 22 35 34
+f 22 34 36
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 33 42 34
+f 34 43 44
+f 34 44 45
+f 34 45 36
+f 34 42 43
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 40 48 41
+f 42 49 43
+f 43 50 51
+f 43 51 47
+f 43 47 52
+f 43 52 44
+f 43 49 50
+f 46 52 47
+f 47 53 48
+f 47 51 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_190.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f44d40da786357b2332a8379c6ff2023970580
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_190.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00986334 -0.01111066 -0.01518616
+v 0.00986334 -0.01111066 -0.01777261
+v 0.00880508 -0.01111066 -0.01518616
+v 0.00986334 -0.04103416 -0.01518616
+v 0.00880508 -0.01111066 -0.01777261
+v 0.00986334 -0.03974243 -0.01777261
+v 0.00880508 -0.04084084 -0.01518616
+v 0.00880508 -0.04063580 -0.01577733
+v 0.00986334 -0.04090235 -0.01556238
+v 0.00880508 -0.03956376 -0.01777261
+v 0.00986334 -0.03990646 -0.01753968
+v 0.00880508 -0.03980394 -0.01743234
+v 0.00986334 -0.04052450 -0.01646293
+v 0.00986334 -0.04072953 -0.01605228
+v 0.00986334 -0.04073246 -0.01604494
+v 0.00880508 -0.03983323 -0.01737765
+v 0.00986334 -0.04002362 -0.01737006
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 14
+f 1 14 13
+f 1 13 17
+f 1 17 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 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 8 16 13
+f 11 17 12
+f 12 17 13
+f 12 13 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_191.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a304d0a4b1429371a140a8c08d6c54ef04b857
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_191.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.03104485 0.00635218
+v -0.01159234 0.03257081 0.00552185
+v -0.01205572 0.03236351 0.00542668
+v -0.01266334 0.03097242 0.00590529
+v -0.01168974 0.03096243 0.00635218
+v -0.01159234 0.00812048 0.00635218
+v -0.01159234 0.03264573 0.00541426
+v -0.01266334 0.03209129 0.00504047
+v -0.01266334 0.03112227 0.00582391
+v -0.01159234 0.03318768 0.00462531
+v -0.01159234 0.03329757 0.00443358
+v -0.01266334 0.03004835 0.00635218
+v -0.01159402 0.00795814 0.00635218
+v -0.01159234 0.00795814 0.00631770
+v -0.01159234 0.03347239 0.00412049
+v -0.01170903 0.03347239 0.00394945
+v -0.01266334 0.03242345 0.00443358
+v -0.01266334 0.00795814 0.00635218
+v -0.01159234 0.00795814 0.00443358
+v -0.01159234 0.03347239 -0.00773869
+v -0.01172339 0.03347239 0.00390256
+v -0.01266334 0.03276061 0.00374946
+v -0.01266334 0.03272315 0.00388187
+v -0.01266334 0.00795814 -0.00773869
+v -0.01161719 0.00795814 -0.00773869
+v -0.01159234 0.00796064 -0.00362425
+v -0.01189626 0.03347239 -0.00773869
+v -0.01159234 0.00796563 -0.00773869
+v -0.01208035 0.03347239 0.00273567
+v -0.01232420 0.03347239 0.00185706
+v -0.01266334 0.03319018 0.00184189
+v -0.01266334 0.03286551 -0.00773869
+v -0.01223509 0.03347239 -0.00674146
+v -0.01232818 0.03347239 0.00184189
+v -0.01266334 0.03324013 -0.00030015
+v -0.01266334 0.03312524 -0.00672352
+v -0.01224117 0.03347239 -0.00672352
+v -0.01238354 0.03347239 -0.00030015
+v -0.01265821 0.03324512 -0.00241185
+v -0.01266334 0.03324013 -0.00462148
+v -0.01238354 0.03347239 -0.00458148
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 13
+f 1 13 6
+f 1 6 14
+f 1 14 19
+f 1 19 26
+f 1 26 28
+f 1 28 20
+f 1 20 15
+f 1 15 11
+f 1 11 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 9 8
+f 4 8 17
+f 4 17 23
+f 4 23 22
+f 4 22 31
+f 4 31 35
+f 4 35 40
+f 4 40 36
+f 4 36 32
+f 4 32 24
+f 4 24 18
+f 4 18 12
+f 4 12 5
+f 6 13 14
+f 8 11 15
+f 8 15 16
+f 8 16 17
+f 13 18 24
+f 13 24 25
+f 13 25 19
+f 13 19 14
+f 15 20 27
+f 15 27 33
+f 15 33 37
+f 15 37 41
+f 15 41 38
+f 15 38 34
+f 15 34 30
+f 15 30 29
+f 15 29 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 25 26
+f 20 28 25
+f 20 25 24
+f 20 24 32
+f 20 32 27
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 25 28 26
+f 27 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 37
+f 32 37 33
+f 34 38 35
+f 35 39 40
+f 35 38 39
+f 36 40 37
+f 37 40 41
+f 38 41 39
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_192.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc04779a0c441b942a98f399885ed73df542d2f4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_192.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.03347239 -0.00773869
+v -0.01159234 0.03347239 -0.00866940
+v -0.01189616 0.03347239 -0.00773869
+v -0.01159234 0.00796563 -0.00773869
+v -0.01160650 0.03347239 -0.00862630
+v -0.01159234 0.03342744 -0.00881775
+v -0.01266334 0.03262075 -0.00870089
+v -0.01266334 0.03286551 -0.00773869
+v -0.01161719 0.00795814 -0.00773869
+v -0.01159234 0.00795814 -0.00982222
+v -0.01159234 0.03204134 -0.01218339
+v -0.01164570 0.03201636 -0.01214361
+v -0.01193065 0.03225862 -0.01101068
+v -0.01232777 0.03242845 -0.00982222
+v -0.01266334 0.03257081 -0.00882023
+v -0.01266334 0.00795814 -0.00773869
+v -0.01159234 0.00795814 -0.01620459
+v -0.01159234 0.03197390 -0.01232843
+v -0.01176365 0.02999590 -0.01620459
+v -0.01198223 0.03021318 -0.01529294
+v -0.01266334 0.03156432 -0.01101068
+v -0.01266334 0.03211127 -0.00982305
+v -0.01266334 0.00795814 -0.01620459
+v -0.01159234 0.03010330 -0.01620459
+v -0.01159234 0.03052787 -0.01532858
+v -0.01266334 0.02951389 -0.01529294
+v -0.01266334 0.02896195 -0.01620459
+v -0.01266334 0.03090499 -0.01240550
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 24
+f 1 24 25
+f 1 25 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 22
+f 7 22 21
+f 7 21 28
+f 7 28 26
+f 7 26 27
+f 7 27 23
+f 7 23 16
+f 7 16 8
+f 9 16 23
+f 9 23 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 17 23 27
+f 17 27 19
+f 17 19 24
+f 18 25 19
+f 19 26 20
+f 19 25 24
+f 19 27 26
+f 20 26 28
+f 20 28 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_193.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8552332dac2d4a65472cf17accdbd83fa38f5e59
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_193.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.02309094 -0.01630130 -0.01267878
+v -0.02309094 -0.01630130 0.00629179
+v -0.02352479 -0.01630130 -0.01148419
+v -0.02352479 -0.01612821 -0.01167804
+v -0.02309094 -0.01626039 -0.01272240
+v -0.02309090 -0.01016633 -0.01761709
+v -0.02338291 -0.01630130 0.00601314
+v -0.02309090 -0.01016633 0.00635237
+v -0.02309094 -0.01627717 0.00634995
+v -0.02352479 -0.01630130 0.00579505
+v -0.02352483 -0.01016633 -0.01668904
+v -0.02352479 -0.01409091 -0.01362380
+v -0.02309094 -0.01415910 -0.01476751
+v -0.02309094 -0.01492597 -0.01402846
+v -0.02309094 -0.01346881 -0.01538783
+v -0.02309094 -0.01339747 -0.01545083
+v -0.02309094 -0.01280370 -0.01595968
+v -0.02309094 -0.01272082 -0.01602995
+v -0.02309094 -0.01137171 -0.01696528
+v -0.02309094 -0.01048944 -0.01745474
+v -0.02309094 -0.01016738 -0.01761709
+v -0.02309090 -0.01005513 -0.01767283
+v -0.02313444 -0.01624046 0.00634995
+v -0.02320695 -0.01617856 0.00634995
+v -0.02333507 -0.01603694 0.00634995
+v -0.02347785 -0.01584810 0.00634995
+v -0.02309090 -0.00558398 0.00635237
+v -0.02309094 -0.01339747 0.00635237
+v -0.02352479 -0.01339747 0.00635237
+v -0.02352479 -0.01574110 0.00634995
+v -0.02352483 -0.01016633 0.00635237
+v -0.02352483 -0.00981489 -0.01688289
+v -0.02352479 -0.01016738 -0.01668904
+v -0.02352479 -0.01080836 -0.01633284
+v -0.02352479 -0.01207564 -0.01543387
+v -0.02352479 -0.01222146 -0.01531029
+v -0.02311575 -0.01339747 -0.01538541
+v -0.02317730 -0.01016633 -0.01744748
+v -0.02328087 -0.00977922 -0.01743536
+v -0.02309090 -0.00868084 -0.01801691
+v -0.02352483 -0.00835458 -0.01743536
+v -0.02352483 -0.00786781 -0.01756379
+v -0.02352483 -0.00558398 0.00635237
+v -0.02309090 -0.00558398 -0.01840218
+v -0.02352483 -0.00930714 -0.01714943
+v -0.02309090 -0.00699813 -0.01826649
+v -0.02352483 -0.00636239 -0.01783033
+v -0.02352483 -0.00558398 -0.01791029
+f 1 2 7
+f 1 7 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 7
+f 3 10 31
+f 3 31 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 11 12
+f 5 14 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 40
+f 6 40 46
+f 6 46 44
+f 6 44 27
+f 6 27 8
+f 6 14 13
+f 6 13 15
+f 7 9 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 10
+f 8 27 43
+f 8 43 31
+f 8 31 29
+f 8 29 28
+f 8 28 9
+f 9 28 29
+f 9 29 23
+f 10 26 30
+f 10 30 31
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 11 36 12
+f 11 31 43
+f 11 43 48
+f 11 48 47
+f 11 47 42
+f 11 42 41
+f 11 41 45
+f 11 45 32
+f 12 36 13
+f 13 36 37
+f 13 37 15
+f 15 37 16
+f 16 37 17
+f 17 37 36
+f 17 36 18
+f 18 36 35
+f 18 35 34
+f 18 34 19
+f 19 34 38
+f 19 38 20
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 41
+f 22 41 42
+f 22 42 40
+f 23 29 24
+f 24 29 25
+f 25 29 26
+f 26 29 30
+f 27 44 48
+f 27 48 43
+f 29 31 30
+f 32 45 39
+f 32 39 33
+f 33 39 38
+f 33 38 34
+f 39 45 41
+f 40 42 47
+f 40 47 46
+f 44 46 48
+f 46 47 48
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_194.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae017b1b30f06894733c9d152d28ad3274f600d9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_194.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02593750 -0.01185618 -0.00507953
+v -0.02593750 -0.00352779 -0.00507953
+v -0.02528747 -0.01185618 -0.00507953
+v -0.02593750 -0.01185618 0.00449507
+v -0.02528747 -0.00352779 -0.00507953
+v -0.02593750 -0.00352779 0.00590711
+v -0.02528747 -0.01185618 0.00590711
+v -0.02552044 -0.01185618 0.00590711
+v -0.02593750 -0.01072382 0.00590711
+v -0.02528747 -0.00352779 0.00590711
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_195.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83594d3dfa3b3af6f743b29fccce3aa84356fec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_195.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00252048 0.02878733 0.00224698
+v 0.00252048 0.02878733 0.00063490
+v 0.00174202 0.02878733 0.00224698
+v 0.00252048 -0.03458636 0.00224698
+v 0.00174202 0.02878733 0.00063490
+v 0.00252048 -0.03458636 0.00063490
+v 0.00174202 -0.03458636 0.00224698
+v 0.00174202 -0.03458636 0.00063490
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_196.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1a814d317b03c3058a9b812a2a82e7149333e4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_196.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.02130387 0.01341760 -0.01822693
+v -0.02130387 0.01170518 -0.01881032
+v -0.02181538 0.01198077 -0.01850050
+v -0.02181538 0.01251590 -0.01822693
+v -0.02130387 -0.01391699 -0.01822693
+v -0.02130387 0.01157407 -0.01882531
+v -0.02134272 0.01157139 -0.01881495
+v -0.02181538 0.01122623 -0.01869382
+v -0.02181538 -0.01302599 -0.01822693
+v -0.02130387 -0.01338721 -0.01853566
+v -0.02130387 0.01066434 -0.01892164
+v -0.02130387 0.00955662 -0.01903627
+v -0.02181538 0.01073658 -0.01874452
+v -0.02181538 -0.01281194 -0.01835148
+v -0.02130387 -0.01192094 -0.01881462
+v -0.02181538 -0.01149016 -0.01869580
+v -0.02130387 0.00950043 -0.01904057
+v -0.02181538 0.01012653 -0.01880657
+v -0.02181538 0.01015596 -0.01880426
+v -0.02130387 -0.01186475 -0.01882135
+v -0.02132555 -0.01184335 -0.01881683
+v -0.02130387 -0.01121992 -0.01889839
+v -0.02181538 -0.00977774 -0.01888208
+v -0.02130387 -0.00977774 -0.01906835
+v -0.02181538 0.00950043 -0.01885331
+v -0.02130387 0.00744552 -0.01918165
+v -0.02181538 -0.00763453 -0.01902117
+v -0.02130387 -0.00763453 -0.01921262
+v -0.02181538 0.00829638 -0.01893575
+v -0.02130387 0.00735722 -0.01918738
+v -0.02181538 0.00735722 -0.01899791
+v -0.02181538 -0.00685324 -0.01905677
+v -0.02130387 -0.00756496 -0.01921582
+v -0.02130387 0.00521401 -0.01928625
+v -0.02181538 0.00521401 -0.01910780
+v -0.02181538 -0.00479297 -0.01913514
+v -0.02130387 -0.00542978 -0.01928404
+v -0.02130387 0.00307348 -0.01932571
+v -0.02181538 0.00307348 -0.01915839
+v -0.02181538 -0.00335079 -0.01916820
+v -0.02130387 -0.00335079 -0.01933188
+v -0.02130387 0.00093027 -0.01934180
+v -0.02181538 0.00093027 -0.01918077
+v -0.02181538 -0.00268187 -0.01918264
+v -0.02130387 -0.00329193 -0.01933309
+v -0.02130387 -0.00121026 -0.01935282
+v -0.02181538 -0.00121026 -0.01919653
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 22
+f 1 22 24
+f 1 24 28
+f 1 28 33
+f 1 33 37
+f 1 37 41
+f 1 41 45
+f 1 45 46
+f 1 46 42
+f 1 42 38
+f 1 38 34
+f 1 34 30
+f 1 30 26
+f 1 26 17
+f 1 17 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 19
+f 3 19 18
+f 3 18 25
+f 3 25 29
+f 3 29 31
+f 3 31 35
+f 3 35 39
+f 3 39 43
+f 3 43 47
+f 3 47 44
+f 3 44 40
+f 3 40 36
+f 3 36 32
+f 3 32 27
+f 3 27 23
+f 3 23 16
+f 3 16 14
+f 3 14 9
+f 3 9 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 16 21
+f 15 21 20
+f 16 22 21
+f 16 23 24
+f 16 24 22
+f 17 25 18
+f 17 26 25
+f 20 21 22
+f 23 27 28
+f 23 28 24
+f 25 26 29
+f 26 30 31
+f 26 31 29
+f 27 32 33
+f 27 33 28
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 34 38 39
+f 34 39 35
+f 36 40 41
+f 36 41 37
+f 38 42 43
+f 38 43 39
+f 40 44 41
+f 41 44 45
+f 42 46 47
+f 42 47 43
+f 44 47 46
+f 44 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_197.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea97a63ba006eca3d301369b8502c0405bbc73d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_197.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 -0.01484753 -0.01939724
+v -0.01832750 -0.01484753 -0.01935159
+v -0.01875131 -0.01228180 -0.01943529
+v -0.01799965 -0.01303333 -0.01949616
+v -0.01799965 -0.01484753 0.00635237
+v -0.01875131 -0.01484753 -0.01926281
+v -0.01875131 -0.01442371 -0.01931100
+v -0.01875131 -0.01061551 -0.01950377
+v -0.01827547 -0.01061551 -0.01954689
+v -0.01799965 -0.01089143 -0.01955957
+v -0.01799965 -0.01061551 0.00635237
+v -0.01874866 -0.01484753 0.00635237
+v -0.01875131 -0.01484753 0.00454645
+v -0.01875131 -0.01061551 0.00635237
+v -0.01799965 -0.01061551 -0.01955957
+v -0.01875131 -0.01368212 0.00635237
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 6
+f 3 6 13
+f 3 13 16
+f 3 16 14
+f 3 14 8
+f 4 8 9
+f 4 9 10
+f 5 11 14
+f 5 14 16
+f 5 16 12
+f 8 14 11
+f 8 11 15
+f 8 15 9
+f 9 15 10
+f 12 16 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_198.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f9bc23171ba5f8db737b9854a381261746c5f5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_198.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 -0.02821021 -0.00458211
+v -0.01875131 -0.02726752 -0.00458211
+v -0.01808605 -0.02804495 -0.00609163
+v -0.01799965 -0.02815918 -0.00593361
+v -0.01799965 -0.02821021 -0.00029892
+v -0.01875131 -0.02725064 -0.00502845
+v -0.01875131 -0.02726752 -0.00029892
+v -0.01875131 -0.02712054 -0.00676391
+v -0.01875131 -0.02711940 -0.00677361
+v -0.01799965 -0.02796486 -0.00750688
+v -0.01799965 -0.02814256 -0.00617064
+v -0.01799965 -0.02815500 0.00184267
+v -0.01808686 -0.02804597 0.00184267
+v -0.01875131 -0.02721231 0.00184267
+v -0.01875131 -0.02711825 -0.00678193
+v -0.01801025 -0.02794988 -0.00751936
+v -0.01799965 -0.02795877 -0.00752906
+v -0.01799965 -0.02805612 0.00299456
+v -0.01805683 -0.02800839 0.00295159
+v -0.01875131 -0.02691365 0.00292109
+v -0.01875131 -0.02691365 -0.00736550
+v -0.01846276 -0.02691365 -0.00852847
+v -0.01799965 -0.02733708 -0.00886669
+v -0.01799965 -0.02793655 0.00321218
+v -0.01856086 -0.02691365 0.00378882
+v -0.01833729 -0.02691365 -0.00886669
+v -0.01800355 -0.02691365 -0.00962907
+v -0.01799965 -0.02692533 -0.00961660
+v -0.01799965 -0.02739254 0.00419635
+v -0.01855607 -0.02691365 0.00379852
+v -0.01799965 -0.02691365 -0.00963739
+v -0.01799965 -0.02691365 0.00452209
+v -0.01852325 -0.02691365 0.00384149
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 17
+f 1 17 23
+f 1 23 28
+f 1 28 31
+f 1 31 32
+f 1 32 29
+f 1 29 24
+f 1 24 18
+f 1 18 12
+f 1 12 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 20
+f 2 20 21
+f 2 21 15
+f 2 15 9
+f 2 9 8
+f 2 8 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 6 8
+f 5 12 13
+f 5 13 7
+f 7 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 12 18 19
+f 12 19 13
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 20 25 30
+f 20 30 33
+f 20 33 32
+f 20 32 31
+f 20 31 27
+f 20 27 26
+f 20 26 22
+f 20 22 21
+f 22 26 23
+f 23 27 28
+f 23 26 27
+f 24 29 25
+f 25 29 30
+f 27 31 28
+f 29 32 33
+f 29 33 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_199.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..924fb99d5013a633faef80491cbda27f5c6a37fd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_199.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00664193 -0.03078431 0.00750194
+v 0.00695293 -0.03298255 0.00750194
+v 0.00664193 -0.02817200 0.00803325
+v 0.00664193 0.02878732 0.00750194
+v 0.00878614 -0.03342098 0.00750194
+v 0.01018520 -0.03337227 0.00803367
+v 0.00827362 -0.03166117 0.00803351
+v 0.00741942 -0.03018756 0.00803351
+v 0.00664359 -0.02817200 0.00803357
+v 0.00664193 -0.02705766 0.00803357
+v 0.00664193 0.02878732 0.00803357
+v 0.01087768 0.02878732 0.00750194
+v 0.01087768 -0.03337227 0.00750194
+v 0.01087768 -0.03337227 0.00803367
+v 0.00980952 -0.03297646 0.00803367
+v 0.00938864 -0.03263546 0.00803362
+v 0.00878614 -0.03174642 0.00803362
+v 0.00725646 -0.02957254 0.00803357
+v 0.00687414 -0.02872004 0.00803357
+v 0.00980952 0.02878732 0.00803367
+v 0.01087768 0.02878732 0.00774956
+v 0.01087768 0.02805052 0.00803367
+v 0.01033821 0.02878732 0.00803367
+v 0.01062557 0.02850722 0.00803367
+v 0.01087768 0.02806270 0.00803044
+f 1 2 3
+f 1 3 10
+f 1 10 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 3
+f 3 9 10
+f 3 8 9
+f 4 11 20
+f 4 20 23
+f 4 23 21
+f 4 21 12
+f 5 13 14
+f 5 14 6
+f 6 14 22
+f 6 22 24
+f 6 24 23
+f 6 23 20
+f 6 20 15
+f 6 15 16
+f 6 16 7
+f 7 17 18
+f 7 18 8
+f 7 16 15
+f 7 15 17
+f 8 18 19
+f 8 19 9
+f 9 19 15
+f 9 15 10
+f 10 15 20
+f 10 20 11
+f 12 21 25
+f 12 25 22
+f 12 22 14
+f 12 14 13
+f 15 18 17
+f 15 19 18
+f 21 23 24
+f 21 24 25
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_2.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc640c9cf7ba00a1b24a5b190c3e226d4e20e71e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01277348 0.02878791 -0.01960158
+v 0.01277348 0.03326196 -0.01960158
+v 0.01516402 0.02878791 -0.01960158
+v 0.01277348 0.02878791 0.00740638
+v 0.01277348 0.03476912 -0.01959364
+v 0.01302150 0.03476912 -0.01959629
+v 0.01516402 0.03476912 -0.01960158
+v 0.01552694 0.03476912 -0.01949052
+v 0.01693474 0.02878791 -0.01905687
+v 0.01516402 0.02878791 0.00740109
+v 0.01277348 0.03067508 0.00740109
+v 0.01277348 0.03476912 0.00735614
+v 0.01694017 0.03476912 -0.01905423
+v 0.01694017 0.02878791 -0.01905423
+v 0.01516402 0.03476912 0.00735614
+v 0.01644953 0.02878791 0.00731647
+v 0.01640318 0.03476912 0.00727681
+v 0.01710141 0.03476912 -0.01872370
+v 0.01772567 0.02878791 -0.01744126
+v 0.01722814 0.02878791 0.00612658
+v 0.01717932 0.03476912 0.00612658
+v 0.01702350 0.03476912 0.00636191
+v 0.01772814 0.03476912 -0.01743597
+v 0.01772814 0.02878791 -0.01743597
+v 0.01780408 0.02878791 0.00398477
+v 0.01779865 0.03476912 0.00398477
+v 0.01781049 0.03476912 -0.01529416
+v 0.01781049 0.02878791 -0.01529945
+v 0.01781049 0.02878791 0.00184296
+v 0.01781049 0.03476912 0.00184296
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 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 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 15
+f 5 15 17
+f 5 17 22
+f 5 22 21
+f 5 21 26
+f 5 26 30
+f 5 30 27
+f 5 27 23
+f 5 23 18
+f 5 18 13
+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 11 15 12
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_20.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d293549143b977a0bf87bdd4a7e66cb5dff05429
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01520688 0.01383277 0.01702954
+v 0.01614904 0.01592681 0.01796893
+v 0.01522689 0.01444299 0.01702954
+v 0.01521991 0.01219255 0.01702954
+v 0.01610553 0.01378496 0.01799765
+v 0.01636329 0.01592681 0.01796893
+v 0.01621054 0.01705244 0.01792714
+v 0.01541873 0.01612373 0.01702954
+v 0.01523019 0.01159530 0.01702954
+v 0.01612811 0.01164311 0.01798220
+v 0.01642369 0.01378496 0.01799765
+v 0.01702108 0.01557429 0.01702954
+v 0.01700786 0.01592681 0.01702954
+v 0.01627443 0.01705244 0.01792714
+v 0.01580353 0.01776071 0.01702954
+v 0.01546867 0.00948181 0.01702954
+v 0.01617474 0.01017874 0.01795083
+v 0.01639303 0.01164311 0.01798220
+v 0.01704972 0.01164311 0.01702954
+v 0.01708221 0.01378496 0.01702954
+v 0.01673175 0.01776071 0.01702954
+v 0.01690891 0.00948181 0.01702954
+v 0.01632547 0.01017874 0.01795083
+v 0.01703448 0.01139189 0.01702954
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 13
+f 1 13 12
+f 1 12 20
+f 1 20 19
+f 1 19 24
+f 1 24 22
+f 1 22 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 2 5 11
+f 2 11 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 18
+f 5 18 11
+f 6 12 13
+f 6 13 14
+f 6 11 12
+f 7 14 21
+f 7 21 15
+f 7 15 8
+f 9 16 17
+f 9 17 10
+f 10 17 23
+f 10 23 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 16 22 23
+f 16 23 17
+f 18 23 24
+f 18 24 19
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_200.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360e8b36c4feb3f510683b95ebf0f51be18b24a5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_200.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02528747 0.01196809 -0.00947418
+v -0.02528747 0.01196809 -0.01037625
+v -0.02560418 0.01196809 -0.00947418
+v -0.02528747 -0.01327172 -0.00947418
+v -0.02528747 0.01164196 -0.01066546
+v -0.02570561 0.01164196 -0.00947418
+v -0.02574469 -0.01186347 -0.00947418
+v -0.02528747 -0.01207347 -0.01055500
+v -0.02592745 0.01067101 -0.00947418
+v -0.02528747 0.00778286 -0.01317271
+v -0.02539177 0.00735792 -0.01315193
+v -0.02593750 0.00730603 -0.01163225
+v -0.02528747 -0.01202653 -0.01059598
+v -0.02593750 -0.01115441 -0.00947418
+v -0.02593750 -0.00977827 -0.01053718
+v -0.02528747 -0.00985486 -0.01232409
+v -0.02528747 -0.01056393 -0.01176528
+v -0.02593750 0.01062654 -0.00947418
+v -0.02528747 0.00733074 -0.01346608
+v -0.02528747 0.00521589 -0.01452076
+v -0.02593750 0.00602626 -0.01226055
+v -0.02593750 -0.00942497 -0.01072959
+v -0.02528747 -0.00791296 -0.01340313
+v -0.02576989 -0.00977827 -0.01101049
+v -0.02528747 0.00339505 -0.01497150
+v -0.02576333 0.00521589 -0.01315193
+v -0.02593750 0.00521589 -0.01265071
+v -0.02593750 -0.00756460 -0.01169283
+v -0.02542352 -0.00763625 -0.01315193
+v -0.02528747 -0.00763625 -0.01354506
+v -0.02528747 0.00307140 -0.01504870
+v -0.02593750 0.00308622 -0.01315193
+v -0.02593750 -0.00549422 -0.01250463
+v -0.02593750 -0.00384138 -0.01315193
+v -0.02528747 -0.00335220 -0.01522151
+v -0.02593750 0.00306893 -0.01315549
+v -0.02528747 0.00119373 -0.01529396
+v -0.02593750 0.00092938 -0.01343520
+v -0.02593750 -0.00335220 -0.01334315
+v -0.02537732 -0.00121018 -0.01529396
+v -0.02528747 -0.00288278 -0.01529396
+v -0.02528747 0.00092938 -0.01532722
+v -0.02529931 0.00092938 -0.01529396
+v -0.02593750 -0.00121018 -0.01366918
+v -0.02528747 -0.00121018 -0.01554101
+v -0.02528747 -0.00148442 -0.01550181
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 18
+f 1 18 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 16
+f 1 16 23
+f 1 23 30
+f 1 30 35
+f 1 35 41
+f 1 41 46
+f 1 46 45
+f 1 45 42
+f 1 42 37
+f 1 37 31
+f 1 31 25
+f 1 25 20
+f 1 20 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 7 13 8
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 9 12 18
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 27
+f 12 27 32
+f 12 32 36
+f 12 36 38
+f 12 38 44
+f 12 44 39
+f 12 39 34
+f 12 34 33
+f 12 33 28
+f 12 28 22
+f 12 22 15
+f 12 15 14
+f 12 14 18
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 23
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 25 31 27
+f 25 27 26
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 30
+f 30 34 35
+f 31 36 32
+f 31 37 38
+f 31 38 36
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 37 42 43
+f 37 43 38
+f 38 43 44
+f 39 44 40
+f 40 45 46
+f 40 46 41
+f 40 44 43
+f 40 43 42
+f 40 42 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_201.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace6998d9c00d88a40d64a3429738272a27ca9e4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_201.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 0.00086996 -0.01250216
+v -0.02069365 0.00086996 -0.01942110
+v -0.02130386 0.00086996 -0.01250216
+v -0.02069365 -0.02010416 -0.01250216
+v -0.02069365 -0.00121185 -0.01942924
+v -0.02125393 -0.00121185 -0.01936752
+v -0.02121791 0.00086996 -0.01936142
+v -0.02130386 0.00086996 -0.01934175
+v -0.02130386 -0.02006720 -0.01250216
+v -0.02128547 -0.02010416 -0.01250216
+v -0.02069365 -0.02010416 -0.01402267
+v -0.02069365 -0.00177233 -0.01942992
+v -0.02130386 -0.00121185 -0.01935260
+v -0.02125536 0.00086996 -0.01935667
+v -0.02069365 -0.00391368 -0.01941364
+v -0.02125393 -0.00335319 -0.01934718
+v -0.02130386 -0.02000561 -0.01259101
+v -0.02130386 -0.01901808 -0.01395553
+v -0.02069365 -0.01883331 -0.01577581
+v -0.02130386 -0.00329571 -0.01933226
+v -0.02069365 -0.00605708 -0.01937159
+v -0.02125393 -0.00549659 -0.01929835
+v -0.02130386 -0.00335319 -0.01933158
+v -0.02130386 -0.01848429 -0.01469070
+v -0.02095772 -0.01854793 -0.01549164
+v -0.02092206 -0.01849455 -0.01563339
+v -0.02069365 -0.01814964 -0.01654352
+v -0.02069365 -0.00763794 -0.01932209
+v -0.02130386 -0.00543500 -0.01928343
+v -0.02125393 -0.00763794 -0.01923053
+v -0.02130386 -0.01817017 -0.01511185
+v -0.02130386 -0.01784989 -0.01547469
+v -0.02121325 -0.01789506 -0.01563339
+v -0.02069365 -0.01759942 -0.01715458
+v -0.02130386 -0.01770823 -0.01563339
+v -0.02130386 -0.01703072 -0.01638686
+v -0.02069365 -0.00819843 -0.01930377
+v -0.02130386 -0.00756814 -0.01921561
+v -0.02130386 -0.00763794 -0.01921222
+v -0.02069365 -0.01033772 -0.01916949
+v -0.02125393 -0.00977724 -0.01908607
+v -0.02069365 -0.01671660 -0.01794196
+v -0.02130386 -0.01602882 -0.01726241
+v -0.02130386 -0.00977724 -0.01906776
+v -0.02069365 -0.01247496 -0.01894772
+v -0.02130386 -0.01121849 -0.01889821
+v -0.02069365 -0.01250576 -0.01894433
+v -0.02130386 -0.01573934 -0.01745027
+v -0.02130386 -0.01493659 -0.01790669
+v -0.02069365 -0.01574960 -0.01835701
+v -0.02130386 -0.01186520 -0.01882090
+v -0.02069365 -0.01406198 -0.01875444
+v -0.02070255 -0.01406198 -0.01875172
+v -0.02130386 -0.01338652 -0.01853470
+v -0.02069365 -0.01411536 -0.01874766
+v -0.02130386 -0.01191858 -0.01881412
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 34
+f 1 34 42
+f 1 42 50
+f 1 50 55
+f 1 55 52
+f 1 52 47
+f 1 47 45
+f 1 45 40
+f 1 40 37
+f 1 37 28
+f 1 28 21
+f 1 21 15
+f 1 15 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 13
+f 3 13 20
+f 3 20 23
+f 3 23 29
+f 3 29 38
+f 3 38 39
+f 3 39 44
+f 3 44 46
+f 3 46 51
+f 3 51 56
+f 3 56 54
+f 3 54 49
+f 3 49 48
+f 3 48 43
+f 3 43 36
+f 3 36 35
+f 3 35 32
+f 3 32 31
+f 3 31 24
+f 3 24 18
+f 3 18 17
+f 3 17 9
+f 4 10 11
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 15
+f 6 15 16
+f 6 16 13
+f 8 14 13
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 16 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 20
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 21 28 22
+f 22 29 23
+f 22 28 30
+f 22 30 29
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 35
+f 27 35 36
+f 27 36 34
+f 28 37 30
+f 29 30 38
+f 30 39 38
+f 30 37 40
+f 30 40 41
+f 30 41 44
+f 30 44 39
+f 32 35 33
+f 34 36 42
+f 36 43 42
+f 40 45 41
+f 41 46 44
+f 41 45 47
+f 41 47 46
+f 42 43 48
+f 42 48 49
+f 42 49 50
+f 46 47 51
+f 47 52 53
+f 47 53 51
+f 49 54 50
+f 50 54 55
+f 51 53 56
+f 52 55 53
+f 53 55 56
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_202.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e47d04c60eeeada80ca9b7187eb724fcebc8c9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_202.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.01512957 -0.03144002 -0.00458133
+v -0.01618320 -0.03043786 -0.00458133
+v -0.01512957 -0.03143304 -0.00472514
+v -0.01512957 -0.03144002 -0.00029906
+v -0.01618320 -0.03043786 -0.00029906
+v -0.01680263 -0.02968915 -0.00458133
+v -0.01612637 -0.03037624 -0.00672341
+v -0.01512957 -0.03131562 -0.00672341
+v -0.01512957 -0.03138887 0.00184113
+v -0.01615912 -0.03041112 0.00184113
+v -0.01680263 -0.02963334 0.00184113
+v -0.01680263 -0.02968915 -0.00029906
+v -0.01680263 -0.02963683 -0.00543854
+v -0.01512957 -0.03128423 -0.00690507
+v -0.01680263 -0.02954731 -0.00674990
+v -0.01601237 -0.03025301 -0.00805748
+v -0.01512957 -0.03094475 0.00375425
+v -0.01605610 -0.03030067 0.00327928
+v -0.01680263 -0.02912413 0.00376560
+v -0.01512957 -0.03086337 -0.00850595
+v -0.01680263 -0.02943919 -0.00729677
+v -0.01680263 -0.02895439 -0.00862327
+v -0.01680263 -0.02886254 -0.00882007
+v -0.01662607 -0.02908925 -0.00881061
+v -0.01658169 -0.02908925 -0.00891280
+v -0.01595685 -0.02805919 -0.01221296
+v -0.01567268 -0.02988098 -0.00948427
+v -0.01512957 -0.03013326 -0.01005385
+v -0.01512957 -0.03073200 0.00420272
+v -0.01572362 -0.02993678 0.00470607
+v -0.01680263 -0.02908925 0.00383183
+v -0.01680263 -0.02657804 -0.01297934
+v -0.01650667 -0.02695007 -0.01297934
+v -0.01647277 -0.02699192 -0.01297934
+v -0.01629818 -0.02719771 -0.01297934
+v -0.01512957 -0.02856957 -0.01297934
+v -0.01512957 -0.02870443 -0.01275227
+v -0.01512957 -0.02908925 -0.01204266
+v -0.01512957 -0.02931596 -0.01162256
+v -0.01512957 -0.02934851 0.00562005
+v -0.01631390 -0.02850795 0.00544596
+v -0.01675661 -0.02908925 0.00393591
+v -0.01680263 -0.02905088 0.00390184
+v -0.01680263 -0.01956409 -0.01297934
+v -0.01512957 -0.01956409 -0.01297934
+v -0.01512957 -0.02906600 0.00585091
+v -0.01680263 -0.02737326 0.00570899
+v -0.01680263 -0.02889510 0.00409486
+v -0.01680263 -0.01956409 0.00635237
+v -0.01512957 -0.01956409 0.00635237
+v -0.01512957 -0.02771622 0.00635237
+v -0.01585776 -0.02688031 0.00635237
+v -0.01680263 -0.02690124 0.00591147
+v -0.01680263 -0.02570609 0.00635237
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 28
+f 1 28 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 45
+f 1 45 50
+f 1 50 51
+f 1 51 46
+f 1 46 40
+f 1 40 29
+f 1 29 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 6 12 11
+f 6 11 19
+f 6 19 31
+f 6 31 43
+f 6 43 48
+f 6 48 47
+f 6 47 53
+f 6 53 54
+f 6 54 49
+f 6 49 44
+f 6 44 32
+f 6 32 23
+f 6 23 22
+f 6 22 21
+f 6 21 15
+f 6 15 13
+f 6 13 7
+f 7 14 8
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 14 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 26
+f 16 26 27
+f 16 27 28
+f 16 28 20
+f 17 29 30
+f 17 30 18
+f 18 31 19
+f 18 30 31
+f 23 32 33
+f 23 33 25
+f 23 25 24
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 32 44 45
+f 32 45 36
+f 32 36 35
+f 32 35 34
+f 32 34 33
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 41 48 43
+f 41 43 42
+f 44 49 50
+f 44 50 45
+f 46 51 52
+f 46 52 53
+f 46 53 47
+f 49 54 52
+f 49 52 51
+f 49 51 50
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_203.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a5b4132e52f135dcc51368a6bdcd3bf7c50714
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_203.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.01875151 -0.02726745 -0.00458346
+v -0.01903101 -0.02691657 -0.00458346
+v -0.01875151 -0.02725031 -0.00503028
+v -0.01875151 -0.02726745 -0.00030058
+v -0.02000983 -0.02568196 -0.00458346
+v -0.01903101 -0.02691657 -0.00030058
+v -0.02000983 -0.02567952 -0.00462488
+v -0.01997707 -0.02557752 -0.00672382
+v -0.01875151 -0.02711975 -0.00676305
+v -0.01875151 -0.02721196 0.00184196
+v -0.02000983 -0.02568196 -0.00030058
+v -0.01898679 -0.02691657 0.00184196
+v -0.02000983 -0.02561995 -0.00549235
+v -0.01875151 -0.02711812 -0.00678049
+v -0.02000983 -0.02553100 -0.00672382
+v -0.02000983 -0.02548204 -0.00686549
+v -0.01968574 -0.02519808 -0.00886635
+v -0.01875151 -0.02646614 -0.00865275
+v -0.01875151 -0.02691086 0.00292957
+v -0.02000983 -0.02562484 0.00184196
+v -0.02000983 -0.02475662 -0.00886635
+v -0.01875151 -0.02581171 -0.00991255
+v -0.01875151 -0.02639107 -0.00886635
+v -0.02000983 -0.02436576 -0.00957908
+v -0.01875151 -0.02449469 -0.01228176
+v -0.01875151 -0.02665137 0.00382320
+v -0.01975386 -0.02528702 0.00398449
+v -0.02000983 -0.02561995 0.00185722
+v -0.02000983 -0.02397816 -0.01025693
+v -0.01875151 -0.02414789 -0.01287897
+v -0.01875151 -0.02598715 0.00457734
+v -0.02000983 -0.02493369 0.00398449
+v -0.01950589 -0.02505691 0.00457734
+v -0.02000983 -0.02436413 0.00457734
+v -0.02000983 -0.02320949 -0.01143391
+v -0.01993802 -0.02328782 -0.01150583
+v -0.01875151 -0.02271663 -0.01517190
+v -0.01875151 -0.02341349 -0.01406685
+v -0.01875151 -0.01893202 0.00457734
+v -0.02000983 -0.01893202 0.00457734
+v -0.02000983 -0.02303568 -0.01168020
+v -0.02000983 -0.02112624 -0.01436545
+v -0.01986829 -0.02057463 -0.01549012
+v -0.01875151 -0.02261136 -0.01532011
+v -0.01875151 -0.01893202 -0.01768932
+v -0.02000983 -0.01893202 -0.01705942
+v -0.02000983 -0.02002546 -0.01588462
+v -0.01875151 -0.02168275 -0.01662350
+v -0.01875151 -0.02058769 -0.01768932
+v -0.01956649 -0.01893202 -0.01768932
+v -0.01977640 -0.01893202 -0.01744303
+v -0.01875151 -0.02067010 -0.01765227
+v -0.02000983 -0.01954239 -0.01648401
+v -0.01947953 -0.01912297 -0.01768932
+v -0.01974043 -0.01893202 -0.01748662
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 22
+f 1 22 25
+f 1 25 30
+f 1 30 38
+f 1 38 37
+f 1 37 44
+f 1 44 48
+f 1 48 52
+f 1 52 49
+f 1 49 45
+f 1 45 39
+f 1 39 31
+f 1 31 26
+f 1 26 19
+f 1 19 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 11 20
+f 5 20 28
+f 5 28 32
+f 5 32 34
+f 5 34 40
+f 5 40 46
+f 5 46 53
+f 5 53 47
+f 5 47 42
+f 5 42 41
+f 5 41 35
+f 5 35 29
+f 5 29 24
+f 5 24 21
+f 5 21 16
+f 5 16 15
+f 5 15 13
+f 5 13 7
+f 6 10 12
+f 6 12 11
+f 7 13 8
+f 8 14 9
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 14
+f 10 19 12
+f 11 12 20
+f 12 19 20
+f 16 21 17
+f 17 22 23
+f 17 23 18
+f 17 21 24
+f 17 24 25
+f 17 25 22
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 24 29 25
+f 25 29 30
+f 26 31 27
+f 27 32 28
+f 27 31 33
+f 27 33 34
+f 27 34 32
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 31 39 40
+f 31 40 34
+f 31 34 33
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 39 45 50
+f 39 50 55
+f 39 55 51
+f 39 51 46
+f 39 46 40
+f 42 47 43
+f 43 47 48
+f 43 48 44
+f 45 49 54
+f 45 54 50
+f 46 51 52
+f 46 52 53
+f 47 53 48
+f 48 53 52
+f 49 52 54
+f 50 54 55
+f 51 55 52
+f 52 55 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_204.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c13924398bc5b3b70efb41bf9f7337ec66bdf8a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_204.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01087810 -0.03337422 0.00803372
+v 0.01087810 -0.03403556 0.00803372
+v 0.01087810 -0.03337422 0.00750194
+v 0.01018499 -0.03337422 0.00803372
+v 0.01027611 -0.03394603 0.00803372
+v 0.01087810 -0.03542966 0.00750194
+v 0.00879203 -0.03337422 0.00750194
+v 0.00886820 -0.03337422 0.00753567
+v 0.00906292 -0.03515965 0.00750194
+v 0.00878650 -0.03340078 0.00750194
+v 0.00878650 -0.03337422 0.00750475
+v 0.00881537 -0.03337422 0.00751568
+v 0.00878650 -0.03342110 0.00750194
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 9
+f 3 9 13
+f 3 13 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 5 9 6
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 13 11
+f 11 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_205.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8fb3138587529b95a1b4e3f7625344a575eb37
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_205.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03506165 -0.01257457
+v -0.00716753 0.03451055 -0.01392598
+v -0.00793629 0.03453603 -0.01257457
+v -0.00716753 0.02973182 -0.01257457
+v -0.00716753 0.03427369 -0.01449997
+v -0.00774039 0.03443411 -0.01315267
+v -0.00805384 0.03445110 -0.01257457
+v -0.00805384 0.02973182 -0.01257457
+v -0.00716753 0.02542115 -0.01257526
+v -0.00716753 0.03401796 -0.01511780
+v -0.00739570 0.03418310 -0.01433695
+v -0.00805384 0.03420669 -0.01315267
+v -0.00805384 0.02542115 -0.01257526
+v -0.00716753 0.02542115 -0.01957205
+v -0.00716753 0.03376977 -0.01570001
+v -0.00805384 0.03325453 -0.01539657
+v -0.00805384 0.03344043 -0.01496026
+v -0.00805384 0.02542115 -0.01957136
+v -0.00716753 0.02663942 -0.01957205
+v -0.00716753 0.03284026 -0.01748089
+v -0.00785473 0.03237315 -0.01743568
+v -0.00805384 0.03262605 -0.01663771
+v -0.00805384 0.02663942 -0.01954054
+v -0.00716753 0.02878060 -0.01937478
+v -0.00716753 0.03211552 -0.01856517
+v -0.00739874 0.03204097 -0.01853914
+v -0.00805384 0.03221838 -0.01743568
+v -0.00805384 0.02878060 -0.01926245
+v -0.00716753 0.03086988 -0.01892339
+v -0.00716753 0.03181449 -0.01865284
+v -0.00805384 0.03106711 -0.01868092
+v -0.00805384 0.03081893 -0.01875216
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 30
+f 1 30 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 13
+f 4 13 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 17
+f 7 17 16
+f 7 16 22
+f 7 22 27
+f 7 27 31
+f 7 31 32
+f 7 32 28
+f 7 28 23
+f 7 23 18
+f 7 18 13
+f 7 13 8
+f 9 13 18
+f 9 18 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_206.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550efd0b5e3daf43425cda870847e14a821e86b4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_206.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.03074669 -0.01340685
+v -0.00716753 -0.03074669 -0.01518145
+v -0.00805384 -0.03074669 -0.01340685
+v -0.00716753 -0.03517943 -0.01340685
+v -0.00805384 -0.03074669 -0.01518145
+v -0.00716753 -0.03443651 -0.01518145
+v -0.00805384 -0.03462484 -0.01340685
+v -0.00786228 -0.03475416 -0.01340685
+v -0.00751456 -0.03453242 -0.01451817
+v -0.00716753 -0.03488565 -0.01415786
+v -0.00805384 -0.03385373 -0.01518145
+v -0.00716753 -0.03465696 -0.01472994
+v -0.00775774 -0.03404857 -0.01518145
+v -0.00805384 -0.03437012 -0.01402670
+v -0.00795329 -0.03469298 -0.01340685
+v -0.00805384 -0.03392923 -0.01502719
+v -0.00805384 -0.03387239 -0.01514341
+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 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 16
+f 3 16 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 9
+f 6 9 13
+f 7 14 15
+f 8 15 9
+f 9 14 16
+f 9 16 13
+f 9 12 10
+f 9 15 14
+f 11 13 17
+f 13 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_207.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c954c0780a0b24056044c71c162631574e16f447
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_207.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.00018653 -0.01518146
+v -0.00716753 0.02542115 -0.01518189
+v -0.00805384 -0.00018653 -0.01518146
+v -0.00716753 -0.03158650 -0.01518146
+v -0.00716753 0.02542115 -0.01957092
+v -0.00805384 0.02542115 -0.01518189
+v -0.00805384 -0.03158650 -0.01518146
+v -0.00716753 -0.03158650 -0.01885407
+v -0.00805384 0.02542115 -0.01957049
+v -0.00716753 0.02448925 -0.01960296
+v -0.00805384 0.02448925 -0.01960296
+v -0.00805384 -0.03158650 -0.01863113
+v -0.00798331 -0.03158650 -0.01869000
+v -0.00716753 -0.03115123 -0.01898090
+v -0.00716753 0.01997484 -0.01960339
+v -0.00805384 0.01997484 -0.01960339
+v -0.00805384 -0.03146931 -0.01870559
+v -0.00805384 -0.03111217 -0.01880212
+v -0.00716753 -0.03029188 -0.01919604
+v -0.00716753 -0.00018653 -0.01960382
+v -0.00805384 -0.00018653 -0.01960382
+v -0.00805384 -0.02939904 -0.01922765
+v -0.00716753 -0.02905307 -0.01939820
+v -0.00805384 -0.02905307 -0.01928435
+v -0.00716753 -0.02600626 -0.01960382
+v -0.00805384 -0.02511901 -0.01960382
+v -0.00805384 -0.02751851 -0.01949387
+v -0.00716753 -0.02814907 -0.01952158
+v -0.00716753 -0.02691584 -0.01957266
+v -0.00805384 -0.02691584 -0.01954279
+v -0.00805384 -0.02537570 -0.01959517
+v -0.00805384 -0.02725623 -0.01952850
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 23
+f 1 23 28
+f 1 28 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 9
+f 3 9 11
+f 3 11 16
+f 3 16 21
+f 3 21 26
+f 3 26 31
+f 3 31 30
+f 3 30 32
+f 3 32 27
+f 3 27 24
+f 3 24 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 13
+f 4 13 8
+f 5 10 11
+f 5 11 9
+f 8 13 14
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 24
+f 19 24 23
+f 20 25 26
+f 20 26 21
+f 23 24 27
+f 23 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_208.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1605e423d37cebfbe7ad9703f736b578f453f77
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_208.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00428590 0.02878636 -0.01462213
+v 0.00279774 0.02878636 -0.01462213
+v 0.00428590 0.01894794 -0.01462213
+v 0.00428590 0.02878636 -0.01960326
+v 0.00279774 0.02878636 -0.01957497
+v 0.00279774 0.01894794 -0.01462213
+v 0.00428590 0.01894794 -0.01960326
+v 0.00428561 -0.04005563 -0.01462310
+v 0.00428575 -0.03936155 -0.01639142
+v 0.00279774 0.02877962 -0.01960326
+v 0.00428575 0.01894794 -0.01960374
+v 0.00279774 0.01894794 -0.01960423
+v 0.00279774 -0.03952328 -0.01462310
+v 0.00296061 -0.03958393 -0.01462310
+v 0.00428575 -0.03899093 -0.01730386
+v 0.00428575 -0.03846531 -0.01824118
+v 0.00428575 -0.03756233 -0.01878299
+v 0.00428575 -0.03736691 -0.01884980
+v 0.00428575 -0.03548009 -0.01937551
+v 0.00428575 -0.03531837 -0.01940136
+v 0.00428575 -0.03333720 -0.01960082
+v 0.00428575 -0.03316874 -0.01960374
+v 0.00279774 -0.03946937 -0.01478989
+v 0.00333240 -0.03907853 -0.01639142
+v 0.00428561 -0.03971870 -0.01553457
+v 0.00279774 -0.03167950 -0.01960374
+v 0.00299281 -0.03883594 -0.01672401
+v 0.00395534 -0.03838445 -0.01815096
+v 0.00279774 -0.03738713 -0.01855036
+v 0.00279774 -0.03711758 -0.01873422
+v 0.00279774 -0.03599223 -0.01911899
+v 0.00279774 -0.03593832 -0.01913509
+v 0.00279774 -0.03548009 -0.01926481
+v 0.00279774 -0.03382239 -0.01952572
+v 0.00279774 -0.03333720 -0.01957497
+v 0.00279774 -0.03926721 -0.01534730
+v 0.00281901 -0.03889659 -0.01639142
+v 0.00279774 -0.03879551 -0.01662989
+v 0.00279774 -0.03863378 -0.01692250
+v 0.00279774 -0.03818903 -0.01765450
+v 0.00279774 -0.03891006 -0.01633095
+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 10
+f 2 10 12
+f 2 12 26
+f 2 26 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 29
+f 2 29 40
+f 2 40 39
+f 2 39 38
+f 2 38 41
+f 2 41 36
+f 2 36 23
+f 2 23 13
+f 2 13 6
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 5
+f 4 7 22
+f 4 22 11
+f 4 11 12
+f 4 12 10
+f 6 13 14
+f 6 14 8
+f 7 9 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 8 14 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 15
+f 11 22 12
+f 12 22 26
+f 13 23 14
+f 15 25 24
+f 15 24 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 26
+f 23 36 37
+f 23 37 24
+f 24 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 40 29
+f 28 39 40
+f 36 41 37
+f 37 41 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_209.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661394a09808da8ffab3b8c260bf4a081dee7c87
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_209.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03734492 -0.01658576
+v 0.00023052 0.03689638 -0.01753770
+v 0.00014030 0.03685886 -0.01754579
+v 0.00016771 0.03732120 -0.01658576
+v 0.00023052 0.03555407 -0.01658576
+v 0.00023052 0.03680204 -0.01768170
+v -0.00059205 0.03609143 -0.01833175
+v -0.00083011 0.03664480 -0.01714240
+v -0.00083011 0.03684341 -0.01658576
+v -0.00083011 0.03555407 -0.01658576
+v 0.00023052 0.03170864 -0.01658604
+v 0.00023052 0.03555407 -0.01874093
+v -0.00083011 0.03603957 -0.01820423
+v -0.00083011 0.03621667 -0.01791275
+v 0.00023052 0.03545310 -0.01882652
+v -0.00083011 0.03500677 -0.01880078
+v -0.00083011 0.03170864 -0.01658604
+v 0.00023052 0.03170864 -0.01953990
+v 0.00023052 0.03530469 -0.01887452
+v 0.00014030 0.03530911 -0.01886035
+v -0.00083011 0.03306530 -0.01933806
+v -0.00083011 0.03170864 -0.01946384
+v 0.00016802 0.03170864 -0.01953990
+v 0.00023052 0.03306530 -0.01943233
+v 0.00016802 0.03306530 -0.01942886
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 24
+f 1 24 19
+f 1 19 15
+f 1 15 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 16
+f 7 16 13
+f 8 14 13
+f 8 13 16
+f 8 16 21
+f 8 21 22
+f 8 22 17
+f 8 17 10
+f 8 10 9
+f 11 17 22
+f 11 22 23
+f 11 23 18
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 18 23 24
+f 19 24 25
+f 19 25 21
+f 19 21 20
+f 21 25 22
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_21.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09336c6d23571ebe990d3d03c5c3359bc319ad99
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01781095 -0.01844664 0.01265387
+v 0.01781095 -0.01844664 0.01255502
+v 0.01781095 -0.01448886 0.01041263
+v 0.01780344 -0.01448886 0.01083828
+v 0.01777395 -0.01620603 0.01255502
+v 0.01771150 -0.01844664 0.01469741
+v 0.01781095 -0.01448886 0.00991737
+v 0.01781037 -0.01844664 0.00991737
+v 0.01763575 -0.01448886 0.01255502
+v 0.01770687 -0.01834784 0.01469741
+v 0.01769877 -0.01844664 0.01479626
+v 0.01190422 -0.01448886 0.00991737
+v 0.01190422 -0.01844664 0.00991737
+v 0.01748482 -0.01448886 0.01306641
+v 0.01687305 -0.01844664 0.01683980
+v 0.01190422 -0.01448886 0.01912341
+v 0.01190422 -0.01844664 0.02022184
+v 0.01686900 -0.01448886 0.01449971
+v 0.01662151 -0.01659657 0.01613072
+v 0.01686726 -0.01844664 0.01684585
+v 0.01190422 -0.01721727 0.02006146
+v 0.01196031 -0.01725833 0.02005642
+v 0.01349669 -0.01844664 0.01968220
+v 0.01271260 -0.01448886 0.01859285
+v 0.01242232 -0.01844664 0.02019057
+v 0.01190422 -0.01834784 0.02022083
+v 0.01658277 -0.01448886 0.01491024
+v 0.01605252 -0.01448886 0.01556788
+v 0.01580677 -0.01780386 0.01755898
+v 0.01512444 -0.01844664 0.01852628
+v 0.01506893 -0.01844664 0.01856663
+v 0.01511982 -0.01844664 0.01853032
+v 0.01380663 -0.01448886 0.01764269
+v 0.01497294 -0.01448886 0.01659772
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 20
+f 1 20 30
+f 1 30 32
+f 1 32 31
+f 1 31 23
+f 1 23 25
+f 1 25 17
+f 1 17 13
+f 1 13 8
+f 1 8 2
+f 2 8 7
+f 3 7 12
+f 3 12 16
+f 3 16 24
+f 3 24 33
+f 3 33 34
+f 3 34 28
+f 3 28 27
+f 3 27 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 8 13
+f 7 13 12
+f 9 14 11
+f 9 11 10
+f 11 14 15
+f 12 13 17
+f 12 17 26
+f 12 26 21
+f 12 21 16
+f 14 18 15
+f 15 19 20
+f 15 18 19
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 17 25 26
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 21 26 25
+f 21 25 22
+f 22 25 23
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 28 34 29
+f 29 34 30
+f 30 34 33
+f 30 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_210.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0adb39198b81bd4ef71ceeceb1abafd8ca865c0c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_210.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 0.00747304 -0.01929283
+v -0.02125393 0.00747304 -0.01919744
+v -0.02069365 0.00950096 -0.01917234
+v -0.02069365 0.00747304 0.00635237
+v -0.02130315 0.00747304 -0.01917987
+v -0.02130386 0.00950096 -0.01903929
+v -0.02125393 0.00950096 -0.01905686
+v -0.02069365 0.01157475 -0.01898658
+v -0.02069365 0.01940276 0.00635237
+v -0.02130386 0.00747304 0.00635237
+v -0.02130386 0.00747304 -0.01578595
+v -0.02130386 0.00956011 -0.01903427
+v -0.02130386 0.01066702 -0.01892131
+v -0.02130386 0.01096396 -0.01888867
+v -0.02130386 0.01157596 -0.01882090
+v -0.02078241 0.01348317 -0.01874559
+v -0.02069365 0.01348438 -0.01876818
+v -0.02126820 0.01850106 0.00635237
+v -0.02069365 0.01980472 0.00622184
+v -0.02129610 0.01980472 0.00592060
+v -0.02130386 0.01842864 0.00635237
+v -0.02130386 0.01170632 -0.01880584
+v -0.02069365 0.01378494 -0.01873053
+v -0.02130386 0.01348317 -0.01820336
+v -0.02130386 0.01383443 -0.01808036
+v -0.02069365 0.01980472 -0.01403376
+v -0.02130386 0.01980472 0.00591558
+v -0.02069365 0.01628966 -0.01782933
+v -0.02130386 0.01444522 -0.01783686
+v -0.02069365 0.01891751 -0.01529142
+v -0.02130386 0.01980472 -0.01239453
+v -0.02130386 0.01507653 -0.01758332
+v -0.02069365 0.01687269 -0.01734735
+v -0.02069365 0.01806892 -0.01628047
+v -0.02109403 0.01806892 -0.01529142
+v -0.02130386 0.01806409 -0.01473413
+v -0.02130386 0.01604462 -0.01672229
+v -0.02130386 0.01756194 -0.01531150
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 23
+f 1 23 28
+f 1 28 33
+f 1 33 34
+f 1 34 30
+f 1 30 26
+f 1 26 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 18
+f 4 18 21
+f 4 21 10
+f 5 11 6
+f 6 12 7
+f 6 11 10
+f 6 10 21
+f 6 21 27
+f 6 27 31
+f 6 31 36
+f 6 36 38
+f 6 38 37
+f 6 37 32
+f 6 32 29
+f 6 29 25
+f 6 25 24
+f 6 24 22
+f 6 22 15
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 19 20
+f 9 20 18
+f 15 22 16
+f 16 23 17
+f 16 22 24
+f 16 24 25
+f 16 25 23
+f 18 20 21
+f 19 26 31
+f 19 31 27
+f 19 27 20
+f 20 27 21
+f 23 25 28
+f 25 29 28
+f 26 30 31
+f 28 32 33
+f 28 29 32
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 37 33
+f 33 37 34
+f 34 37 38
+f 34 38 35
+f 35 38 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_211.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b061ee789fedea8680a9782a52f07d41aa6995e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_211.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 -0.03651833 -0.01546625
+v -0.00351176 -0.03428343 -0.01546625
+v -0.00370866 -0.03641113 -0.01546625
+v -0.00351176 -0.03636649 -0.01592566
+v -0.00415443 -0.03428343 -0.01546625
+v -0.00351176 -0.03428343 -0.01789025
+v -0.00415443 -0.03616827 -0.01546625
+v -0.00415443 -0.03616674 -0.01547005
+v -0.00415443 -0.03512335 -0.01753454
+v -0.00351176 -0.03589982 -0.01684899
+v -0.00415443 -0.03428343 -0.01789025
+v -0.00351176 -0.03521152 -0.01789025
+v -0.00415443 -0.03511285 -0.01755257
+v -0.00351176 -0.03589523 -0.01685682
+v -0.00415443 -0.03486824 -0.01789025
+v -0.00351176 -0.03545459 -0.01759718
+v -0.00351176 -0.03546838 -0.01758034
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 17
+f 1 17 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 15
+f 5 15 13
+f 5 13 9
+f 5 9 8
+f 5 8 7
+f 6 12 15
+f 6 15 11
+f 9 13 10
+f 10 13 14
+f 12 16 15
+f 13 17 14
+f 13 15 17
+f 15 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_212.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9291d9f4b8308244caccc94e1e28f10afe6e69
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_212.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03598947 -0.01041286
+v -0.00716753 0.03551482 -0.01150245
+v -0.00805384 0.03489140 -0.01150245
+v -0.00805384 0.03511102 -0.01099142
+v -0.00805384 0.03535188 -0.01041286
+v -0.00716753 -0.03638393 -0.01041286
+v -0.00716753 -0.03593761 -0.01150245
+v -0.00805384 -0.03538503 -0.01150245
+v -0.00805384 -0.03583135 -0.01041286
+v -0.00731467 -0.03585260 -0.01150245
+v -0.00805384 -0.03542046 -0.01142032
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 7
+f 1 7 2
+f 2 7 10
+f 2 10 8
+f 2 8 3
+f 3 8 11
+f 3 11 9
+f 3 9 5
+f 3 5 4
+f 6 9 10
+f 6 10 7
+f 8 10 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_213.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6437ff91ec729cb47ed2370ae404abf2774e184d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_213.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.03365563 0.00635237
+v -0.00805384 0.03489775 0.00568056
+v -0.00840064 0.03478672 0.00560790
+v -0.00850034 0.03470345 0.00561477
+v -0.00828771 0.03348909 0.00635237
+v -0.00805384 -0.03389050 0.00635237
+v -0.00805384 0.03522389 0.00544164
+v -0.00850034 0.03475203 0.00558232
+v -0.00850034 0.03333643 0.00635237
+v -0.00823767 -0.03398765 0.00635237
+v -0.00805384 -0.03407786 0.00635219
+v -0.00809339 0.03519613 0.00544164
+v -0.00805384 -0.03566693 0.00544164
+v -0.00850034 0.03484918 0.00544164
+v -0.00850034 -0.03380029 0.00635237
+v -0.00850034 -0.03410562 0.00619003
+v -0.00805384 -0.03544488 0.00563607
+v -0.00805384 -0.03563224 0.00549469
+v -0.00850034 -0.03529916 0.00554309
+v -0.00850034 -0.03534079 0.00544164
+v -0.00820087 -0.03543794 0.00558223
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 17
+f 1 17 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 14
+f 4 14 20
+f 4 20 19
+f 4 19 16
+f 4 16 15
+f 4 15 9
+f 4 9 5
+f 6 10 11
+f 7 12 8
+f 7 13 20
+f 7 20 14
+f 7 14 12
+f 8 12 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 20
+f 16 19 17
+f 17 19 21
+f 17 21 18
+f 18 21 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_214.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea270d6153f7681d6b23dc73a842174c1b2c5dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_214.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.02558307 -0.01942197
+v -0.01054287 0.02558307 -0.01938160
+v -0.00950790 0.02663902 -0.01938160
+v -0.00950790 0.02558307 0.00635237
+v -0.01058580 0.02558307 -0.01937151
+v -0.01054287 0.02663902 -0.01924536
+v -0.00950790 0.02874011 -0.01898297
+v -0.00950790 0.03263720 0.00635237
+v -0.01062676 0.02558307 0.00635237
+v -0.01062676 0.02558307 -0.01936142
+v -0.01062676 0.02663508 -0.01922518
+v -0.01046073 0.02870468 -0.01877862
+v -0.00950790 0.03011885 -0.01861462
+v -0.00950790 0.03387325 0.00568379
+v -0.01054977 0.03191191 0.00635237
+v -0.01062676 0.03184795 0.00635237
+v -0.01062676 0.02861217 -0.01875843
+v -0.00969212 0.03001946 -0.01859949
+v -0.00950790 0.03110198 -0.01738848
+v -0.00950790 0.03438696 0.00532301
+v -0.00971512 0.03431217 0.00527003
+v -0.01062676 0.03300526 0.00571911
+v -0.01047453 0.03307317 0.00574939
+v -0.01062676 0.02887198 -0.01856921
+v -0.01062676 0.03013263 -0.01746921
+v -0.01046073 0.03038949 -0.01731027
+v -0.01062676 0.03032749 -0.01720178
+v -0.00950790 0.03187648 -0.01613962
+v -0.00950790 0.03455131 0.00509342
+v -0.01062676 0.03403367 0.00449296
+v -0.01062676 0.03131258 -0.01541302
+v -0.01052940 0.03139132 -0.01542311
+v -0.01062676 0.03143166 -0.01516829
+v -0.01062676 0.03244235 -0.01290269
+v -0.00950790 0.03201918 -0.01581669
+v -0.00950790 0.03506403 0.00405397
+v -0.01062676 0.03428265 0.00398333
+v -0.00950790 0.03318044 -0.01307930
+v -0.00980657 0.03223667 -0.01479490
+v -0.01062676 0.03349732 -0.01041003
+v -0.00950790 0.03494594 -0.00890888
+v -0.00950790 0.03354259 -0.01222402
+v -0.00950790 0.03275825 -0.01407586
+v -0.00950790 0.03537600 0.00276980
+v -0.01015101 0.03462709 0.00398333
+v -0.01062676 0.03444995 0.00326429
+v -0.01062676 0.03415077 -0.00886599
+v -0.01005956 0.03456213 -0.00886599
+v -0.00950790 0.03552657 -0.00672402
+v -0.00950790 0.03559152 0.00184136
+v -0.01062676 0.03478061 0.00184136
+v -0.01062676 0.03456607 -0.00728663
+v -0.01044715 0.03484457 -0.00672402
+v -0.00950790 0.03563679 -0.00458457
+v -0.00950790 0.03563679 -0.00030062
+v -0.01062676 0.03482391 -0.00030062
+v -0.01062676 0.03471369 -0.00672402
+v -0.01062676 0.03482391 -0.00458457
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 28
+f 1 28 35
+f 1 35 43
+f 1 43 38
+f 1 38 42
+f 1 42 41
+f 1 41 49
+f 1 49 54
+f 1 54 55
+f 1 55 50
+f 1 50 44
+f 1 44 36
+f 1 36 29
+f 1 29 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 15
+f 4 15 16
+f 4 16 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 9 16 22
+f 9 22 30
+f 9 30 37
+f 9 37 46
+f 9 46 51
+f 9 51 56
+f 9 56 58
+f 9 58 57
+f 9 57 52
+f 9 52 47
+f 9 47 40
+f 9 40 34
+f 9 34 33
+f 9 33 31
+f 9 31 27
+f 9 27 25
+f 9 25 24
+f 9 24 17
+f 9 17 11
+f 9 11 10
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 22
+f 15 22 16
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 25 27 26
+f 27 31 32
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 29 36 30
+f 30 36 37
+f 31 33 32
+f 34 38 39
+f 34 39 35
+f 34 40 41
+f 34 41 42
+f 34 42 38
+f 35 39 43
+f 36 44 45
+f 36 45 37
+f 37 44 46
+f 37 45 44
+f 38 43 39
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 44 50 51
+f 44 51 46
+f 47 52 53
+f 47 53 49
+f 47 49 48
+f 49 53 54
+f 50 55 51
+f 51 55 56
+f 52 57 53
+f 53 57 58
+f 53 58 54
+f 54 58 56
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_215.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00de948ae534e57f97f164e44262f1f8f9dde5c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_215.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.01723086 0.00491907
+v -0.01062676 0.01723086 0.00276883
+v -0.01159234 0.01723086 0.00491907
+v -0.01062676 -0.03402084 0.00491907
+v -0.01159234 0.01723086 0.00276883
+v -0.01062676 -0.03090691 0.00276862
+v -0.01159234 -0.03321163 0.00491907
+v -0.01098744 -0.03382622 0.00491907
+v -0.01062676 -0.03484029 0.00385900
+v -0.01159234 -0.03090691 0.00276862
+v -0.01062676 -0.03509125 0.00276862
+v -0.01159234 -0.03387743 0.00421600
+v -0.01125605 -0.03409766 0.00437409
+v -0.01062676 -0.03490175 0.00372491
+v -0.01159234 -0.03445105 0.00276862
+v -0.01159234 -0.03444593 0.00297554
+v -0.01159234 -0.03439471 0.00309026
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 16
+f 3 16 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 6 11 15
+f 6 15 10
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 11 14 16
+f 11 16 15
+f 12 17 13
+f 13 17 16
+f 13 16 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_216.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390405db246ea6d559efee92aaef643b14ee92d2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_216.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.02130387 0.01842722 0.00635237
+v -0.02130387 0.01957278 0.00599127
+v -0.02132730 0.02016254 0.00579130
+v -0.02148313 0.01806658 0.00635237
+v -0.02130387 -0.01926186 0.00635237
+v -0.02130387 0.02016254 0.00580363
+v -0.02181538 0.02016254 0.00530079
+v -0.02181538 0.01984008 0.00556022
+v -0.02181538 0.01944974 0.00570657
+v -0.02181538 0.01806658 0.00614162
+v -0.02165254 0.01765078 0.00635237
+v -0.02130552 -0.01926186 0.00635237
+v -0.02130387 -0.02050925 0.00581626
+v -0.02130387 0.02016254 0.00320504
+v -0.02181538 0.02016254 0.00320504
+v -0.02181538 0.01771018 0.00623313
+v -0.02181538 0.01747682 0.00629291
+v -0.02181538 0.01715013 0.00635237
+v -0.02181538 -0.01836662 0.00635237
+v -0.02181538 -0.02011891 0.00558271
+v -0.02130387 -0.02251611 0.00434042
+v -0.02130387 -0.02318224 0.00320504
+v -0.02181538 -0.02230821 0.00320504
+v -0.02181538 -0.02187969 0.00410656
+v -0.02130387 -0.02295313 0.00387949
+v -0.02181538 -0.02223609 0.00361359
+v -0.02167607 -0.02256703 0.00320504
+v -0.02160436 -0.02246520 0.00383851
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 21
+f 1 21 25
+f 1 25 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 14
+f 3 14 15
+f 3 15 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 7 15 23
+f 7 23 26
+f 7 26 24
+f 7 24 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 13 20 21
+f 13 19 20
+f 14 22 27
+f 14 27 23
+f 14 23 15
+f 20 24 21
+f 21 24 25
+f 22 25 26
+f 22 26 27
+f 23 27 26
+f 24 26 28
+f 24 28 25
+f 25 28 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_217.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c04225bdd0c75dc1fef508e74b45fded938e42c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_217.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.00926144 -0.00009755
+v -0.00716753 -0.00926144 -0.00716684
+v -0.00805384 -0.00926144 -0.00009755
+v -0.00716753 -0.02685407 -0.00009755
+v -0.00805384 -0.00926144 -0.00716684
+v -0.00716753 -0.02685407 -0.00716684
+v -0.00805384 -0.02685407 -0.00009755
+v -0.00805384 -0.02685407 -0.00716684
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_218.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f7d2344f1c16e8f542c943cbbe23d1ada18504
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_218.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03234279 0.00471895
+v -0.00183017 0.03234279 0.00300771
+v -0.00295333 0.03234279 0.00471895
+v -0.00183017 -0.03550884 0.00471895
+v -0.00295333 0.03234279 0.00300771
+v -0.00183017 -0.03550884 0.00300771
+v -0.00295333 -0.03550884 0.00471895
+v -0.00295333 -0.03550884 0.00300771
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_219.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b9a7c59587fa9a099188da603b5a234b81a51a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_219.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 -0.00186986 -0.00518613
+v -0.00183017 -0.00186986 -0.01113048
+v -0.00263406 -0.00186986 -0.00518613
+v -0.00183017 -0.04047170 -0.00518613
+v -0.00295333 -0.00186986 -0.01113048
+v -0.00183017 -0.03906580 -0.01113048
+v -0.00295333 -0.00186986 -0.00603042
+v -0.00295333 -0.00187364 -0.00518613
+v -0.00192340 -0.04043013 -0.00518613
+v -0.00183017 -0.04043769 -0.00599783
+v -0.00295333 -0.03852536 -0.01113048
+v -0.00183017 -0.03989725 -0.00887633
+v -0.00197409 -0.03984434 -0.00886644
+v -0.00195595 -0.03907714 -0.01096465
+v -0.00187492 -0.03904690 -0.01113048
+v -0.00295333 -0.03993882 -0.00518613
+v -0.00295333 -0.03986323 -0.00664778
+v -0.00183017 -0.04040745 -0.00655002
+v -0.00290155 -0.03887305 -0.01041420
+v -0.00295333 -0.03887305 -0.01035485
+v -0.00226378 -0.03887305 -0.01113048
+v -0.00183017 -0.03995771 -0.00866453
+v -0.00295333 -0.03939460 -0.00886644
+v -0.00295333 -0.03903556 -0.00991962
+v -0.00212525 -0.03894108 -0.01113048
+v -0.00295333 -0.03958356 -0.00798200
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 15
+f 2 15 25
+f 2 25 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 4 9 10
+f 5 11 20
+f 5 20 24
+f 5 24 23
+f 5 23 26
+f 5 26 17
+f 5 17 16
+f 5 16 8
+f 5 8 7
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 11 21 19
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 20
+f 14 20 25
+f 14 25 15
+f 17 26 18
+f 18 26 22
+f 19 21 25
+f 19 25 20
+f 22 26 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_22.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b9a3d400b9daabd5beff5ce3fa544373184704
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.02395944 -0.00564833 -0.01740632
+v -0.02398135 -0.00564833 -0.01738248
+v -0.02395944 -0.00348827 -0.01802798
+v -0.02395935 -0.00564833 -0.01691487
+v -0.02402518 -0.00564833 -0.01731280
+v -0.02403947 -0.00335109 -0.01797847
+v -0.02411968 -0.00121036 -0.01812150
+v -0.02395944 -0.00150693 -0.01821502
+v -0.02395944 -0.00121036 -0.01822419
+v -0.02395935 0.00422069 -0.01691487
+v -0.02395935 -0.00564833 0.00050798
+v -0.02427361 -0.00564833 -0.01691487
+v -0.02467413 -0.00335109 -0.01691487
+v -0.02452353 -0.00564833 -0.01651327
+v -0.02456008 -0.00510831 -0.01661046
+v -0.02406691 0.00093134 -0.01803531
+v -0.02395944 0.00093134 -0.01811233
+v -0.02468219 -0.00323324 -0.01691487
+v -0.02473724 -0.00121036 -0.01705057
+v -0.02469893 0.00093134 -0.01696438
+v -0.02395935 0.00422069 0.00050798
+v -0.02395944 0.00307401 -0.01795279
+v -0.02395944 0.00385553 -0.01782993
+v -0.02395944 0.00422069 -0.01775658
+v -0.02485488 -0.00564833 0.00050798
+v -0.02467886 -0.00335109 -0.01690570
+v -0.02485488 -0.00564833 -0.01556886
+v -0.02485488 -0.00437123 -0.01605665
+v -0.02485488 -0.00335109 -0.01641974
+v -0.02400134 0.00307401 -0.01791978
+v -0.02465090 0.00307401 -0.01684885
+v -0.02485488 -0.00281205 -0.01649860
+v -0.02485488 -0.00126929 -0.01671865
+v -0.02478651 -0.00121036 -0.01691487
+v -0.02485488 -0.00121036 -0.01672599
+v -0.02471673 0.00093134 -0.01691487
+v -0.02485488 0.00422069 0.00050798
+v -0.02429859 0.00422069 -0.01721377
+v -0.02448014 0.00422069 -0.01691487
+v -0.02485488 0.00091878 -0.01653160
+v -0.02485488 0.00307401 -0.01627304
+v -0.02485488 0.00422069 -0.01599614
+v -0.02460014 0.00422069 -0.01671498
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 27
+f 1 27 14
+f 1 14 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 4
+f 4 8 9
+f 4 9 10
+f 4 10 21
+f 4 21 11
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 15
+f 6 15 13
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 7 13 18
+f 7 18 19
+f 7 19 20
+f 7 20 16
+f 9 17 10
+f 10 17 22
+f 10 22 23
+f 10 23 24
+f 10 24 38
+f 10 38 39
+f 10 39 43
+f 10 43 42
+f 10 42 37
+f 10 37 21
+f 11 21 37
+f 11 37 25
+f 13 15 26
+f 13 26 18
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 26
+f 16 30 22
+f 16 22 17
+f 16 20 31
+f 16 31 30
+f 18 26 29
+f 18 29 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 31
+f 22 30 23
+f 23 30 38
+f 23 38 24
+f 25 37 42
+f 25 42 41
+f 25 41 40
+f 25 40 35
+f 25 35 33
+f 25 33 32
+f 25 32 29
+f 25 29 28
+f 25 28 27
+f 30 31 39
+f 30 39 38
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 39
+f 31 36 40
+f 33 35 34
+f 35 40 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_220.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a455e8f1c46ebbe65d92694532895ca7b813422
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_220.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01723698 0.02474607 0.00635237
+v -0.01723698 0.02634473 0.00576606
+v -0.01799958 0.02367849 0.00635237
+v -0.01723698 0.01299044 0.00635237
+v -0.01723698 0.02648734 0.00570917
+v -0.01799958 0.02569141 0.00558726
+v -0.01799958 0.02547409 0.00567318
+v -0.01799958 0.01299044 0.00635237
+v -0.01723698 0.01299044 -0.00550859
+v -0.01799958 0.02662453 0.00485698
+v -0.01799958 0.02606086 0.00543981
+v -0.01723698 0.02686494 0.00531790
+v -0.01799958 0.01299044 -0.00550859
+v -0.01723698 0.02402620 -0.00550859
+v -0.01790418 0.02686494 0.00469560
+v -0.01799958 0.02686494 0.00450171
+v -0.01723698 0.02686494 -0.00275698
+v -0.01799958 0.02686494 -0.00550859
+v -0.01723743 0.02686494 -0.00550859
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 11
+f 3 11 10
+f 3 10 16
+f 3 16 18
+f 3 18 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 9 13 18
+f 9 18 19
+f 9 19 14
+f 10 12 15
+f 10 15 16
+f 12 17 19
+f 12 19 18
+f 12 18 16
+f 12 16 15
+f 14 19 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_221.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cf616f003480d433f9ec4fde7efe7e8fea5da6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_221.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 -0.03686566 0.00550878
+v -0.00516760 -0.03734467 0.00546982
+v -0.00560231 -0.03712359 0.00550878
+v -0.00597001 -0.03550234 0.00635228
+v -0.00597001 0.03655458 0.00550878
+v -0.00420579 -0.03783841 0.00546982
+v -0.00516760 0.03698200 0.00546982
+v -0.00415443 -0.03778682 0.00557659
+v -0.00516778 -0.03727834 0.00558540
+v -0.00597001 0.03502913 0.00635228
+v -0.00415443 -0.03763944 0.00576380
+v -0.00415443 -0.03654141 0.00631937
+v -0.00415443 -0.03647509 0.00635228
+v -0.00597001 0.03646615 0.00556562
+v -0.00590852 0.03659879 0.00550878
+v -0.00415443 -0.03786052 0.00546982
+v -0.00415443 0.03742415 0.00546982
+v -0.00569472 0.03671670 0.00550878
+v -0.00555965 0.03679039 0.00550878
+v -0.00597001 0.03533864 0.00619635
+v -0.00555183 0.03527969 0.00635228
+v -0.00415443 0.03603873 0.00635228
+v -0.00597001 0.03578080 0.00594962
+v -0.00516760 0.03637035 0.00586764
+v -0.00415443 0.03728414 0.00566540
+v -0.00516778 0.03695989 0.00550878
+v -0.00415443 0.03729151 0.00565529
+v -0.00516778 0.03693041 0.00554973
+v -0.00516760 0.03549340 0.00635228
+v -0.00516760 0.03578817 0.00619048
+v -0.00415443 0.03710727 0.00576380
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 23
+f 1 23 14
+f 1 14 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 17
+f 2 17 16
+f 2 16 6
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 22
+f 4 22 29
+f 4 29 21
+f 4 21 10
+f 5 14 15
+f 5 15 7
+f 6 16 8
+f 7 15 18
+f 7 18 19
+f 7 19 17
+f 8 16 17
+f 8 17 27
+f 8 27 25
+f 8 25 31
+f 8 31 22
+f 8 22 13
+f 8 13 12
+f 8 12 11
+f 8 11 9
+f 10 21 20
+f 14 23 24
+f 14 24 25
+f 14 25 18
+f 14 18 15
+f 17 19 26
+f 17 26 27
+f 18 25 19
+f 19 25 28
+f 19 28 26
+f 20 21 29
+f 20 29 30
+f 20 30 24
+f 20 24 23
+f 22 31 30
+f 22 30 29
+f 24 30 31
+f 24 31 25
+f 25 27 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_222.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f2236265e5d0d4619c9d8be9200370dde2c68f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_222.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00755133 0.01455357 0.00035902
+v 0.00755133 0.01455357 -0.00293675
+v 0.00689958 0.01455357 0.00035902
+v 0.00755133 -0.04335107 0.00035902
+v 0.00687226 0.01455357 -0.00293675
+v 0.00755133 -0.04336808 -0.00293675
+v 0.00687226 0.01454790 0.00035902
+v 0.00744491 -0.04333406 0.00035902
+v 0.00755133 -0.04336808 -0.00029910
+v 0.00687226 -0.04324334 -0.00293675
+v 0.00687226 -0.04323201 0.00035902
+v 0.00725267 -0.04330004 0.00035902
+v 0.00687226 -0.04324334 -0.00029910
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 12
+f 1 12 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 7
+f 4 8 9
+f 5 10 13
+f 5 13 11
+f 5 11 7
+f 6 9 13
+f 6 13 10
+f 8 12 9
+f 9 12 11
+f 9 11 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_223.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21945f5e2d8c5e6f9eb84720defffafbbf39cc99
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_223.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03502471 0.00635209
+v -0.00597001 0.03533512 0.00619614
+v -0.00645596 0.03540164 0.00601524
+v -0.00638915 0.03476604 0.00635209
+v -0.00597001 -0.03551232 0.00635209
+v -0.00597001 0.03578595 0.00594960
+v -0.00597001 0.03647329 0.00556198
+v -0.00716741 0.03517992 0.00586602
+v -0.00716741 0.03439650 0.00628814
+v -0.00716741 0.03426347 0.00635209
+v -0.00605791 -0.03547537 0.00635209
+v -0.00597001 -0.03699047 0.00544362
+v -0.00597001 0.03664328 0.00544446
+v -0.00716741 0.03629591 0.00505600
+v -0.00716741 -0.03342814 0.00635209
+v -0.00625857 -0.03533494 0.00635209
+v -0.00625857 -0.03548276 0.00629403
+v -0.00625857 -0.03687960 0.00539285
+v -0.00716741 -0.03662093 0.00513117
+v -0.00597001 -0.03789953 0.00383115
+v -0.00716741 -0.03546059 0.00596082
+v -0.00597001 0.03738235 0.00412285
+v -0.00716741 0.03638460 0.00488042
+v -0.00716741 -0.03449979 0.00635153
+v -0.00716648 -0.03449979 0.00635209
+v -0.00716741 -0.03713828 0.00392118
+v -0.00597001 -0.03794387 0.00370521
+v -0.00597001 0.03753016 0.00348728
+v -0.00716741 0.03679109 0.00384293
+v -0.00645607 0.03709411 0.00417389
+v -0.00677512 0.03677631 0.00449111
+v -0.00716741 -0.03723436 0.00348728
+v -0.00597001 -0.03797343 0.00348728
+v -0.00633582 -0.03775910 0.00348728
+v -0.00603611 -0.03793648 0.00348728
+v -0.00716741 0.03686500 0.00348728
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 25
+f 1 25 16
+f 1 16 11
+f 1 11 5
+f 1 5 12
+f 1 12 20
+f 1 20 27
+f 1 27 33
+f 1 33 28
+f 1 28 22
+f 1 22 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 23
+f 8 23 29
+f 8 29 36
+f 8 36 32
+f 8 32 26
+f 8 26 19
+f 8 19 21
+f 8 21 24
+f 8 24 15
+f 8 15 10
+f 8 10 9
+f 11 16 17
+f 11 17 12
+f 12 18 19
+f 12 19 20
+f 12 17 21
+f 12 21 18
+f 13 22 14
+f 14 22 23
+f 15 24 25
+f 16 25 17
+f 17 25 21
+f 18 21 19
+f 19 26 20
+f 20 26 27
+f 21 25 24
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 29
+f 26 32 27
+f 27 32 34
+f 27 34 35
+f 27 35 33
+f 28 36 29
+f 28 33 35
+f 28 35 34
+f 28 34 32
+f 28 32 36
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_224.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17887c4e58c4a851cc8181fd4fa2d4121983c65
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_224.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01680305 0.00359676 0.00635237
+v -0.01723697 0.00359676 0.00635237
+v -0.01680305 -0.02570557 0.00635237
+v -0.01680305 0.00359676 0.00326022
+v -0.01723697 0.00359676 0.00326022
+v -0.01723697 -0.02508506 0.00635237
+v -0.01688873 -0.02561876 0.00635237
+v -0.01680305 -0.02690158 0.00591197
+v -0.01680305 -0.02924538 0.00326022
+v -0.01723697 -0.02870846 0.00326022
+v -0.01723697 -0.02667974 0.00576972
+v -0.01698439 -0.02667974 0.00591167
+v -0.01700478 -0.02690480 0.00581784
+v -0.01680305 -0.02737420 0.00570888
+v -0.01680305 -0.02912321 0.00376781
+v -0.01723697 -0.02868917 0.00357470
+v -0.01699429 -0.02901390 0.00326022
+v -0.01723697 -0.02677619 0.00573430
+v -0.01723697 -0.02842554 0.00405081
+v -0.01680305 -0.02889494 0.00409651
+v -0.01680305 -0.02904926 0.00390250
+v -0.01689930 -0.02897210 0.00383076
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 19
+f 2 19 18
+f 2 18 11
+f 2 11 6
+f 3 7 8
+f 4 9 17
+f 4 17 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 13 14
+f 8 12 13
+f 9 15 16
+f 9 16 17
+f 10 17 16
+f 11 18 13
+f 11 13 12
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 19
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_225.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9e2e6fd632f6a11cede396c927da587b302287
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_225.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01875151 0.02074017 -0.01711313
+v -0.01963486 0.02074017 -0.01528719
+v -0.01875151 0.02212422 -0.01521925
+v -0.01875151 0.02074017 0.00457734
+v -0.01982678 0.02074017 -0.01482009
+v -0.02000983 0.02101989 -0.01393047
+v -0.02000983 0.02108891 -0.01382007
+v -0.01875151 0.02236035 -0.01484132
+v -0.01875151 0.02576477 0.00457734
+v -0.02000983 0.02074017 0.00457734
+v -0.02000983 0.02074017 -0.01435723
+v -0.02000983 0.02179002 -0.01269478
+v -0.01875151 0.02341504 -0.01314702
+v -0.01875151 0.02627396 0.00383422
+v -0.01996610 0.02405741 0.00457734
+v -0.02000983 0.02399142 0.00457734
+v -0.02000983 0.02211332 -0.01217460
+v -0.01875151 0.02466831 -0.01112999
+v -0.01875151 0.02639323 0.00347965
+v -0.01969793 0.02483299 0.00398497
+v -0.02000983 0.02435893 0.00398497
+v -0.02000983 0.02372381 -0.00958219
+v -0.01971998 0.02451090 -0.00902167
+v -0.01875151 0.02599606 -0.00889215
+v -0.01875151 0.02685155 0.00205924
+v -0.01993937 0.02519868 0.00184268
+v -0.02000983 0.02498072 0.00216752
+v -0.02000983 0.02422573 -0.00877325
+v -0.01990771 0.02515025 -0.00672438
+v -0.01875151 0.02676861 -0.00678595
+v -0.01875151 0.02686669 0.00184268
+v -0.01891928 0.02663783 0.00184268
+v -0.02000983 0.02509152 0.00184268
+v -0.01996093 0.02523077 -0.00029962
+v -0.02000983 0.02515691 -0.00029962
+v -0.02000983 0.02499586 -0.00672438
+v -0.02000983 0.02515691 -0.00458421
+v -0.01996093 0.02523077 -0.00458421
+v -0.01896289 0.02663783 -0.00458421
+v -0.01875151 0.02679767 -0.00640378
+v -0.01875151 0.02691210 0.00022056
+v -0.01896289 0.02663783 -0.00029962
+v -0.01875151 0.02692542 -0.00458421
+v -0.01875151 0.02692481 -0.00029962
+v -0.01875151 0.02692542 -0.00405129
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 24
+f 1 24 30
+f 1 30 40
+f 1 40 43
+f 1 43 45
+f 1 45 44
+f 1 44 41
+f 1 41 31
+f 1 31 25
+f 1 25 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 15
+f 4 15 16
+f 4 16 10
+f 5 11 6
+f 6 11 10
+f 6 10 16
+f 6 16 21
+f 6 21 27
+f 6 27 33
+f 6 33 35
+f 6 35 37
+f 6 37 36
+f 6 36 28
+f 6 28 22
+f 6 22 17
+f 6 17 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 25 31 32
+f 25 32 26
+f 26 33 27
+f 26 32 34
+f 26 34 35
+f 26 35 33
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 31 41 32
+f 32 41 42
+f 32 42 34
+f 34 42 39
+f 34 39 38
+f 34 38 37
+f 34 37 35
+f 39 43 40
+f 39 42 45
+f 39 45 43
+f 41 44 42
+f 42 44 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_226.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f2fc15b5917e59e51e23b9dbf4df57646ee1eb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_226.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00314296 0.02878732 -0.00293675
+v 0.00314296 0.02878732 -0.00398940
+v 0.00147342 0.02878732 -0.00293675
+v 0.00314296 0.01524370 -0.00293675
+v 0.00147342 0.02878732 -0.00398940
+v 0.00314296 0.02878599 -0.00538949
+v 0.00147342 0.01524370 -0.00293675
+v 0.00314296 0.01517976 -0.00398940
+v 0.00147342 0.02878599 -0.00538949
+v 0.00314296 0.01517976 -0.00538949
+v 0.00147342 0.01517976 -0.00398940
+v 0.00147342 0.01517976 -0.00538949
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 12
+f 6 12 9
+f 8 11 12
+f 8 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_227.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932683e05d126caa83e9caf12046665030de3596
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_227.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00428575 0.02878732 -0.01106200
+v 0.00428590 0.02878732 -0.01391888
+v 0.00279774 0.02878732 -0.01106200
+v 0.00428575 -0.04133357 -0.01106200
+v 0.00428590 0.02878732 -0.01462213
+v 0.00428590 -0.04030399 -0.01391888
+v 0.00279774 0.02878732 -0.01462213
+v 0.00279774 -0.03659066 -0.01106200
+v 0.00411006 -0.04127179 -0.01106200
+v 0.00279774 -0.04083251 -0.01106409
+v 0.00353038 -0.04079132 -0.01195900
+v 0.00428575 -0.04090115 -0.01227090
+v 0.00428590 -0.04005003 -0.01462213
+v 0.00428575 -0.04058541 -0.01315222
+v 0.00279774 -0.03953524 -0.01462213
+v 0.00279774 -0.04068150 -0.01152096
+v 0.00279774 -0.04041381 -0.01225940
+v 0.00279774 -0.04026281 -0.01267514
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 5
+f 3 7 15
+f 3 15 18
+f 3 18 17
+f 3 17 16
+f 3 16 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 13 15
+f 5 15 7
+f 6 14 13
+f 6 12 14
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 15
+f 11 15 13
+f 11 13 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_228.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c38c4d47ce2bbbfee5ff00a0b9f914d3e6cd512
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_228.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01595641 -0.04207838 -0.01226691
+v 0.01595641 -0.04185840 -0.01315215
+v 0.01692163 -0.04145511 -0.01336874
+v 0.01695812 -0.04170651 -0.01226691
+v 0.01595641 0.01142809 -0.01226691
+v 0.01595641 -0.04178508 -0.01336874
+v 0.01700132 -0.04131894 -0.01336874
+v 0.01695104 -0.04149178 -0.01315215
+v 0.01741232 -0.04071662 -0.01226691
+v 0.01781097 0.01142809 -0.01226691
+v 0.01595641 0.01142809 -0.01336874
+v 0.01770550 -0.03977911 -0.01336874
+v 0.01773926 -0.03976863 -0.01315215
+v 0.01742902 -0.04067996 -0.01226691
+v 0.01781097 0.01142809 -0.01336874
+v 0.01781097 0.01073150 -0.01226691
+v 0.01770967 -0.03976863 -0.01336874
+v 0.01774652 -0.03954866 -0.01336874
+v 0.01776885 -0.03976863 -0.01226691
+v 0.01781078 -0.03851163 -0.01226691
+v 0.01781078 -0.03762649 -0.01336874
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 20
+f 1 20 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 11
+f 3 11 15
+f 3 15 21
+f 3 21 18
+f 3 18 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 5 10 15
+f 5 15 11
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 10 16 15
+f 12 17 13
+f 13 18 19
+f 13 19 14
+f 13 17 18
+f 15 16 20
+f 15 20 21
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_229.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed47f57ce1831f93823a4869f229416a784cf2e4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_229.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01344330 -0.01449507 -0.01821619
+v -0.01266345 -0.01449507 -0.01821619
+v -0.01344330 -0.01449507 -0.01757353
+v -0.01344330 0.02638271 -0.01821619
+v -0.01266345 -0.01449507 -0.01757353
+v -0.01266345 0.02718505 -0.01821619
+v -0.01344330 0.02724741 -0.01757353
+v -0.01344330 0.02708528 -0.01777766
+v -0.01325788 0.02719752 -0.01788146
+v -0.01301169 0.02695225 -0.01821619
+v -0.01266345 0.02797492 -0.01757353
+v -0.01290475 0.02781279 -0.01757353
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 6 10 11
+f 7 12 9
+f 7 9 8
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_23.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68889447d25b8b66d24841ccac3afcaacf25baec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00197411 0.02021239 0.02509496
+v -0.00330362 0.02021239 0.02505319
+v -0.00330362 0.01910156 0.02481301
+v -0.00188317 0.01861807 0.02462896
+v -0.00188317 0.02021239 0.02509105
+v -0.00197411 0.02235213 0.02491613
+v -0.00330362 0.02102553 0.02498532
+v -0.00330362 0.01850419 0.02463679
+v -0.00330362 0.01783889 0.02429088
+v -0.00330362 0.01264037 0.02125078
+v -0.00188317 0.01755719 0.02394497
+v -0.00188317 0.02235812 0.02490569
+v -0.00188317 0.02242805 0.02488481
+v -0.00197411 0.02362079 0.02445144
+v -0.00330362 0.02355886 0.02441750
+v -0.00330362 0.02242405 0.02477777
+v -0.00330362 0.01202902 0.02078478
+v -0.00188317 0.01101009 0.01937372
+v -0.00188317 0.01233270 0.02032922
+v -0.00188317 0.01391903 0.02145180
+v -0.00188317 0.02361680 0.02444883
+v -0.00197411 0.02469166 0.02364214
+v -0.00330362 0.02365875 0.02434179
+v -0.00330362 0.01100810 0.01973660
+v -0.00222191 0.01100810 0.01950948
+v -0.00188317 0.01100810 0.01931107
+v -0.00188317 0.02467768 0.02364083
+v -0.00330362 0.02448588 0.02360559
+v -0.00188317 0.02473561 0.02358992
+v -0.00188317 0.02587641 0.02256524
+v -0.00197411 0.02588241 0.02257046
+v -0.00330362 0.02578051 0.02245038
+v -0.00330362 0.01100810 0.01176107
+v -0.00188317 0.01100810 0.01176107
+v -0.00188317 0.02591237 0.02250911
+v -0.00197411 0.02680343 0.02112286
+v -0.00330362 0.02613015 0.02190214
+v -0.00330362 0.03113886 0.01176107
+v -0.00188317 0.03141857 0.01176107
+v -0.00188317 0.02679344 0.02112286
+v -0.00188317 0.02998408 0.01597857
+v -0.00197411 0.02998408 0.01597857
+v -0.00323381 0.02990216 0.01585196
+v -0.00330362 0.02983624 0.01592506
+v -0.00330362 0.03106694 0.01225448
+v -0.00197411 0.03129670 0.01255471
+v -0.00197411 0.03141058 0.01176107
+v -0.00188317 0.03131468 0.01246464
+v -0.00188317 0.03001205 0.01592375
+v -0.00188317 0.03060942 0.01469675
+v -0.00197411 0.03060742 0.01469675
+v -0.00330362 0.02993014 0.01575014
+v -0.00330362 0.02989218 0.01583107
+v -0.00330362 0.03102298 0.01255471
+v -0.00330362 0.03058744 0.01396446
+v -0.00330362 0.03034770 0.01471110
+v -0.00188317 0.03064139 0.01460668
+v -0.00188317 0.03130069 0.01255471
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 15
+f 2 15 23
+f 2 23 28
+f 2 28 32
+f 2 32 37
+f 2 37 44
+f 2 44 53
+f 2 53 52
+f 2 52 56
+f 2 56 55
+f 2 55 54
+f 2 54 45
+f 2 45 38
+f 2 38 33
+f 2 33 24
+f 2 24 17
+f 2 17 10
+f 2 10 9
+f 2 9 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 20
+f 4 20 19
+f 4 19 18
+f 4 18 26
+f 4 26 34
+f 4 34 39
+f 4 39 48
+f 4 48 58
+f 4 58 57
+f 4 57 50
+f 4 50 49
+f 4 49 41
+f 4 41 40
+f 4 40 35
+f 4 35 30
+f 4 30 29
+f 4 29 27
+f 4 27 21
+f 4 21 13
+f 4 13 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 21 27 22
+f 22 28 23
+f 22 27 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 28
+f 24 33 34
+f 24 34 26
+f 24 26 25
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 47
+f 33 47 39
+f 33 39 34
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 38 45 46
+f 38 46 47
+f 39 47 46
+f 39 46 48
+f 41 49 42
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 51
+f 46 51 57
+f 46 57 58
+f 46 58 48
+f 50 57 51
+f 51 56 52
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_230.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a696e7424d53d0baf5f0a7419b6a388136ddc3a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_230.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00732681 0.02878732 -0.01393218
+v 0.00732681 0.02878732 -0.01671706
+v 0.00664957 0.02878732 -0.01393218
+v 0.00732681 0.00276478 -0.01393218
+v 0.00664957 0.02878732 -0.01671706
+v 0.00732681 0.00276478 -0.01671706
+v 0.00664957 0.00276478 -0.01393218
+v 0.00664957 0.00276478 -0.01671706
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_231.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ec7486beb68be9e4331094966611f9e7c0e296
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_231.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00732681 0.02878732 -0.01324552
+v 0.00732681 0.02878732 -0.01393218
+v 0.00664957 0.02878732 -0.01324552
+v 0.00732681 -0.02586536 -0.01324552
+v 0.00664957 0.02878732 -0.01393218
+v 0.00732681 -0.02586536 -0.01393218
+v 0.00664957 -0.02586536 -0.01324552
+v 0.00664957 -0.02586536 -0.01393218
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_232.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c10d953f52c7c5bd42aab1900f4139272c9bbd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_232.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.02768884 -0.01599471
+v -0.00516783 0.02768884 -0.01897952
+v -0.00597001 0.02768884 -0.01599471
+v -0.00516783 -0.03116392 -0.01599471
+v -0.00516783 0.02665189 -0.01960319
+v -0.00516869 0.02768884 -0.01954878
+v -0.00597001 0.02768884 -0.01954878
+v -0.00597001 -0.03116392 -0.01599471
+v -0.00516783 -0.03116392 -0.01930602
+v -0.00516783 0.02663460 -0.01960390
+v -0.00597001 0.02663460 -0.01960390
+v -0.00597001 -0.03116392 -0.01920637
+v -0.00516783 -0.03014425 -0.01947210
+v -0.00597001 -0.02934349 -0.01950390
+v -0.00516783 -0.02475210 -0.01960425
+v -0.00597001 -0.02476938 -0.01960425
+v -0.00516783 -0.02922252 -0.01954701
+v -0.00597001 -0.02905545 -0.01952722
+v -0.00516783 -0.02800698 -0.01960425
+v -0.00597001 -0.02720046 -0.01960425
+v -0.00516783 -0.02905545 -0.01956044
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 21
+f 1 21 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 16
+f 3 16 20
+f 3 20 18
+f 3 18 14
+f 3 14 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 7 6
+f 5 10 11
+f 5 11 7
+f 9 12 14
+f 9 14 13
+f 10 15 11
+f 11 15 16
+f 13 14 17
+f 14 18 17
+f 15 19 20
+f 15 20 16
+f 17 18 21
+f 18 20 19
+f 18 19 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_233.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e59e289f7df813f3f94e5cbbd8049ee8d453c0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_233.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00687213 -0.04179775 0.00285823
+v 0.00622959 -0.04179775 0.00285823
+v 0.00687213 -0.04309289 0.00285823
+v 0.00687213 -0.04179775 -0.00293675
+v 0.00687207 0.02425439 0.00285767
+v 0.00622959 0.02425439 0.00285767
+v 0.00622959 -0.04291447 0.00285823
+v 0.00622959 -0.04308628 0.00190129
+v 0.00687213 -0.04309949 0.00280548
+v 0.00687207 0.02425439 -0.00293675
+v 0.00687213 -0.04323826 -0.00293675
+v 0.00622959 0.02425439 -0.00293675
+v 0.00622959 -0.04309949 0.00156378
+v 0.00687213 -0.04320522 0.00175778
+v 0.00687213 -0.04323826 -0.00029849
+v 0.00659474 -0.04319200 -0.00293675
+v 0.00622959 -0.04312592 -0.00293675
+v 0.00622959 -0.04312592 -0.00029849
+v 0.00659474 -0.04319200 -0.00029849
+v 0.00633904 -0.04314575 -0.00293675
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 15
+f 1 15 11
+f 1 11 4
+f 1 4 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 18
+f 2 18 13
+f 2 13 8
+f 2 8 7
+f 3 7 8
+f 3 8 9
+f 4 11 16
+f 4 16 20
+f 4 20 17
+f 4 17 12
+f 4 12 10
+f 5 10 12
+f 5 12 6
+f 8 13 14
+f 8 14 9
+f 11 15 19
+f 11 19 16
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 16 19 20
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_234.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3eef1a24b613fce627d5804449da081ba7cc172
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_234.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01640972 0.01313332 -0.01957990
+v -0.01634805 0.01313332 -0.01957990
+v -0.01680296 0.01313332 -0.01957812
+v -0.01634805 0.01378512 -0.01957812
+v -0.01634805 0.01313332 -0.00138292
+v -0.01680296 0.01378512 -0.01957099
+v -0.01680296 0.01313332 -0.00138292
+v -0.01634805 0.01490271 -0.01952468
+v -0.01634805 0.01490271 -0.00138292
+v -0.01680296 0.01490271 -0.01951755
+v -0.01680296 0.01490271 -0.00138292
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 4
+f 3 7 11
+f 3 11 10
+f 3 10 6
+f 4 6 10
+f 4 10 8
+f 5 9 11
+f 5 11 7
+f 8 10 11
+f 8 11 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_235.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3264983ae029f215e78fc0624a5b14b6117580
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_235.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02130392 0.02016254 -0.01182487
+v -0.02130392 0.02016254 -0.01193767
+v -0.02134823 0.02016254 -0.01182487
+v -0.02130392 -0.02055873 -0.01182487
+v -0.02130392 0.01921386 -0.01316407
+v -0.02130396 0.01806190 -0.01473826
+v -0.02181538 0.01924973 -0.01182487
+v -0.02177753 -0.01967781 -0.01182487
+v -0.02130396 -0.01959012 -0.01316532
+v -0.02130392 -0.01959012 -0.01316407
+v -0.02130396 0.01341020 -0.01822693
+v -0.02130396 0.01382874 -0.01808342
+v -0.02130396 0.01507238 -0.01758334
+v -0.02130396 0.01604098 -0.01672293
+v -0.02130396 0.01755966 -0.01531354
+v -0.02181533 0.01804994 -0.01337901
+v -0.02181538 0.01820938 -0.01316407
+v -0.02181538 -0.01960607 -0.01182487
+v -0.02181538 -0.01927921 -0.01227733
+v -0.02181533 -0.01839033 -0.01350748
+v -0.02130396 -0.01901613 -0.01395618
+v -0.02130396 -0.01847802 -0.01469126
+v -0.02130396 -0.01816711 -0.01511176
+v -0.02130396 -0.01784424 -0.01547460
+v -0.02130396 -0.01702710 -0.01638640
+v -0.02130396 -0.01602661 -0.01726186
+v -0.02130396 -0.01573563 -0.01744986
+v -0.02130396 -0.01493444 -0.01790670
+v -0.02130396 -0.01391402 -0.01822693
+v -0.02181533 0.01251335 -0.01822693
+v -0.02181533 0.01598119 -0.01567639
+v -0.02181533 0.01389650 -0.01752632
+v -0.02181533 0.01632000 -0.01535804
+v -0.02181538 -0.01863746 -0.01316407
+v -0.02181533 -0.01760906 -0.01455277
+v -0.02181533 -0.01681186 -0.01545016
+v -0.02181533 -0.01654878 -0.01574219
+v -0.02181533 -0.01549248 -0.01673233
+v -0.02181533 -0.01431661 -0.01749373
+v -0.02181533 -0.01302513 -0.01822693
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 8
+f 1 8 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 10 29
+f 5 29 11
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 34
+f 7 34 19
+f 7 19 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 21 10
+f 9 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 11 29 40
+f 11 40 30
+f 11 30 12
+f 12 30 13
+f 13 31 14
+f 13 30 32
+f 13 32 31
+f 14 31 15
+f 15 31 33
+f 15 33 16
+f 16 33 17
+f 17 33 31
+f 17 31 32
+f 17 32 30
+f 17 30 40
+f 17 40 34
+f 19 34 20
+f 20 34 35
+f 20 35 23
+f 20 23 22
+f 20 22 21
+f 23 35 36
+f 23 36 24
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 34 39 38
+f 34 38 37
+f 34 37 36
+f 34 36 35
+f 34 40 39
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_236.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574bfdd86c95905a1255635228e26f66e3bc8088
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_236.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.02231656 -0.01869728
+v -0.01636840 0.02231656 -0.01868747
+v -0.01634805 0.02237896 -0.01868502
+v -0.01634805 0.02231656 0.00635237
+v -0.01680296 0.02231656 -0.01822894
+v -0.01680296 0.02236533 -0.01820933
+v -0.01680296 0.02323170 -0.01754483
+v -0.01634805 0.02421496 -0.01725795
+v -0.01634805 0.02323170 0.00635237
+v -0.01680296 0.02231656 0.00635237
+v -0.01680296 0.02344040 -0.01738055
+v -0.01634805 0.02430891 -0.01713290
+v -0.01680296 0.02323170 0.00635237
+v -0.01634805 0.02599287 0.00634992
+v -0.01680296 0.02376887 -0.01693674
+v -0.01680296 0.02430891 -0.01620359
+v -0.01634805 0.02436270 -0.01705934
+v -0.01680296 0.02537824 0.00634992
+v -0.01634805 0.02664193 0.00610962
+v -0.01680296 0.02436270 -0.01613003
+v -0.01634805 0.02557618 -0.01528409
+v -0.01680296 0.02662973 0.00588649
+v -0.01634805 0.02728811 0.00581293
+v -0.01680296 0.02497088 -0.01523995
+v -0.01634805 0.02558120 -0.01527673
+v -0.01680296 0.02681979 0.00579822
+v -0.01634805 0.02800387 0.00544268
+v -0.01680296 0.02702921 0.00569033
+v -0.01680296 0.02662400 -0.01222889
+v -0.01634805 0.02635649 -0.01380063
+v -0.01634805 0.02809065 0.00537157
+v -0.01680296 0.02783891 0.00504545
+v -0.01680296 0.02845067 -0.00870292
+v -0.01634805 0.02840119 -0.00978180
+v -0.01634805 0.02900147 0.00400090
+v -0.01680296 0.02866440 0.00372383
+v -0.01680296 0.02870743 -0.00789376
+v -0.01634805 0.02907678 -0.00841603
+v -0.01651784 0.02878273 -0.00865388
+v -0.01634805 0.02891039 -0.00875441
+v -0.01634805 0.02933568 0.00332905
+v -0.01680296 0.02868591 0.00367969
+v -0.01680296 0.02903375 -0.00676584
+v -0.01634805 0.02951211 -0.00674377
+v -0.01634805 0.02952574 0.00260081
+v -0.01680296 0.02909184 0.00212267
+v -0.01680296 0.02916715 -0.00458601
+v -0.01634805 0.02964336 -0.00458601
+v -0.01634805 0.02959244 0.00184069
+v -0.01680296 0.02911694 0.00184069
+v -0.01680296 0.02916715 -0.00030236
+v -0.01634805 0.02964336 -0.00030236
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 25
+f 1 25 30
+f 1 30 34
+f 1 34 40
+f 1 40 38
+f 1 38 44
+f 1 44 48
+f 1 48 52
+f 1 52 49
+f 1 49 45
+f 1 45 41
+f 1 41 35
+f 1 35 31
+f 1 31 27
+f 1 27 23
+f 1 23 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 13
+f 4 13 10
+f 5 10 13
+f 5 13 18
+f 5 18 22
+f 5 22 26
+f 5 26 28
+f 5 28 32
+f 5 32 36
+f 5 36 42
+f 5 42 46
+f 5 46 50
+f 5 50 51
+f 5 51 47
+f 5 47 43
+f 5 43 37
+f 5 37 33
+f 5 33 29
+f 5 29 24
+f 5 24 20
+f 5 20 16
+f 5 16 15
+f 5 15 11
+f 5 11 7
+f 5 7 6
+f 7 11 8
+f 8 11 12
+f 9 14 13
+f 11 15 12
+f 12 15 16
+f 12 16 20
+f 12 20 17
+f 13 14 18
+f 14 19 18
+f 17 20 21
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 23 27 28
+f 23 28 26
+f 24 29 25
+f 25 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 35 41 36
+f 36 41 42
+f 37 43 38
+f 38 40 39
+f 38 43 44
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 48
+f 45 49 50
+f 45 50 46
+f 47 51 52
+f 47 52 48
+f 49 52 50
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_237.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50876bcc9caa74ff46cdeb42e2854c74aa78d8af
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_237.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01521314 0.00689344 -0.00671456
+v 0.01521314 0.00689344 -0.01106200
+v 0.01238052 0.00689344 -0.00671456
+v 0.01521314 -0.04405342 -0.00671456
+v 0.01238052 0.00689344 -0.01106200
+v 0.01521314 -0.04285608 -0.01106200
+v 0.01238052 -0.04400353 -0.00671456
+v 0.01516351 -0.04407338 -0.00671456
+v 0.01521314 -0.04405342 -0.00672563
+v 0.01238052 -0.04279122 -0.01106200
+v 0.01521314 -0.04311052 -0.01032282
+v 0.01516351 -0.04286107 -0.01106200
+v 0.01238052 -0.04400353 -0.00672563
+v 0.01301575 -0.04406839 -0.00671456
+v 0.01516351 -0.04361440 -0.00886786
+v 0.01521314 -0.04360442 -0.00886786
+v 0.01302213 -0.04406839 -0.00672563
+v 0.01302213 -0.04285109 -0.01106200
+v 0.01238052 -0.04309056 -0.01026154
+v 0.01238052 -0.04353458 -0.00890786
+v 0.01302213 -0.04360442 -0.00886786
+v 0.01238052 -0.04337992 -0.00941384
+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 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 22
+f 3 22 20
+f 3 20 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 8 14 17
+f 8 17 15
+f 10 18 19
+f 11 16 15
+f 11 15 12
+f 12 15 21
+f 12 21 18
+f 13 17 14
+f 13 20 17
+f 15 17 21
+f 17 20 21
+f 18 21 19
+f 19 21 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_238.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d743731d5a47031c57216035e7cd7538cef33b22
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_238.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.01073936 0.00200079
+v -0.01062676 0.01073936 -0.00037422
+v -0.01159234 0.01073936 0.00200079
+v -0.01062676 -0.03524893 0.00200079
+v -0.01159234 0.01073936 -0.00037422
+v -0.01062676 -0.03533010 -0.00037422
+v -0.01159234 -0.03448682 0.00200079
+v -0.01062676 -0.03528501 0.00184317
+v -0.01159234 -0.03455897 -0.00037422
+v -0.01062676 -0.03533010 -0.00029866
+v -0.01159234 -0.03451388 0.00184317
+v -0.01159234 -0.03455897 -0.00029866
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 12
+f 6 12 9
+f 7 11 8
+f 8 11 12
+f 8 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_239.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2305e6ebb24f196dffd175e999cb4be39743fd6f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_239.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.02746555 0.00491907
+v -0.01062676 0.02746555 0.00276862
+v -0.01159234 0.02746555 0.00491907
+v -0.01062676 0.01723186 0.00491907
+v -0.01159234 0.02746555 0.00276862
+v -0.01062676 0.01723186 0.00276862
+v -0.01159234 0.01723186 0.00491907
+v -0.01159234 0.01723186 0.00276862
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_24.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0436b3e60d6ea4a7ebd9e219851cb2cafd13c1d1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01861046 -0.02036336 0.00757483
+v -0.01729404 -0.02173746 0.00757483
+v -0.01861046 -0.01902379 0.00895242
+v -0.01861046 0.00232298 0.00757483
+v -0.01698448 -0.02187808 0.00757483
+v -0.01709311 -0.02011419 0.00895242
+v -0.01861046 -0.00052145 0.00895242
+v -0.01533703 0.00276950 0.00844877
+v -0.01699762 0.00276950 0.00757483
+v -0.01656372 -0.02206557 0.00757483
+v -0.01643682 -0.02032388 0.00895242
+v -0.01603241 -0.02226046 0.00757483
+v -0.01533703 0.00161989 0.00895242
+v -0.01533703 0.00276950 0.00757483
+v -0.01533703 -0.02055331 0.00895242
+v -0.01533703 -0.02243315 0.00757483
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 15
+f 3 15 13
+f 3 13 7
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 12
+f 6 12 11
+f 7 13 8
+f 8 14 9
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 11 12 16
+f 11 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_240.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871bbd44f30429a263a0a00b985a1fbc188253f6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_240.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01696957 0.00360168 -0.01960422
+v -0.01680305 0.00360168 -0.01960422
+v -0.01723697 0.00360168 -0.01960168
+v -0.01723697 0.00521792 -0.01960168
+v -0.01680305 0.00521792 -0.01960422
+v -0.01680305 0.00360168 0.00635237
+v -0.01723697 0.00360168 0.00635237
+v -0.01696957 0.00767039 -0.01960168
+v -0.01723697 0.00735872 -0.01959914
+v -0.01696961 0.01164543 -0.01959914
+v -0.01680309 0.01164543 -0.01959914
+v -0.01680305 0.00767039 -0.01960168
+v -0.01680305 0.00767039 0.00635237
+v -0.01723697 0.00767039 0.00635237
+v -0.01723697 0.00767039 -0.01958898
+v -0.01723689 0.01378453 -0.01952546
+v -0.01723689 0.01164543 -0.01957373
+v -0.01723689 0.00950293 -0.01958644
+v -0.01696961 0.01378453 -0.01956611
+v -0.01680309 0.01378453 -0.01956865
+v -0.01680309 0.01592533 -0.01947718
+v -0.01680309 0.01806954 -0.01929425
+v -0.01680309 0.02026313 -0.01893854
+v -0.01680309 0.02099887 -0.01881150
+v -0.01680309 0.02099887 0.00634983
+v -0.01723693 0.02099887 0.00634983
+v -0.01723693 0.02099887 -0.01841006
+v -0.01723693 0.02043174 -0.01875814
+v -0.01723693 0.02017798 -0.01883691
+v -0.01723693 0.01806954 -0.01919516
+v -0.01723693 0.01624551 -0.01935777
+v -0.01696961 0.01592533 -0.01945940
+v -0.01723689 0.01594577 -0.01940096
+v -0.01694217 0.01624551 -0.01943907
+v -0.01696961 0.01806954 -0.01927138
+v -0.01706961 0.02026994 -0.01887248
+v -0.01682033 0.02099887 -0.01880642
+v -0.01696961 0.01624551 -0.01943399
+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 12
+f 2 12 13
+f 2 13 6
+f 3 7 14
+f 3 14 15
+f 3 15 9
+f 3 9 4
+f 4 8 5
+f 4 9 10
+f 4 10 8
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 32 19
+f 16 19 17
+f 16 31 33
+f 16 33 32
+f 19 32 21
+f 19 21 20
+f 21 32 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 27
+f 24 27 26
+f 24 26 25
+f 27 37 28
+f 28 37 29
+f 29 37 36
+f 29 36 30
+f 30 36 35
+f 30 35 33
+f 30 33 31
+f 32 33 38
+f 32 38 34
+f 33 35 38
+f 34 38 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_241.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a31035c1170f085abd19709dc511c8ac89860e3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_241.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.03010649 -0.01620630
+v -0.01159234 0.02996239 -0.01657755
+v -0.01176345 0.02999907 -0.01620630
+v -0.01159234 0.02341492 -0.01620630
+v -0.01168964 0.02992571 -0.01651431
+v -0.01159234 0.02983073 -0.01675815
+v -0.01266334 0.02896546 -0.01620630
+v -0.01266334 0.02341492 -0.01620630
+v -0.01159234 0.02341492 -0.01942017
+v -0.01266334 0.02823186 -0.01736348
+v -0.01266334 0.02844604 -0.01709165
+v -0.01159234 0.02908599 -0.01768282
+v -0.01266334 0.02341492 -0.01937455
+v -0.01159234 0.02449634 -0.01937927
+v -0.01182982 0.02793907 -0.01860561
+v -0.01266334 0.02661005 -0.01868930
+v -0.01159234 0.02807203 -0.01863582
+v -0.01266334 0.02449634 -0.01923297
+v -0.01159234 0.02659171 -0.01900612
+v -0.01260033 0.02654717 -0.01877519
+v -0.01266334 0.02651049 -0.01876701
+v -0.01266334 0.02502035 -0.01911373
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 13
+f 4 13 9
+f 5 6 10
+f 5 10 11
+f 5 11 7
+f 6 12 10
+f 7 11 10
+f 7 10 16
+f 7 16 21
+f 7 21 22
+f 7 22 18
+f 7 18 13
+f 7 13 8
+f 9 13 14
+f 10 15 16
+f 10 12 15
+f 12 17 15
+f 13 18 14
+f 14 18 19
+f 15 17 20
+f 15 20 21
+f 15 21 16
+f 17 19 20
+f 18 22 19
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_242.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5863da5d9ab45c70f5cfb54a9ebe5ff16759ec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_242.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.03669264 -0.00041635
+v -0.00805384 0.03669264 -0.00229984
+v -0.00850034 0.03636609 -0.00041635
+v -0.00805384 0.00043530 -0.00041635
+v -0.00850034 0.03636609 -0.00229984
+v -0.00805384 0.00043530 -0.00229984
+v -0.00850034 0.00043530 -0.00041635
+v -0.00850034 0.00043530 -0.00229984
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_243.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea8253376ee620d480e8d3822c49d8564ceabf4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_243.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00539770 0.01459705
+v 0.00023052 0.00539770 0.01592768
+v 0.00023052 0.00547440 0.01459667
+v 0.00838959 0.00539770 0.01459667
+v 0.00158741 0.00539770 0.01843779
+v 0.00023052 0.00881204 0.01843779
+v 0.00023052 0.03067373 0.01459667
+v 0.01086907 0.00539770 0.01459667
+v 0.01046815 0.00539770 0.01843779
+v 0.00023052 0.02828864 0.01843779
+v 0.00023052 0.03063414 0.01469894
+v 0.00026905 0.03066878 0.01459667
+v 0.01086907 0.00539770 0.01793509
+v 0.01086907 0.01863446 0.01459667
+v 0.01055771 0.00735971 0.01843779
+v 0.00168218 0.02791504 0.01843779
+v 0.00146557 0.02991416 0.01586677
+v 0.00023052 0.02928573 0.01700301
+v 0.00223202 0.03029023 0.01476210
+v 0.00023052 0.02998839 0.01598370
+v 0.00223827 0.03035209 0.01459667
+v 0.01086907 0.00735971 0.01802307
+v 0.00945074 0.02243478 0.01459667
+v 0.00964131 0.02082410 0.01542535
+v 0.00989748 0.01939651 0.01592617
+v 0.01086907 0.01797634 0.01504372
+v 0.01055146 0.00950234 0.01843779
+v 0.00187795 0.02797442 0.01827649
+v 0.00201437 0.02778639 0.01843779
+v 0.00289328 0.02968901 0.01551973
+v 0.00354726 0.02995622 0.01459667
+v 0.00264440 0.03024323 0.01459667
+v 0.01086907 0.00950234 0.01800427
+v 0.00939242 0.02243478 0.01470533
+v 0.00854580 0.02460709 0.01459667
+v 0.00793347 0.02399597 0.01617546
+v 0.00820527 0.02225664 0.01686916
+v 0.00912063 0.02015112 0.01671951
+v 0.00856246 0.01869879 0.01843779
+v 0.00876761 0.01810994 0.01843779
+v 0.00945699 0.01806788 0.01735306
+v 0.01012242 0.01806788 0.01628224
+v 0.01086907 0.01590052 0.01616004
+v 0.01037651 0.01142971 0.01843779
+v 0.00330566 0.02767010 0.01786929
+v 0.00288495 0.02740042 0.01843779
+v 0.00439389 0.02950840 0.01459667
+v 0.00445324 0.02819215 0.01635217
+v 0.00455321 0.02931294 0.01476210
+v 0.01086907 0.01164496 0.01773281
+v 0.01035673 0.01164496 0.01843779
+v 0.00840730 0.02462441 0.01483918
+v 0.00789078 0.02594808 0.01459667
+v 0.00758670 0.02542356 0.01564794
+v 0.00696501 0.02261044 0.01843779
+v 0.00743258 0.02290734 0.01760347
+v 0.00762940 0.02112347 0.01843779
+v 0.00799700 0.02019319 0.01843779
+v 0.00928308 0.01647452 0.01843779
+v 0.00946324 0.01588072 0.01843779
+v 0.01086907 0.01452983 0.01678832
+v 0.00431995 0.02631179 0.01843779
+v 0.00561853 0.02780123 0.01587316
+v 0.00464589 0.02936490 0.01459667
+v 0.01086907 0.01373068 0.01712709
+v 0.00996621 0.01378511 0.01843779
+v 0.00725659 0.02690558 0.01459667
+v 0.00718994 0.02676456 0.01483918
+v 0.00597676 0.02644044 0.01668755
+v 0.00554980 0.02559675 0.01793885
+v 0.00589657 0.02447596 0.01843779
+v 0.00675882 0.02299641 0.01843779
+v 0.00975065 0.01472529 0.01843779
+v 0.00455530 0.02608911 0.01843779
+v 0.00479689 0.02584664 0.01843779
+v 0.00537068 0.02524047 0.01843779
+v 0.00605902 0.02822926 0.01469668
+v 0.00609026 0.02826390 0.01459667
+v 0.00588303 0.02449575 0.01843779
+f 1 2 6
+f 1 6 10
+f 1 10 18
+f 1 18 20
+f 1 20 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 21
+f 3 21 32
+f 3 32 31
+f 3 31 47
+f 3 47 64
+f 3 64 78
+f 3 78 67
+f 3 67 53
+f 3 53 35
+f 3 35 23
+f 3 23 14
+f 3 14 8
+f 3 8 4
+f 5 9 15
+f 5 15 27
+f 5 27 44
+f 5 44 51
+f 5 51 66
+f 5 66 73
+f 5 73 60
+f 5 60 59
+f 5 59 40
+f 5 40 39
+f 5 39 58
+f 5 58 57
+f 5 57 55
+f 5 55 72
+f 5 72 71
+f 5 71 79
+f 5 79 76
+f 5 76 75
+f 5 75 74
+f 5 74 62
+f 5 62 46
+f 5 46 29
+f 5 29 16
+f 5 16 10
+f 5 10 6
+f 7 11 12
+f 8 14 26
+f 8 26 43
+f 8 43 61
+f 8 61 65
+f 8 65 50
+f 8 50 33
+f 8 33 22
+f 8 22 13
+f 9 13 15
+f 10 16 17
+f 10 17 18
+f 11 19 12
+f 11 20 17
+f 11 17 19
+f 12 19 21
+f 13 22 15
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 15 22 27
+f 16 28 17
+f 16 29 28
+f 17 20 18
+f 17 28 30
+f 17 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 22 33 27
+f 23 34 24
+f 23 35 34
+f 24 34 36
+f 24 36 37
+f 24 37 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 25 37 38
+f 26 42 43
+f 27 33 44
+f 28 29 45
+f 28 45 30
+f 29 46 45
+f 30 47 31
+f 30 45 48
+f 30 48 49
+f 30 49 47
+f 33 50 51
+f 33 51 44
+f 34 35 52
+f 34 52 36
+f 35 53 54
+f 35 54 52
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 36 52 54
+f 36 54 55
+f 37 57 58
+f 37 58 38
+f 38 58 39
+f 40 59 41
+f 41 59 42
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 45 46 62
+f 45 62 63
+f 45 63 48
+f 47 49 64
+f 48 63 49
+f 49 63 64
+f 50 65 66
+f 50 66 51
+f 53 67 54
+f 54 67 68
+f 54 68 63
+f 54 63 69
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 54 72 55
+f 55 57 56
+f 60 73 65
+f 60 65 61
+f 62 74 63
+f 63 74 75
+f 63 75 76
+f 63 76 70
+f 63 70 69
+f 63 68 67
+f 63 67 77
+f 63 77 64
+f 64 77 78
+f 65 73 66
+f 67 78 77
+f 70 76 79
+f 70 79 71
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_244.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2883c1c26f4088ee57a089eb02d2d5d743da5b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_244.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00147309 -0.01854845 -0.00293675
+v 0.00147309 -0.01854845 -0.00664588
+v 0.00023052 -0.01854845 -0.00293675
+v 0.00147309 -0.02763656 -0.00293675
+v 0.00023052 -0.01854845 -0.00664588
+v 0.00147309 -0.02763656 -0.00664588
+v 0.00023052 -0.02763656 -0.00293675
+v 0.00023052 -0.02763656 -0.00664588
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_245.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f6fa479c8fde5191ec313bc5d65ebdeb5a6929
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_245.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01344330 -0.03294793 -0.00026207
+v -0.01266475 -0.03362868 -0.00026207
+v -0.01268872 -0.03358941 0.00045488
+v -0.01344330 -0.03292829 0.00045488
+v -0.01344330 0.03257409 -0.00026207
+v -0.01266345 -0.03359595 -0.00026207
+v -0.01266429 -0.03360904 0.00045488
+v -0.01344330 0.03256100 0.00045488
+v -0.01266345 0.03324175 -0.00026207
+v -0.01266345 -0.03297412 0.00045488
+v -0.01311398 0.03284246 0.00045488
+v -0.01266345 0.03322212 0.00045488
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 10
+f 3 10 12
+f 3 12 11
+f 3 11 8
+f 3 8 4
+f 5 8 9
+f 6 10 7
+f 6 9 12
+f 6 12 10
+f 8 11 9
+f 9 11 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_246.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc004b7cbfa791545590bf6c9bf57855f0cdd390
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_246.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00868243 -0.01226809 0.00285823
+v 0.00868243 -0.01226809 0.00078557
+v 0.00755144 -0.01226809 0.00285823
+v 0.00868243 -0.04336495 0.00285823
+v 0.00868232 -0.01226809 -0.00293660
+v 0.00868243 -0.04355187 0.00078557
+v 0.00755144 -0.01226809 -0.00293660
+v 0.00755144 -0.04317190 0.00285823
+v 0.00868243 -0.04353042 0.00184062
+v 0.00868232 -0.04357333 -0.00293660
+v 0.00868232 -0.04357333 -0.00029897
+v 0.00755144 -0.04332818 0.00178900
+v 0.00755144 -0.04336802 -0.00293660
+v 0.00781650 -0.04339560 0.00078500
+v 0.00755144 -0.04336802 -0.00029897
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 7 13
+f 3 13 15
+f 3 15 12
+f 3 12 8
+f 4 8 9
+f 5 10 13
+f 5 13 7
+f 6 11 10
+f 6 9 12
+f 6 12 11
+f 8 12 9
+f 10 11 15
+f 10 15 13
+f 11 12 14
+f 11 14 15
+f 12 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_247.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dd6c76910a48ed513336e3c7046ecc9ac09858e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_247.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 -0.01444366 -0.00037422
+v -0.01062676 0.00099183 -0.00037729
+v -0.01159234 -0.01444366 -0.00037422
+v -0.01062676 -0.03533010 -0.00037422
+v -0.01159234 0.00099183 -0.00037729
+v -0.01062676 0.00099539 -0.01127608
+v -0.01159234 -0.03455495 -0.00037422
+v -0.01062676 -0.03533010 -0.00458543
+v -0.01119783 0.00099539 -0.01127608
+v -0.01159234 0.00099539 -0.01604306
+v -0.01062676 0.00099539 -0.01605534
+v -0.01159234 -0.03455495 -0.00458543
+v -0.01062676 -0.03527677 -0.00554343
+v -0.01159234 -0.03451584 -0.00597330
+v -0.01159234 -0.03450873 -0.00612222
+v -0.01159234 0.00099539 -0.01605534
+v -0.01062676 -0.01444366 -0.01605841
+v -0.01062676 -0.03520921 -0.00675628
+v -0.01073366 -0.03512743 -0.00676242
+v -0.01159234 -0.03436294 -0.00748092
+v -0.01157438 -0.03437717 -0.00749781
+v -0.01159234 -0.01444366 -0.01605841
+v -0.01062676 -0.03133700 -0.01605841
+v -0.01062676 -0.03480741 -0.00844353
+v -0.01159234 -0.03435583 -0.00751470
+v -0.01127609 -0.03411760 -0.00886726
+v -0.01159234 -0.03056541 -0.01605841
+v -0.01062676 -0.03168547 -0.01545505
+v -0.01136909 -0.03075742 -0.01605841
+v -0.01062676 -0.03465096 -0.00886726
+v -0.01159234 -0.03385447 -0.00883502
+v -0.01062676 -0.03434872 -0.00958269
+v -0.01159234 -0.03338156 -0.00988053
+v -0.01062676 -0.03281619 -0.01297561
+v -0.01062676 -0.03380469 -0.01079861
+v -0.01082893 -0.03158591 -0.01529385
+v -0.01159234 -0.03091743 -0.01529385
+v -0.01062676 -0.03176014 -0.01529385
+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 18
+f 1 18 24
+f 1 24 30
+f 1 30 32
+f 1 32 35
+f 1 35 34
+f 1 34 38
+f 1 38 28
+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 10
+f 3 10 16
+f 3 16 22
+f 3 22 27
+f 3 27 37
+f 3 37 33
+f 3 33 31
+f 3 31 25
+f 3 25 20
+f 3 20 15
+f 3 15 14
+f 3 14 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 6 11 16
+f 6 16 10
+f 6 10 9
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 11 17 22
+f 11 22 16
+f 13 15 19
+f 13 19 18
+f 15 20 21
+f 15 21 19
+f 17 23 29
+f 17 29 27
+f 17 27 22
+f 18 19 21
+f 18 21 24
+f 20 25 21
+f 21 25 26
+f 21 26 24
+f 23 28 29
+f 24 26 30
+f 25 31 26
+f 26 32 30
+f 26 31 33
+f 26 33 34
+f 26 34 35
+f 26 35 32
+f 27 29 28
+f 27 28 36
+f 27 36 37
+f 28 38 36
+f 33 37 36
+f 33 36 34
+f 34 36 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_248.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beba3356dd6768463871496e9c368c9041679599
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_248.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01512957 -0.00673111 0.00635237
+v -0.01512957 0.01124513 0.00634729
+v -0.01634745 -0.00673111 0.00635237
+v -0.01512957 -0.01439083 0.00635237
+v -0.01634805 0.01124513 0.00634729
+v -0.01512957 0.01124513 -0.01959663
+v -0.01634805 -0.00689395 0.00635237
+v -0.01634805 -0.01439083 0.00635237
+v -0.01512957 -0.01956266 0.00634729
+v -0.01634805 0.01124513 -0.01959663
+v -0.01512957 -0.01375755 -0.01960425
+v -0.01634805 -0.01956266 0.00634729
+v -0.01512957 -0.01956266 -0.01945942
+v -0.01634805 -0.00673111 -0.01960171
+v -0.01512957 -0.01590167 -0.01959663
+v -0.01634805 -0.01264478 -0.01960171
+v -0.01634805 -0.01956266 -0.01924092
+v -0.01575443 -0.01956266 -0.01937812
+v -0.01634805 -0.01692699 -0.01949245
+v -0.01512957 -0.01804277 -0.01955343
+v -0.01634805 -0.01468335 -0.01958392
+v -0.01634805 -0.01898968 -0.01932730
+v -0.01634805 -0.01896858 -0.01932984
+v -0.01634805 -0.01682446 -0.01949754
+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 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 7
+f 4 8 12
+f 4 12 9
+f 5 10 14
+f 5 14 16
+f 5 16 21
+f 5 21 24
+f 5 24 19
+f 5 19 23
+f 5 23 22
+f 5 22 17
+f 5 17 12
+f 5 12 8
+f 5 8 7
+f 6 11 10
+f 9 12 17
+f 9 17 18
+f 9 18 13
+f 10 11 14
+f 11 15 16
+f 11 16 14
+f 13 18 19
+f 13 19 20
+f 15 21 16
+f 15 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 19
+f 19 24 20
+f 20 24 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_249.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63446ed385a7f9cbff420cc733a847e873a466f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_249.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.00947347 -0.00043750
+v -0.00415443 0.00947347 -0.00986834
+v -0.00516773 0.00947347 -0.00043750
+v -0.00415443 -0.01278888 -0.00043750
+v -0.00516773 0.00947347 -0.00986834
+v -0.00415443 -0.01278888 -0.00986834
+v -0.00516773 -0.01278888 -0.00043750
+v -0.00516773 -0.01278670 -0.00986834
+v -0.00509106 -0.01278888 -0.00986834
+v -0.00516773 -0.01278888 -0.00528954
+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 8
+f 2 8 5
+f 3 5 8
+f 3 8 10
+f 3 10 7
+f 4 7 10
+f 4 10 9
+f 4 9 6
+f 8 9 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_25.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89754426bd06e71df03d2d3c8809798dac1cee44
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01533671 -0.02243275 0.00757483
+v -0.01268376 -0.02322655 0.00757483
+v -0.01532604 -0.02078288 0.00853408
+v -0.01533671 -0.02077899 0.00853408
+v -0.01533671 -0.00335031 0.00757483
+v -0.01054128 -0.02315457 0.00757483
+v -0.01054281 -0.02115838 0.00853408
+v -0.01268223 -0.02118951 0.00853408
+v -0.01283461 -0.02117589 0.00853408
+v -0.01290014 -0.02116811 0.00853408
+v -0.01482623 -0.02090351 0.00853408
+v -0.01533671 -0.00335031 0.00853408
+v 0.00023052 -0.00335031 0.00757483
+v -0.00411843 -0.02193078 0.00757483
+v -0.00615424 -0.02043462 0.00853408
+v -0.00839881 -0.02085487 0.00853408
+v 0.00023052 -0.00335031 0.00853408
+v 0.00023052 -0.01950268 0.00757483
+v -0.00411691 -0.01973031 0.00853408
+v 0.00023052 -0.01669518 0.00853408
+v -0.00196072 -0.01835088 0.00853408
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 13
+f 1 13 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 16
+f 3 16 15
+f 3 15 19
+f 3 19 21
+f 3 21 20
+f 3 20 17
+f 3 17 12
+f 3 12 4
+f 5 12 17
+f 5 17 13
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 13 17 20
+f 13 20 18
+f 14 18 19
+f 14 19 15
+f 18 20 21
+f 18 21 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_250.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92fe0ac300057d745379ec650e93b8ce0c1fb7c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_250.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03145123 -0.00351051
+v -0.00516783 0.03145123 -0.00800871
+v -0.00597001 0.03145123 -0.00351051
+v -0.00516783 -0.03215107 -0.00351051
+v -0.00597001 0.03145123 -0.00800871
+v -0.00516783 -0.03215107 -0.00800871
+v -0.00597001 -0.03215107 -0.00351051
+v -0.00597001 -0.03215107 -0.00800871
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_251.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074bcc0993043f9b02a154997bb8f5529ca35e73
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_251.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 -0.02501293 0.00063360
+v -0.00415443 -0.02501293 0.00063360
+v -0.00516773 -0.02501293 0.00127332
+v -0.00516773 0.03837968 0.00063360
+v -0.00415443 -0.02501293 0.00127332
+v -0.00415443 0.03887371 0.00063360
+v -0.00516773 0.03837342 0.00127332
+v -0.00514283 0.03839844 0.00063360
+v -0.00415443 0.03886120 0.00127332
+v -0.00513351 0.03839218 0.00127332
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 8
+f 6 8 10
+f 6 10 9
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_252.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31f359fb677a22437fce5c8cedadb279dfeecc3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_252.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02181538 -0.02142460 -0.00466792
+v -0.02181538 -0.01373482 -0.00466792
+v -0.02130387 -0.02142460 -0.00466792
+v -0.02181538 -0.02142460 0.00320473
+v -0.02130387 -0.01373482 -0.00466792
+v -0.02181538 -0.01373482 0.00320473
+v -0.02130387 -0.02142460 0.00320473
+v -0.02130387 -0.01373482 0.00320473
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_253.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e892517f770bc1dea52f12dc9f3100e4bb8943be
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_253.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.00530306 -0.01326465
+v 0.00023052 0.00530306 -0.01658543
+v -0.00083011 0.00530306 -0.01326465
+v 0.00023052 -0.03909098 -0.01326465
+v -0.00083011 0.00530306 -0.01658543
+v 0.00023052 -0.03776993 -0.01658543
+v -0.00083011 -0.03866511 -0.01326465
+v 0.00004975 -0.03902145 -0.01326465
+v -0.00056171 -0.03856951 -0.01387322
+v 0.00015856 -0.03831313 -0.01530881
+v 0.00023052 -0.03832616 -0.01534587
+v -0.00083011 -0.03736580 -0.01658543
+v 0.00020269 -0.03776124 -0.01658543
+v -0.00083011 -0.03850433 -0.01373538
+v -0.00083011 -0.03834789 -0.01414142
+v -0.00083011 -0.03786119 -0.01537578
+v -0.00083011 -0.03748747 -0.01631463
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 5
+f 3 5 12
+f 3 12 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 13
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 13
+f 12 13 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_254.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90f2f20443fb3079d67b0e3003a64d72b4ec25e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_254.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01388006 -0.00730504 -0.00293712
+v 0.01388006 0.00689206 -0.00293749
+v 0.01238066 -0.00730504 -0.00293712
+v 0.01388006 -0.04415953 -0.00293712
+v 0.01388006 0.00689206 -0.00671419
+v 0.01238066 0.00689206 -0.00293749
+v 0.01238066 -0.04409457 -0.00293712
+v 0.01302161 -0.04415453 -0.00293712
+v 0.01388006 -0.04415953 -0.00458365
+v 0.01238066 0.00689206 -0.00671419
+v 0.01388006 -0.04406458 -0.00671419
+v 0.01238066 -0.04409457 -0.00458365
+v 0.01252597 -0.04410955 -0.00293712
+v 0.01302161 -0.04415453 -0.00458365
+v 0.01302161 -0.04406458 -0.00671419
+v 0.01388006 -0.04410456 -0.00586634
+v 0.01238066 -0.04400961 -0.00671419
+v 0.01238066 -0.04406958 -0.00522370
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 17
+f 3 17 18
+f 3 18 12
+f 3 12 7
+f 4 8 14
+f 4 14 9
+f 5 11 15
+f 5 15 17
+f 5 17 10
+f 7 12 13
+f 8 13 14
+f 9 14 15
+f 9 15 16
+f 11 16 15
+f 12 18 14
+f 12 14 13
+f 14 18 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_255.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a1989543f913af8120fd5eea13023b27bfa1d1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_255.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.02333112 -0.01010180
+v -0.00950790 0.02333112 -0.01956612
+v -0.01062676 0.02333112 -0.01010180
+v -0.00950790 -0.01493889 -0.01010180
+v -0.01054287 0.02333112 -0.01956612
+v -0.00950790 0.02234965 -0.01960239
+v -0.01062676 0.02333112 -0.01955402
+v -0.01062676 -0.01493889 -0.01010180
+v -0.00950790 -0.01493889 -0.01960332
+v -0.01062676 0.02234965 -0.01959960
+v -0.01054287 0.02234965 -0.01960239
+v -0.00950790 0.00632389 -0.01960332
+v -0.01062676 -0.01493889 -0.01960425
+v -0.01054287 -0.01493889 -0.01960425
+v -0.01062676 0.02021063 -0.01960239
+v -0.01062676 0.00529746 -0.01960332
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 10
+f 3 10 15
+f 3 15 16
+f 3 16 13
+f 3 13 8
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 5 10 7
+f 5 11 10
+f 6 12 11
+f 9 14 12
+f 10 11 15
+f 11 12 16
+f 11 16 15
+f 12 14 13
+f 12 13 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_256.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1f7ad21194a7fe3a08406293ecf87f146d691f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_256.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 -0.03116433 -0.01599436
+v -0.00516783 -0.03116433 -0.01930573
+v -0.00597001 -0.03116433 -0.01599436
+v -0.00516783 -0.03533617 -0.01599436
+v -0.00516783 -0.03120149 -0.01929989
+v -0.00594142 -0.03116433 -0.01920978
+v -0.00597001 -0.03116433 -0.01920621
+v -0.00597001 -0.03485466 -0.01599436
+v -0.00597001 -0.03456918 -0.01667803
+v -0.00516783 -0.03513564 -0.01646570
+v -0.00597001 -0.03120149 -0.01920005
+v -0.00516783 -0.03207302 -0.01908659
+v -0.00597001 -0.03151188 -0.01912420
+v -0.00597001 -0.03424859 -0.01724046
+v -0.00562059 -0.03467333 -0.01691499
+v -0.00516783 -0.03480769 -0.01711403
+v -0.00516783 -0.03237483 -0.01901268
+v -0.00597001 -0.03284981 -0.01872839
+v -0.00516783 -0.03416119 -0.01820161
+v -0.00597001 -0.03393575 -0.01774292
+v -0.00516783 -0.03311649 -0.01879322
+v -0.00516783 -0.03395780 -0.01840973
+v -0.00597001 -0.03307239 -0.01862692
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 19
+f 1 19 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 13
+f 3 13 18
+f 3 18 23
+f 3 23 20
+f 3 20 14
+f 3 14 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 13
+f 5 13 11
+f 6 11 7
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 15
+f 14 20 19
+f 15 19 16
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 20 23
+f 19 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_257.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d715a8ecfe21284955cebee42f10cff5a203a6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_257.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00666349 0.02878511 -0.00612492
+v 0.00666349 0.02878511 -0.01106117
+v 0.00520518 0.02878511 -0.00612492
+v 0.00666349 -0.04314772 -0.00612492
+v 0.00520518 0.02878511 -0.01106117
+v 0.00666349 -0.00125262 -0.01106165
+v 0.00520518 -0.04286607 -0.00612492
+v 0.00601228 -0.04304210 -0.00612492
+v 0.00656085 -0.04310547 -0.00655359
+v 0.00666349 -0.04311955 -0.00656181
+v 0.00520518 -0.00125262 -0.01106165
+v 0.00666349 -0.04182397 -0.01106165
+v 0.00520518 -0.04280270 -0.00683583
+v 0.00582499 -0.04292240 -0.00715238
+v 0.00548496 -0.04292944 -0.00612492
+v 0.00637285 -0.04297169 -0.00748246
+v 0.00666349 -0.04301394 -0.00748295
+v 0.00520518 -0.04154233 -0.01106165
+v 0.00659597 -0.04186622 -0.01106165
+v 0.00666349 -0.04188030 -0.01105972
+v 0.00520518 -0.04266892 -0.00748246
+v 0.00556105 -0.04277454 -0.00748246
+v 0.00520518 -0.04233798 -0.00883710
+v 0.00666349 -0.04299281 -0.00765838
+v 0.00666349 -0.04190143 -0.01100849
+v 0.00520518 -0.04257034 -0.00792757
+v 0.00656085 -0.04265484 -0.00878249
+v 0.00666349 -0.04271117 -0.00866892
+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 17
+f 1 17 24
+f 1 24 28
+f 1 28 25
+f 1 25 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 23
+f 3 23 26
+f 3 26 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 12 19
+f 6 19 18
+f 6 18 11
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 9
+f 9 14 16
+f 9 16 10
+f 10 16 17
+f 12 20 19
+f 13 21 14
+f 14 21 22
+f 14 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 19 25
+f 18 25 23
+f 19 20 25
+f 21 26 22
+f 22 26 23
+f 23 25 27
+f 23 27 28
+f 23 28 24
+f 25 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_258.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eba3000c37d0d5e2294efc2357993299e8612a6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_258.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 0.01477905 -0.01927802
+v -0.01875131 0.01477905 -0.01916512
+v -0.01799965 0.01570934 -0.01923035
+v -0.01799965 0.01477905 0.00635237
+v -0.01875131 0.01605714 -0.01903466
+v -0.01799965 0.01600269 -0.01921530
+v -0.01875131 0.01477905 0.00635237
+v -0.01799965 0.02017840 0.00635237
+v -0.01875131 0.01798219 -0.01877374
+v -0.01799965 0.01806940 -0.01897696
+v -0.01875131 0.02017840 0.00635237
+v -0.01799965 0.02017840 -0.01816660
+v -0.01875131 0.01806940 -0.01874865
+v -0.01872592 0.01806940 -0.01876873
+v -0.01799965 0.01975290 -0.01868342
+v -0.01875131 0.02017840 -0.01757451
+v -0.01875131 0.01992363 -0.01781034
+v -0.01827702 0.01959803 -0.01862572
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 15
+f 1 15 12
+f 1 12 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 16
+f 2 16 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 4 8 11
+f 4 11 7
+f 5 9 10
+f 5 10 6
+f 8 12 16
+f 8 16 11
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 14 18 15
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_259.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda0d486d3ddc01ad3fc099d2aecd0b19368c840
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_259.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.01512957 -0.01956404 -0.01297934
+v -0.01512957 -0.01956404 -0.01946530
+v -0.01680280 -0.01956404 -0.01297934
+v -0.01512957 -0.02857073 -0.01297934
+v -0.01512957 -0.02018829 -0.01943038
+v -0.01575447 -0.01956404 -0.01938149
+v -0.01680280 -0.01956404 -0.01913960
+v -0.01680280 -0.02657894 -0.01297934
+v -0.01629829 -0.02719791 -0.01297934
+v -0.01564390 -0.02766874 -0.01364216
+v -0.01512957 -0.02844200 -0.01326250
+v -0.01512957 -0.02237141 -0.01913516
+v -0.01576561 -0.01956404 -0.01937895
+v -0.01593498 -0.01956404 -0.01934022
+v -0.01680280 -0.02092541 -0.01893834
+v -0.01680280 -0.02603669 -0.01396595
+v -0.01649878 -0.02693957 -0.01301807
+v -0.01654792 -0.02689901 -0.01297934
+v -0.01647290 -0.02699247 -0.01297934
+v -0.01528125 -0.02721378 -0.01529476
+v -0.01512957 -0.02731606 -0.01544586
+v -0.01512957 -0.02795971 -0.01423514
+v -0.01680280 -0.02581626 -0.01436656
+v -0.01680280 -0.02529958 -0.01530555
+v -0.01512957 -0.02263328 -0.01908627
+v -0.01680280 -0.02096949 -0.01893009
+v -0.01589960 -0.02584712 -0.01636771
+v -0.01512957 -0.02637174 -0.01689783
+v -0.01680280 -0.02509238 -0.01568140
+v -0.01646111 -0.02263328 -0.01871296
+v -0.01512957 -0.02440023 -0.01869836
+v -0.01680280 -0.02162637 -0.01880629
+v -0.01630681 -0.02464711 -0.01722353
+v -0.01512957 -0.02610282 -0.01722924
+v -0.01680280 -0.02428914 -0.01685403
+v -0.01680280 -0.02387914 -0.01738034
+v -0.01600771 -0.02384916 -0.01857265
+v -0.01680280 -0.02236348 -0.01865328
+v -0.01512957 -0.02543096 -0.01794285
+v -0.01680280 -0.02343388 -0.01789079
+v -0.01512957 -0.02577218 -0.01759938
+v -0.01680280 -0.02326900 -0.01807871
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 22
+f 1 22 21
+f 1 21 28
+f 1 28 34
+f 1 34 41
+f 1 41 39
+f 1 39 31
+f 1 31 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 26
+f 3 26 32
+f 3 32 38
+f 3 38 42
+f 3 42 40
+f 3 40 36
+f 3 36 35
+f 3 35 29
+f 3 29 24
+f 3 24 23
+f 3 23 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 7 14 12
+f 7 12 15
+f 8 16 17
+f 8 17 18
+f 9 19 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 19 17
+f 10 17 16
+f 10 16 23
+f 10 23 24
+f 10 24 20
+f 12 14 13
+f 12 25 15
+f 15 25 26
+f 17 19 18
+f 20 24 27
+f 20 27 21
+f 21 27 28
+f 24 29 27
+f 25 30 26
+f 25 31 30
+f 26 30 32
+f 27 33 34
+f 27 34 28
+f 27 29 35
+f 27 35 36
+f 27 36 33
+f 30 37 38
+f 30 38 32
+f 30 31 37
+f 31 39 37
+f 33 36 40
+f 33 40 37
+f 33 37 34
+f 34 37 41
+f 37 40 42
+f 37 42 38
+f 37 39 41
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_26.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a666d8de5652a2850cb1d16daf5f1c77adf6d126
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01475977 0.00276994 0.01176107
+v -0.01481453 0.00276994 0.01224996
+v -0.01460669 0.00727514 0.01255497
+v -0.01451584 0.00727514 0.01176107
+v -0.00210309 0.00276994 0.01176107
+v -0.01479959 0.00276994 0.01255497
+v -0.01445611 0.00727514 0.01461436
+v -0.00210309 0.00727514 0.01176107
+v -0.00210309 0.00276994 0.01614376
+v -0.01457807 0.00276994 0.01439263
+v -0.01444864 0.00727514 0.01469765
+v -0.00210309 0.00727514 0.01690522
+v -0.00211927 0.00727514 0.01693875
+v -0.00353179 0.00276994 0.01884563
+v -0.01450962 0.00276994 0.01469765
+v -0.01400808 0.00727514 0.01631358
+v -0.00472652 0.00727514 0.02073954
+v -0.00467425 0.00276994 0.02064652
+v -0.01405662 0.00276994 0.01597395
+v -0.01398817 0.00727514 0.01637415
+v -0.00562630 0.00727514 0.02181141
+v -0.00669658 0.00727514 0.02254259
+v -0.00637923 0.00276994 0.02176923
+v -0.01397324 0.00276994 0.01617946
+v -0.01307470 0.00727514 0.01891702
+v -0.00840778 0.00727514 0.02281083
+v -0.00695793 0.00521617 0.02236520
+v -0.00720310 0.00374650 0.02224298
+v -0.00854592 0.00276994 0.02206668
+v -0.01264161 0.00276994 0.01872882
+v -0.01215750 0.00727514 0.02084337
+v -0.01218861 0.00727514 0.02078172
+v -0.01304732 0.00727514 0.01898083
+v -0.00846503 0.00727514 0.02280109
+v -0.00939468 0.00417919 0.02218782
+v -0.00796723 0.00374650 0.02224298
+v -0.01056328 0.00276994 0.02121545
+v -0.01185881 0.00276994 0.02014140
+v -0.01199571 0.00521617 0.02059136
+v -0.01121664 0.00727514 0.02187307
+v -0.01009783 0.00727514 0.02246146
+v -0.00977052 0.00560697 0.02231328
+v -0.01078853 0.00276994 0.02104347
+v -0.01116064 0.00727514 0.02191958
+v -0.01178165 0.00276994 0.02027444
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 29
+f 1 29 37
+f 1 37 43
+f 1 43 45
+f 1 45 38
+f 1 38 30
+f 1 30 24
+f 1 24 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 16
+f 3 16 20
+f 3 20 25
+f 3 25 33
+f 3 33 32
+f 3 32 31
+f 3 31 40
+f 3 40 44
+f 3 44 41
+f 3 41 34
+f 3 34 26
+f 3 26 22
+f 3 22 21
+f 3 21 17
+f 3 17 13
+f 3 13 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 11
+f 6 11 7
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 26 34 35
+f 26 35 29
+f 26 29 36
+f 26 36 28
+f 26 28 27
+f 28 36 29
+f 29 35 37
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 34 41 42
+f 34 42 35
+f 35 42 37
+f 37 42 44
+f 37 44 43
+f 38 45 39
+f 39 45 40
+f 40 45 44
+f 41 44 42
+f 43 44 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_260.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70453f9afe7fd6233ead5c689dd3539df8b0453f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_260.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.02000983 0.00325744 0.00635237
+v -0.02069345 0.00325744 0.00635237
+v -0.02000983 -0.02117545 0.00635237
+v -0.02000983 0.00325744 -0.01318404
+v -0.02069351 0.00325744 -0.01111489
+v -0.02069345 -0.02012165 0.00635237
+v -0.02000983 -0.02263151 0.00586664
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+v -0.02069345 -0.02237939 0.00553198
+v -0.02061159 -0.02263151 0.00549565
+v -0.02000983 -0.02401391 0.00528529
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+v -0.02069345 -0.02220376 -0.01111489
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+v -0.02027661 -0.02383828 0.00518776
+v -0.02000983 -0.02493174 0.00398299
+v -0.02054045 -0.02248703 -0.01111489
+v -0.02069351 -0.02079302 -0.01306547
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+v -0.02000983 -0.02547847 -0.00686568
+v -0.02000983 -0.02552663 -0.00672226
+v -0.02000983 -0.02562011 -0.00549072
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+v -0.02003406 -0.02565127 -0.00030064
+v -0.02001171 -0.02562578 0.00174556
+v -0.02001171 -0.02562294 0.00184309
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+v -0.02000983 -0.02562011 0.00185838
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+v -0.02000983 -0.02568243 -0.00030064
+v -0.02000983 -0.02562294 0.00184309
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+f 1 3 7
+f 1 7 13
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+f 1 35 50
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+f 1 57 56
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+f 1 55 44
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+f 23 41 24
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+f 24 44 25
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+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 29 48 30
+f 30 49 31
+f 30 48 49
+f 31 49 34
+f 31 34 32
+f 34 49 35
+f 35 48 50
+f 35 49 48
+f 36 39 40
+f 38 51 39
+f 39 52 53
+f 39 53 54
+f 39 54 41
+f 39 51 52
+f 41 54 42
+f 44 55 45
+f 45 55 56
+f 45 56 46
+f 46 56 47
+f 47 56 57
+f 47 57 48
+f 48 57 50
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_261.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ef1c75a16f73f0683dc514a3a4fe470d2050ac
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_261.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00755133 0.01455357 0.00285823
+v 0.00755133 0.01455357 0.00114089
+v 0.00687226 0.01455357 0.00285823
+v 0.00755133 -0.04317239 0.00285823
+v 0.00687226 0.01455357 0.00114089
+v 0.00755133 -0.04334240 0.00114089
+v 0.00687226 -0.04309304 0.00285823
+v 0.00689360 -0.04309871 0.00285823
+v 0.00687226 -0.04310438 0.00280578
+v 0.00755133 -0.04333107 0.00178909
+v 0.00687226 -0.04321773 0.00114089
+v 0.00687226 -0.04320639 0.00175799
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 11
+f 7 9 8
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_262.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ba9dd90bdc4546360eef510038ca73acc6d426
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_262.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01032557 0.02878732 -0.01635531
+v 0.01032557 0.02878732 -0.01777247
+v 0.00986334 0.02878732 -0.01635531
+v 0.01032557 -0.04066740 -0.01635531
+v 0.00986334 0.02878732 -0.01777247
+v 0.01032557 -0.03980398 -0.01777247
+v 0.00986334 -0.04057902 -0.01635531
+v 0.00998786 -0.04060622 -0.01635531
+v 0.00986334 -0.04051783 -0.01647685
+v 0.00986334 -0.04002154 -0.01737010
+v 0.01032557 -0.04011672 -0.01734291
+v 0.00986334 -0.03974279 -0.01777247
+v 0.01032557 -0.03987877 -0.01768797
+v 0.01016947 -0.03979038 -0.01777247
+v 0.00986334 -0.03990596 -0.01753979
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 15
+f 3 15 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 9 8
+f 10 15 11
+f 11 15 13
+f 12 14 13
+f 12 13 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_263.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14c9ef2c54dd9631d27b40f7729e823b6318607
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_263.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02352491 -0.00450032 -0.00697593
+v -0.02352491 -0.00450032 -0.01822228
+v -0.02395931 -0.00450032 -0.00697593
+v -0.02352491 -0.01940895 -0.00697593
+v -0.02395931 -0.00450032 -0.01773785
+v -0.02352491 -0.00786735 -0.01756390
+v -0.02395931 -0.01858872 -0.00697593
+v -0.02384466 -0.01880764 -0.00697593
+v -0.02395931 -0.01797282 -0.00851398
+v -0.02352491 -0.01922360 -0.00741521
+v -0.02364773 -0.00763821 -0.01743619
+v -0.02395931 -0.00721788 -0.01702223
+v -0.02352491 -0.00835482 -0.01743619
+v -0.02395931 -0.01695410 -0.00965568
+v -0.02352491 -0.01612803 -0.01168365
+v -0.02352491 -0.01748973 -0.01014891
+v -0.02352491 -0.01823261 -0.00929236
+v -0.02376939 -0.01818444 -0.00872206
+v -0.02352491 -0.01865586 -0.00870885
+v -0.02352491 -0.00930786 -0.01714994
+v -0.02395931 -0.00846866 -0.01664239
+v -0.02395931 -0.01614700 -0.01050452
+v -0.02352491 -0.01409059 -0.01362795
+v -0.02352491 -0.00981576 -0.01688460
+v -0.02395931 -0.00987852 -0.01590255
+v -0.02395931 -0.01406286 -0.01244882
+v -0.02362931 -0.01192180 -0.01529371
+v -0.02352491 -0.01320760 -0.01442395
+v -0.02352491 -0.01080821 -0.01633412
+v -0.02395931 -0.01024339 -0.01570107
+v -0.02395931 -0.01202104 -0.01428853
+v -0.02395931 -0.01142849 -0.01481479
+v -0.02395931 -0.01078340 -0.01531683
+v -0.02352491 -0.01207650 -0.01543684
+v -0.02352491 -0.01222099 -0.01531243
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+f 23 27 28
+f 24 29 30
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+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 29 34 30
+f 30 34 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_264.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3e0e410214a3208dbd732529f174c54c294945
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_264.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02485488 -0.01695339 -0.00458295
+v -0.02512487 -0.01620579 -0.00458295
+v -0.02485488 -0.01684185 -0.00563448
+v -0.02485488 -0.01695339 -0.00029999
+v -0.02528741 -0.01570557 -0.00458295
+v -0.02528741 -0.01541786 -0.00672519
+v -0.02503126 -0.01620579 -0.00672519
+v -0.02485488 -0.01670657 -0.00672519
+v -0.02512487 -0.01620579 -0.00029999
+v -0.02485488 -0.01685043 0.00184225
+v -0.02528741 -0.01570557 -0.00029999
+v -0.02528741 -0.01487446 -0.00755075
+v -0.02485488 -0.01659532 -0.00712441
+v -0.02508431 -0.01620579 0.00184225
+v -0.02528741 -0.01567497 0.00023181
+v -0.02485488 -0.01613028 0.00317399
+v -0.02528741 -0.01403161 -0.00873937
+v -0.02525968 -0.01403161 -0.00886441
+v -0.02485488 -0.01538382 -0.00876799
+v -0.02528741 -0.01558088 0.00184225
+v -0.02485488 -0.01568470 0.00391820
+v -0.02528741 -0.01403161 0.00421046
+v -0.02498016 -0.01403161 -0.00964176
+v -0.02524837 -0.01406393 -0.00886742
+v -0.02485488 -0.01403161 -0.00998976
+v -0.02528741 -0.01429102 0.00397545
+v -0.02485488 -0.01403161 0.00540059
+f 1 2 3
+f 1 3 8
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+f 1 13 19
+f 1 19 25
+f 1 25 27
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+f 1 21 16
+f 1 16 10
+f 1 10 4
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+f 18 23 24
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+f 19 24 23
+f 19 23 25
+f 20 21 26
+f 21 27 22
+f 21 22 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_265.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51656c5f24627999dce3dec46d6051880321ce88
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_265.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 -0.03618344 -0.00458355
+v -0.01054287 -0.03539217 -0.00458355
+v -0.01062676 -0.03532295 -0.00469533
+v -0.01062676 -0.03521633 -0.00660308
+v -0.00950790 -0.03617222 -0.00477916
+v -0.00950790 -0.03618344 -0.00030317
+v -0.01062676 -0.03532482 -0.00458355
+v -0.01054287 -0.03539217 -0.00030317
+v -0.01062676 -0.03520697 -0.00675296
+v -0.00950790 -0.03605998 -0.00673009
+v -0.00950790 -0.03613294 0.00183829
+v -0.01054287 -0.03534914 0.00183829
+v -0.01062676 -0.03532482 -0.00030317
+v -0.01062676 -0.03480666 -0.00844479
+v -0.00950790 -0.03590659 -0.00735500
+v -0.00950790 -0.03564657 0.00390100
+v -0.01062676 -0.03489832 0.00372064
+v -0.01062676 -0.03528180 0.00183829
+v -0.00950790 -0.03587666 -0.00746932
+v -0.01062676 -0.03465140 -0.00886647
+v -0.01020500 -0.03499747 -0.00886647
+v -0.00950790 -0.03484220 0.00540738
+v -0.00982814 -0.03469442 0.00536420
+v -0.01018518 -0.03481789 0.00457671
+v -0.01054221 -0.03493948 0.00378668
+v -0.01062676 -0.03483846 0.00385527
+v -0.00950790 -0.03545390 -0.00893506
+v -0.01062676 -0.03435023 -0.00958029
+v -0.00977480 -0.03465327 -0.01052020
+v -0.00950790 -0.03495631 -0.01022298
+v -0.00950790 -0.03328210 0.00625076
+v -0.01054221 -0.03336628 0.00581637
+v -0.01062676 -0.03428288 0.00457671
+v -0.01062676 -0.03332886 0.00579351
+v -0.01062676 -0.03345233 0.00564617
+v -0.01062676 -0.03380587 -0.01079709
+v -0.00950790 -0.03429037 -0.01186401
+v -0.00950790 -0.03302021 0.00634729
+v -0.01050048 -0.03220275 0.00634729
+v -0.01062676 -0.03207180 0.00634729
+v -0.01062676 -0.03365435 -0.01113241
+v -0.00950790 -0.03225886 -0.01633999
+v -0.00950790 -0.02235014 0.00634983
+v -0.01062676 -0.02235014 0.00634983
+v -0.01062676 -0.03168832 -0.01545343
+v -0.00950790 -0.03222519 -0.01640096
+v -0.00950790 -0.01707497 0.00634983
+v -0.01062676 -0.01707497 0.00634983
+v -0.01062676 -0.03081287 -0.01703349
+v -0.00950790 -0.03142643 -0.01753138
+v -0.00950790 -0.01707497 -0.01960171
+v -0.01062676 -0.01707497 -0.01960171
+v -0.01062676 -0.03048551 -0.01748566
+v -0.01062676 -0.02991310 -0.01820202
+v -0.00950790 -0.03068754 -0.01839508
+v -0.00950790 -0.02366894 -0.01960171
+v -0.01062676 -0.02255030 -0.01960171
+v -0.01062676 -0.02892728 -0.01877358
+v -0.00970920 -0.03032276 -0.01859830
+v -0.00950790 -0.03043313 -0.01862116
+v -0.01054287 -0.02477822 -0.01953567
+v -0.00950790 -0.02581268 -0.01953313
+v -0.01062676 -0.02469217 -0.01953567
+v -0.01047080 -0.02900771 -0.01879136
+v -0.00950790 -0.02992806 -0.01877612
+v -0.01062676 -0.02885619 -0.01879391
+v -0.01054287 -0.02691822 -0.01927910
+v -0.01062676 -0.02477822 -0.01952550
+v -0.00950790 -0.02691822 -0.01939849
+v -0.00950790 -0.02903203 -0.01899967
+v -0.01062676 -0.02689390 -0.01926386
+v -0.00950790 -0.02795268 -0.01925878
+v -0.01062676 -0.02683217 -0.01927656
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+f 1 3 4
+f 1 4 5
+f 1 5 10
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+f 1 15 19
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+f 1 38 31
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+f 1 16 11
+f 1 11 6
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+f 3 34 40
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+f 3 48 52
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+f 3 41 36
+f 3 36 28
+f 3 28 20
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+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 8
+f 8 12 18
+f 8 18 13
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 14 19 15
+f 14 20 21
+f 14 21 19
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 19 21 27
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 27
+f 22 31 32
+f 22 32 23
+f 23 33 26
+f 23 26 24
+f 23 32 34
+f 23 34 35
+f 23 35 33
+f 24 26 25
+f 28 36 37
+f 28 37 29
+f 29 37 30
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 34
+f 36 41 37
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 39 44 40
+f 41 45 42
+f 42 45 46
+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 50 53 54
+f 50 54 55
+f 51 56 57
+f 51 57 52
+f 54 58 59
+f 54 59 55
+f 55 59 60
+f 56 61 57
+f 56 62 61
+f 57 61 63
+f 58 64 65
+f 58 65 60
+f 58 60 59
+f 58 66 64
+f 61 62 67
+f 61 67 68
+f 61 68 63
+f 62 69 67
+f 64 66 70
+f 64 70 65
+f 66 71 67
+f 66 67 70
+f 67 69 72
+f 67 72 70
+f 67 71 73
+f 67 73 68
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_266.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bdb4307474ef58c15881fdba6b5255d1aab0f6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_266.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01723698 0.00842674 -0.00209459
+v -0.01723698 0.00842674 -0.01959052
+v -0.01799958 0.00842674 -0.00209459
+v -0.01723698 0.00125427 -0.00209459
+v -0.01723698 0.00735572 -0.01959909
+v -0.01799958 0.00735572 -0.01958538
+v -0.01799958 0.00842674 -0.01955452
+v -0.01799958 0.00125427 -0.00209459
+v -0.01723698 -0.02256898 -0.00209802
+v -0.01723698 0.00521369 -0.01960252
+v -0.01799958 0.00521369 -0.01960080
+v -0.01799958 -0.02256898 -0.00209802
+v -0.01723698 -0.02256898 -0.01805140
+v -0.01723698 -0.00523250 -0.01960423
+v -0.01799958 0.00307166 -0.01960252
+v -0.01799958 -0.02256898 -0.01702132
+v -0.01723698 -0.02224131 -0.01836505
+v -0.01759880 -0.02256898 -0.01771546
+v -0.01723698 -0.00951049 -0.01960080
+v -0.01799958 -0.00660995 -0.01960252
+v -0.01799958 -0.02235356 -0.01728355
+v -0.01798077 -0.02256898 -0.01705560
+v -0.01723698 -0.02201679 -0.01857758
+v -0.01796741 -0.02144032 -0.01845075
+v -0.01774063 -0.02256898 -0.01747208
+v -0.01723698 -0.01164948 -0.01959223
+v -0.01799958 -0.00874591 -0.01959223
+v -0.01799958 -0.02140694 -0.01841990
+v -0.01723698 -0.02072429 -0.01884667
+v -0.01799958 -0.02128558 -0.01846960
+v -0.01799958 -0.01965934 -0.01878839
+v -0.01723698 -0.02057865 -0.01887580
+v -0.01723698 -0.01379455 -0.01955967
+v -0.01799958 -0.01088794 -0.01955795
+v -0.01799958 -0.01950157 -0.01881753
+v -0.01723698 -0.02050280 -0.01888952
+v -0.01799958 -0.01302997 -0.01949796
+v -0.01723698 -0.01593354 -0.01945512
+v -0.01799958 -0.01731403 -0.01916375
+v -0.01723698 -0.01807861 -0.01925459
+v -0.01799958 -0.01517200 -0.01938313
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 23
+f 1 23 29
+f 1 29 32
+f 1 32 36
+f 1 36 40
+f 1 40 38
+f 1 38 33
+f 1 33 26
+f 1 26 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 27
+f 3 27 34
+f 3 34 37
+f 3 37 41
+f 3 41 39
+f 3 39 35
+f 3 35 31
+f 3 31 30
+f 3 30 28
+f 3 28 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 6
+f 9 12 16
+f 9 16 22
+f 9 22 25
+f 9 25 18
+f 9 18 13
+f 10 14 15
+f 10 15 11
+f 13 18 17
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 17 18 24
+f 17 24 23
+f 18 25 24
+f 19 26 20
+f 20 26 27
+f 21 28 24
+f 21 24 22
+f 22 24 25
+f 23 24 29
+f 24 28 30
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 26 33 27
+f 27 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 33 38 37
+f 35 39 36
+f 36 39 40
+f 37 38 41
+f 38 40 41
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_267.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6f19b4cdcf5e2ae400cbe957972dc4024501c9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_267.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 -0.02470647 -0.00458271
+v -0.02078127 -0.02458077 -0.00458271
+v -0.02073080 -0.02450689 -0.00672465
+v -0.02069365 -0.02456771 -0.00661097
+v -0.02069365 -0.02470647 -0.00030082
+v -0.02130386 -0.02372392 -0.00458271
+v -0.02078127 -0.02458077 -0.00030082
+v -0.02069365 -0.02389511 -0.00850960
+v -0.02069365 -0.02445238 -0.00703178
+v -0.02069365 -0.02455690 -0.00673263
+v -0.02069365 -0.02455960 -0.00672465
+v -0.02130386 -0.02364734 -0.00562975
+v -0.02130386 -0.02355679 -0.00672465
+v -0.02069365 -0.02464565 0.00184312
+v -0.02075911 -0.02455194 0.00184312
+v -0.02130386 -0.02372392 -0.00030082
+v -0.02130386 -0.02325405 -0.00752639
+v -0.02130386 -0.02279049 -0.00870106
+v -0.02069365 -0.02377123 -0.00882272
+v -0.02069365 -0.02445599 0.00245539
+v -0.02130386 -0.02365500 0.00184312
+v -0.02130386 -0.02266210 -0.00890848
+v -0.02069365 -0.02335767 -0.00948884
+v -0.02069365 -0.02394962 0.00396113
+v -0.02130386 -0.02295537 0.00387936
+v -0.02130386 -0.02246252 -0.00918968
+v -0.02069365 -0.02330271 -0.00957659
+v -0.02069365 -0.02261840 0.00535918
+v -0.02130386 -0.02251613 0.00434006
+v -0.02130386 -0.02183182 -0.01006321
+v -0.02069365 -0.02237017 -0.01088688
+v -0.02069365 -0.02247199 -0.01074528
+v -0.02069365 -0.02257515 -0.01060169
+v -0.02069365 -0.02238143 0.00553269
+v -0.02130386 -0.02051096 0.00581589
+v -0.02130386 -0.02010461 -0.01245246
+v -0.02091561 -0.02010461 -0.01345163
+v -0.02069365 -0.02079567 -0.01306672
+v -0.02069365 -0.02012578 0.00635237
+v -0.02070995 -0.02010461 0.00635237
+v -0.02096196 -0.02010461 0.00619880
+v -0.02130386 -0.02010461 0.00598740
+v -0.02069365 -0.02010461 -0.01402202
+v -0.02069365 -0.02010461 0.00635237
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 19
+f 1 19 23
+f 1 23 27
+f 1 27 33
+f 1 33 32
+f 1 32 31
+f 1 31 38
+f 1 38 43
+f 1 43 44
+f 1 44 39
+f 1 39 34
+f 1 34 28
+f 1 28 24
+f 1 24 20
+f 1 20 14
+f 1 14 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 16
+f 2 16 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 6 12
+f 3 12 13
+f 3 13 8
+f 5 14 15
+f 5 15 7
+f 6 16 21
+f 6 21 25
+f 6 25 29
+f 6 29 35
+f 6 35 42
+f 6 42 36
+f 6 36 30
+f 6 30 26
+f 6 26 22
+f 6 22 18
+f 6 18 17
+f 6 17 13
+f 6 13 12
+f 7 15 16
+f 8 13 17
+f 8 17 18
+f 8 18 19
+f 14 20 15
+f 15 21 16
+f 15 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 35
+f 28 35 29
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 36 42 41
+f 36 41 40
+f 36 40 44
+f 36 44 43
+f 36 43 37
+f 37 43 38
+f 39 44 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_268.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23139f75531920d86fcaf8d57a306f77b9935bc0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_268.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01521301 0.00557774 -0.00293698
+v 0.01521301 0.00557774 -0.00529670
+v 0.01388007 0.00557774 -0.00293698
+v 0.01521301 -0.04414228 -0.00293698
+v 0.01388007 0.00557774 -0.00529670
+v 0.01521301 0.00557287 -0.00607183
+v 0.01388007 -0.04415202 -0.00293698
+v 0.01516343 -0.04416175 -0.00293698
+v 0.01521301 -0.04414228 -0.00458265
+v 0.01388007 0.00557287 -0.00607183
+v 0.01521301 -0.04407411 -0.00607183
+v 0.01388007 -0.04415202 -0.00458265
+v 0.01516343 -0.04416175 -0.00458265
+v 0.01518705 -0.04412280 -0.00529670
+v 0.01388007 -0.04408872 -0.00607183
+v 0.01516343 -0.04409359 -0.00607183
+v 0.01388007 -0.04412280 -0.00529670
+v 0.01445025 -0.04412767 -0.00529670
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 17
+f 3 17 12
+f 3 12 7
+f 4 8 13
+f 4 13 9
+f 6 11 16
+f 6 16 15
+f 6 15 10
+f 7 12 13
+f 7 13 8
+f 9 13 14
+f 9 14 11
+f 11 14 16
+f 12 17 18
+f 12 18 13
+f 13 16 14
+f 13 18 16
+f 15 16 18
+f 15 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_269.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6786d3f59bca774c3c1dc32844deecdf628cebb1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_269.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03145300 -0.00182807
+v -0.00516783 0.03145300 -0.00351007
+v -0.00597001 0.03145300 -0.00182807
+v -0.00516783 -0.01094999 -0.00182807
+v -0.00597001 0.03145300 -0.00351007
+v -0.00516783 -0.01094999 -0.00351007
+v -0.00597001 -0.01094999 -0.00182807
+v -0.00597001 -0.01094999 -0.00351007
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_27.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8414f7210fbdd51a4b6b2da766135ad35b7582
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00023134 0.00539770 0.00803380
+v 0.01190331 0.00539770 0.00803380
+v 0.00023134 0.00539770 0.00885479
+v 0.00023134 0.03365007 0.00803380
+v 0.01190331 0.00539770 0.00885479
+v 0.01190331 0.02727023 0.00803380
+v 0.00023134 0.03243446 0.00885479
+v 0.00079003 0.03368606 0.00803380
+v 0.01190331 0.02458428 0.00885479
+v 0.01181420 0.02761913 0.00803380
+v 0.00103224 0.03239293 0.00885479
+v 0.00106537 0.03239016 0.00885479
+v 0.00276202 0.03351161 0.00803380
+v 0.01072080 0.02657244 0.00885479
+v 0.00989134 0.02773543 0.00885479
+v 0.01061569 0.02673581 0.00885479
+v 0.00991990 0.02996726 0.00803380
+v 0.00231186 0.03227663 0.00885479
+v 0.00578398 0.03249815 0.00803380
+v 0.00286713 0.03217418 0.00885479
+v 0.00775711 0.02998111 0.00885479
+v 0.00761201 0.03187789 0.00803380
+v 0.00448608 0.03160376 0.00885479
+v 0.00659174 0.03079520 0.00885479
+v 0.00635410 0.03090319 0.00885479
+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 22
+f 1 22 17
+f 1 17 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 16
+f 3 16 15
+f 3 15 21
+f 3 21 24
+f 3 24 25
+f 3 25 23
+f 3 23 20
+f 3 20 18
+f 3 18 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 9
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 10 14
+f 10 15 16
+f 10 16 14
+f 10 17 15
+f 12 18 13
+f 13 18 20
+f 13 20 19
+f 15 17 21
+f 17 22 21
+f 19 20 22
+f 20 23 22
+f 21 22 24
+f 22 23 25
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_270.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a043543ede1a26d9676c67a518c4204a6f9e716
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_270.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 -0.00652246 -0.00556615
+v -0.00083021 -0.00651573 -0.00948916
+v -0.00183008 -0.00652246 -0.00556615
+v -0.00083021 -0.04087569 -0.00556615
+v -0.00183008 -0.00651573 -0.00948916
+v -0.00083021 -0.00651573 -0.01187932
+v -0.00183008 -0.04045527 -0.00556615
+v -0.00083540 -0.04087569 -0.00556615
+v -0.00083021 -0.04087569 -0.00562239
+v -0.00183008 -0.00651573 -0.01187932
+v -0.00083021 -0.03918729 -0.01187932
+v -0.00183008 -0.04040818 -0.00655076
+v -0.00180150 -0.04046872 -0.00556615
+v -0.00105356 -0.04079160 -0.00556615
+v -0.00091546 -0.04084205 -0.00571016
+v -0.00083021 -0.04086896 -0.00578433
+v -0.00183008 -0.03878705 -0.01187932
+v -0.00102067 -0.03911329 -0.01187932
+v -0.00083021 -0.04026020 -0.00893968
+v -0.00183008 -0.03989696 -0.00887602
+v -0.00176705 -0.04043509 -0.00654520
+v -0.00183008 -0.03995413 -0.00866463
+v -0.00083021 -0.04071761 -0.00725600
+v -0.00083021 -0.04075124 -0.00709036
+v -0.00150680 -0.03892158 -0.01187932
+v -0.00183008 -0.03903257 -0.01122105
+v -0.00183008 -0.03967161 -0.00948916
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 23
+f 1 23 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 26
+f 3 26 27
+f 3 27 20
+f 3 20 22
+f 3 22 12
+f 3 12 7
+f 4 8 9
+f 6 11 18
+f 6 18 25
+f 6 25 17
+f 6 17 10
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 11 19 20
+f 11 20 18
+f 12 21 15
+f 12 15 14
+f 12 14 13
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 15 21 16
+f 16 21 24
+f 17 25 26
+f 18 20 25
+f 19 23 20
+f 20 23 22
+f 20 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_271.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267e94fd09d31469704f0aa9bd0f1e870faeb85d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_271.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01680300 0.00359997 -0.01810995
+v -0.01680300 0.00359997 -0.01960409
+v -0.01723698 0.00359997 -0.01810995
+v -0.01680300 -0.02320427 -0.01810995
+v -0.01696954 0.00359997 -0.01960409
+v -0.01680300 -0.00763755 -0.01960424
+v -0.01723698 0.00359997 -0.01960365
+v -0.01723698 -0.02250898 -0.01810995
+v -0.01723698 -0.02201834 -0.01857835
+v -0.01680300 -0.02236205 -0.01865383
+v -0.01720006 0.00359997 -0.01960380
+v -0.01723698 0.00307260 -0.01960409
+v -0.01680300 -0.01208744 -0.01960424
+v -0.01696954 -0.01191952 -0.01960424
+v -0.01723698 -0.02072745 -0.01884663
+v -0.01680300 -0.02162477 -0.01880684
+v -0.01713982 -0.02063299 -0.01889915
+v -0.01723698 -0.00522895 -0.01960409
+v -0.01680300 -0.01422842 -0.01958390
+v -0.01696954 -0.01406312 -0.01958215
+v -0.01723698 -0.01165189 -0.01959253
+v -0.01723698 -0.00951354 -0.01960116
+v -0.01723698 -0.00736993 -0.01960380
+v -0.01723698 -0.02058052 -0.01887574
+v -0.01680300 -0.02096883 -0.01893045
+v -0.01680300 -0.02092423 -0.01893865
+v -0.01723698 -0.02050443 -0.01889008
+v -0.01723698 -0.01808008 -0.01925535
+v -0.01696954 -0.01834771 -0.01928695
+v -0.01680300 -0.01637202 -0.01948765
+v -0.01723698 -0.01379550 -0.01956035
+v -0.01696954 -0.01620410 -0.01948048
+v -0.01680300 -0.01851300 -0.01929997
+v -0.01723698 -0.01593648 -0.01945532
+f 1 2 5
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+f 20 32 31
+f 26 29 33
+f 28 34 29
+f 29 34 32
+f 29 32 33
+f 30 33 32
+f 31 32 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_272.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d2494fca3fa56d2776b06ece157c324d21acc6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_272.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02352491 -0.01970660 -0.00458279
+v -0.02395931 -0.01888894 -0.00458279
+v -0.02352491 -0.01960869 -0.00568865
+v -0.02352491 -0.01970660 -0.00029932
+v -0.02395931 -0.01884833 -0.00503674
+v -0.02395931 -0.01888894 -0.00029932
+v -0.02395931 -0.01869712 -0.00672516
+v -0.02352491 -0.01951587 -0.00672516
+v -0.02352491 -0.01962755 0.00184305
+v -0.02395931 -0.01880953 0.00184305
+v -0.02395931 -0.01865833 -0.00681595
+v -0.02384466 -0.01880772 -0.00697483
+v -0.02352491 -0.01941035 -0.00697483
+v -0.02352491 -0.01883854 0.00388454
+v -0.02395931 -0.01809666 0.00377231
+v -0.02395931 -0.01858907 -0.00697483
+v -0.02392308 -0.01865833 -0.00697483
+v -0.02352491 -0.01600266 -0.00697483
+v -0.02352491 -0.01826745 0.00442170
+v -0.02395931 -0.01781928 0.00408251
+v -0.02383969 -0.01823119 0.00390219
+v -0.02395931 -0.01600266 -0.00697483
+v -0.02352491 -0.01600266 0.00576588
+v -0.02395931 -0.01649253 0.00512532
+v -0.02395931 -0.01666368 0.00499166
+v -0.02352491 -0.01617417 0.00589702
+v -0.02395931 -0.01600266 0.00529429
+v -0.02352547 -0.01600266 0.00590711
+v -0.02352491 -0.01611434 0.00590711
+v -0.02359508 -0.01600266 0.00590711
+f 1 2 3
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+f 11 17 12
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+f 18 28 23
+f 19 24 25
+f 19 25 20
+f 19 26 24
+f 23 28 29
+f 24 26 30
+f 24 30 27
+f 26 29 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_273.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66eecdeb50314700b0aa422b2aeb0731ab27da06
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_273.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v -0.01344340 0.00841627 0.00635171
+v -0.01344340 0.00842032 0.00231197
+v -0.01399445 0.00841627 0.00635171
+v -0.01344340 -0.02894028 0.00635171
+v -0.01399445 0.00842032 0.00231197
+v -0.01344340 0.00842032 -0.00664914
+v -0.01399456 0.00841627 0.00297256
+v -0.01399456 -0.01538259 0.00635171
+v -0.01399456 -0.02894028 0.00635171
+v -0.01344340 -0.02948697 0.00634917
+v -0.01399445 0.00842032 -0.00664914
+v -0.01344340 0.00841627 -0.01959917
+v -0.01399456 0.00841627 -0.01959917
+v -0.01399461 -0.02894028 0.00634917
+v -0.01399461 -0.02900103 0.00634917
+v -0.01392705 -0.02908202 0.00634917
+v -0.01344340 -0.03098123 0.00570891
+v -0.01344340 -0.01405841 -0.01960425
+v -0.01399456 -0.01489260 -0.01960425
+v -0.01399461 -0.02894028 -0.01479468
+v -0.01399461 -0.02909012 0.00632122
+v -0.01399461 -0.03075041 0.00555647
+v -0.01344340 -0.03198955 0.00467230
+v -0.01344340 -0.01758551 -0.01960425
+v -0.01399456 -0.01703478 -0.01960425
+v -0.01399456 -0.01917291 -0.01958393
+v -0.01399456 -0.02131914 -0.01947722
+v -0.01399456 -0.02346132 -0.01920282
+v -0.01399456 -0.02543747 -0.01877344
+v -0.01399456 -0.02605705 -0.01861083
+v -0.01399456 -0.02610564 -0.01858543
+v -0.01399456 -0.02712611 -0.01766569
+v -0.01399445 -0.02796436 -0.01673578
+v -0.01399445 -0.02807370 -0.01655539
+v -0.01399445 -0.02824377 -0.01624797
+v -0.01399461 -0.03018753 -0.01224125
+v -0.01399461 -0.03171419 0.00432422
+v -0.01350173 -0.03204625 0.00457067
+v -0.01344340 -0.03212318 0.00451731
+v -0.01344340 -0.01972364 -0.01958901
+v -0.01344340 -0.02186988 -0.01949246
+v -0.01344340 -0.02401205 -0.01922061
+v -0.01344340 -0.02602870 -0.01878614
+v -0.01344340 -0.02638911 -0.01869468
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+v -0.01344340 -0.02735288 -0.01815859
+v -0.01344340 -0.02749057 -0.01803155
+v -0.01390169 -0.02813444 -0.01666210
+v -0.01388825 -0.03024827 -0.01234542
+v -0.01399461 -0.03034546 -0.01191604
+v -0.01399461 -0.03221632 0.00324441
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+v -0.01344340 -0.03212723 0.00450969
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+v -0.01344340 -0.02733264 -0.01817129
+v -0.01344340 -0.02840170 -0.01688061
+v -0.01346331 -0.02894028 -0.01588973
+v -0.01352256 -0.02991621 -0.01377331
+v -0.01344340 -0.03054388 -0.01255376
+v -0.01344340 -0.03199765 -0.00936516
+v -0.01381999 -0.03232566 -0.00791695
+v -0.01399461 -0.03209889 -0.00806432
+v -0.01399461 -0.03241475 0.00183940
+v -0.01395948 -0.03244714 0.00183940
+v -0.01344340 -0.03290069 0.00183940
+v -0.01344340 -0.03265772 0.00334350
+v -0.01344340 -0.02897673 -0.01585415
+v -0.01344340 -0.02984332 -0.01407565
+v -0.01344340 -0.02992026 -0.01391305
+v -0.01344340 -0.02994861 -0.01385207
+v -0.01344340 -0.03252813 -0.00819389
+v -0.01391950 -0.03241475 -0.00672282
+v -0.01399461 -0.03219608 -0.00773911
+v -0.01344340 -0.03257673 -0.00802621
+v -0.01344340 -0.03270226 -0.00758412
+v -0.01344340 -0.03282780 -0.00673552
+v -0.01399461 -0.03246334 -0.00029989
+v -0.01398700 -0.03247144 -0.00029989
+v -0.01344340 -0.03294928 -0.00029989
+v -0.01399461 -0.03235400 -0.00658562
+v -0.01399461 -0.03234591 -0.00672282
+v -0.01344340 -0.03294928 -0.00458608
+v -0.01398700 -0.03247144 -0.00458608
+v -0.01399461 -0.03246334 -0.00458608
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+f 58 69 70
+f 58 70 59
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+f 61 75 76
+f 61 76 72
+f 63 77 78
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+f 64 79 65
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+f 72 83 80
+f 77 84 83
+f 77 83 78
+f 78 83 82
+f 78 82 79
+f 80 83 84
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_274.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c62f08ef25621602c5265770943ecaa69e1296
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_274.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.02718860 -0.01821633
+v -0.01266345 0.02660500 -0.01868957
+v -0.01301169 0.02695084 -0.01821633
+v -0.01266345 -0.02801515 -0.01821633
+v -0.01266345 0.02650774 -0.01876715
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+v -0.01344330 0.02610246 -0.01860628
+v -0.01344330 0.02637805 -0.01821633
+v -0.01302505 -0.02771255 -0.01821633
+v -0.01266345 -0.02789087 -0.01835043
+v -0.01266345 0.02501633 -0.01911389
+v -0.01344330 0.02444354 -0.01905044
+v -0.01344330 -0.02726405 -0.01821633
+v -0.01266345 -0.02686417 -0.01880710
+v -0.01344330 -0.02642107 -0.01868821
+v -0.01266345 0.02449217 -0.01923292
+v -0.01268513 0.02449217 -0.01922993
+v -0.01344330 0.02235233 -0.01938468
+v -0.01266345 -0.02479457 -0.01925330
+v -0.01344330 -0.02639406 -0.01869514
+v -0.01344330 -0.02603201 -0.01878739
+v -0.01344330 -0.02401645 -0.01922395
+v -0.01268513 -0.02477296 -0.01925303
+v -0.01266345 0.02235233 -0.01951553
+v -0.01268513 0.02235233 -0.01951458
+v -0.01344330 0.02020707 -0.01953904
+v -0.01266345 -0.02264932 -0.01951417
+v -0.01344330 -0.02187120 -0.01949284
+v -0.01268513 -0.02262771 -0.01951390
+v -0.01266345 0.02020707 -0.01960140
+v -0.01268513 0.02020707 -0.01960140
+v -0.01344330 0.01806723 -0.01958985
+v -0.01268513 -0.02048786 -0.01960426
+v -0.01266345 -0.02050948 -0.01960426
+v -0.01344330 -0.01973135 -0.01959284
+v -0.01266345 0.01806723 -0.01960412
+v -0.01268513 0.01806723 -0.01960412
+v -0.01344330 0.01592197 -0.01960412
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+v -0.01268513 -0.01620276 -0.01960426
+v -0.01266345 -0.01620276 -0.01960426
+f 1 2 3
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+f 31 38 32
+f 33 35 39
+f 33 39 38
+f 33 38 40
+f 33 40 41
+f 33 41 34
+f 36 41 40
+f 36 40 37
+f 37 40 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_275.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7bc77da0a3107efc897843aa9194056ca38e2e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_275.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00732681 -0.02586686 -0.01324552
+v 0.00732681 -0.02586686 -0.01960362
+v 0.00664957 -0.02586686 -0.01324552
+v 0.00732681 -0.04125050 -0.01324552
+v 0.00664957 -0.02586686 -0.01960362
+v 0.00732681 -0.03334408 -0.01960362
+v 0.00664957 -0.03120257 -0.01960425
+v 0.00664957 -0.04112701 -0.01324552
+v 0.00664957 -0.04083485 -0.01408580
+v 0.00732681 -0.04087551 -0.01432232
+v 0.00732681 -0.03407448 -0.01958433
+v 0.00664957 -0.03334408 -0.01960425
+v 0.00664957 -0.04047040 -0.01512712
+v 0.00666535 -0.04046438 -0.01515513
+v 0.00732681 -0.04051708 -0.01534808
+v 0.00664957 -0.03350522 -0.01959678
+v 0.00664957 -0.03339980 -0.01960238
+v 0.00732681 -0.03548559 -0.01950528
+v 0.00664957 -0.04045986 -0.01515638
+v 0.00664957 -0.04045383 -0.01517256
+v 0.00732681 -0.03986951 -0.01686307
+v 0.00664957 -0.03950506 -0.01739338
+v 0.00664957 -0.03548559 -0.01948536
+v 0.00732681 -0.03621750 -0.01937084
+v 0.00664957 -0.03948398 -0.01743633
+v 0.00732681 -0.03958337 -0.01743633
+v 0.00664957 -0.03553981 -0.01947540
+v 0.00732681 -0.03762710 -0.01906709
+v 0.00664957 -0.03762710 -0.01902601
+v 0.00664957 -0.03883640 -0.01856479
+v 0.00732681 -0.03914513 -0.01819880
+v 0.00732681 -0.03885147 -0.01861770
+v 0.00664957 -0.03881382 -0.01859591
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+f 21 25 26
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+f 28 32 33
+f 28 33 29
+f 30 33 32
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_276.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2242416d29215a0a8ed65d989428889d8ef4d589
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_276.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00023134 0.00539770 0.01051904
+v 0.00865833 0.00539770 0.01051904
+v 0.00023134 0.00539770 0.01308228
+v 0.00023134 0.03173011 0.01051904
+v 0.00865833 0.00539770 0.01308228
+v 0.00865833 0.02782767 0.01051904
+v 0.00023134 0.03119397 0.01308228
+v 0.00023134 0.03138987 0.01249184
+v 0.00220383 0.03155483 0.01051904
+v 0.00865833 0.02446653 0.01308228
+v 0.00826235 0.02836123 0.01051904
+v 0.00796784 0.02805708 0.01203339
+v 0.00865833 0.02665230 0.01245370
+v 0.00177320 0.03100839 0.01308228
+v 0.00023134 0.03137698 0.01255432
+v 0.00231107 0.03154194 0.01051904
+v 0.00231107 0.03112438 0.01255432
+v 0.00865833 0.02600533 0.01308202
+v 0.00865503 0.02601049 0.01308228
+v 0.00714700 0.02942834 0.01051904
+v 0.00712803 0.02823235 0.01308228
+v 0.00767580 0.02769622 0.01308228
+v 0.00579819 0.03002634 0.01194356
+v 0.00668419 0.02889736 0.01270262
+v 0.00865833 0.02660591 0.01251292
+v 0.00229210 0.03092591 0.01308228
+v 0.00434625 0.03098777 0.01051904
+v 0.00434873 0.03029182 0.01308228
+v 0.00455249 0.03037946 0.01261630
+v 0.00865833 0.02605431 0.01303661
+v 0.00845539 0.02642032 0.01308228
+v 0.00607785 0.03020161 0.01051904
+v 0.00656540 0.02877106 0.01308228
+v 0.00800496 0.02718070 0.01308228
+v 0.00503427 0.02998510 0.01308228
+v 0.00542778 0.02979693 0.01308228
+v 0.00591698 0.02937679 0.01308228
+v 0.00445680 0.03095168 0.01051904
+v 0.00865833 0.02654662 0.01257816
+v 0.00865833 0.02645125 0.01266699
+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 16
+f 1 16 27
+f 1 27 38
+f 1 38 32
+f 1 32 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 39
+f 2 39 40
+f 2 40 30
+f 2 30 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 31
+f 3 31 34
+f 3 34 22
+f 3 22 21
+f 3 21 33
+f 3 33 37
+f 3 37 36
+f 3 36 35
+f 3 35 28
+f 3 28 26
+f 3 26 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 10 18 19
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 23
+f 12 23 24
+f 12 24 21
+f 13 22 25
+f 14 26 17
+f 14 17 15
+f 16 17 27
+f 17 26 28
+f 17 28 29
+f 17 29 27
+f 18 30 31
+f 18 31 19
+f 20 32 23
+f 21 24 33
+f 22 34 25
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 23 32 38
+f 23 38 29
+f 23 29 35
+f 24 37 33
+f 25 34 39
+f 27 29 38
+f 28 35 29
+f 30 40 31
+f 31 40 39
+f 31 39 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_277.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1b3a9d9356b2ba7c6a62980030434ea479d7d4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_277.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 -0.02951080 -0.01719110
+v -0.00415443 -0.02951080 -0.01719110
+v -0.00516773 -0.02951080 -0.00043914
+v -0.00516773 -0.01279172 -0.01719110
+v -0.00415443 -0.01279172 -0.01719110
+v -0.00415443 -0.02951080 -0.00043914
+v -0.00516773 -0.01727589 -0.00043750
+v -0.00516773 -0.01279172 -0.00043750
+v -0.00415443 -0.01279172 -0.00043750
+v -0.00415443 -0.01727589 -0.00043750
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_278.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4044eb34bcc82012892cc712492d1b643e444346
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_278.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00314319 -0.04203557 -0.00745342
+v 0.00314319 -0.04191736 -0.00796104
+v 0.00384152 -0.04214683 -0.00796104
+v 0.00384152 -0.04225113 -0.00745342
+v 0.00314319 0.02878732 -0.00745342
+v 0.00314319 0.02878732 -0.00796104
+v 0.00384152 0.02878732 -0.00796104
+v 0.00384152 0.02878732 -0.00745342
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_279.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11bae58120c88f0d376f8797cf8261af17f600ed
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_279.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01521301 0.00689344 -0.00293705
+v 0.01388007 0.00689344 -0.00293705
+v 0.01521301 0.00557774 -0.00293705
+v 0.01521301 0.00689344 -0.00607159
+v 0.01388007 0.00557774 -0.00293705
+v 0.01388007 0.00689344 -0.00607159
+v 0.01521301 0.00557774 -0.00607159
+v 0.01388007 0.00557774 -0.00607159
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_28.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33b70dba3617f8adabac2e6be43e51939242393
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01781098 0.02426004 0.00285823
+v 0.01780991 0.01455358 0.00285823
+v 0.01781098 0.02426004 -0.00293675
+v 0.00687226 0.02426004 0.00285823
+v 0.01780991 0.01455358 -0.00293675
+v 0.00687226 0.01455358 0.00285823
+v 0.00687226 0.02426004 -0.00293675
+v 0.00687226 0.01455358 -0.00293675
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_280.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7157108f22547590f4f8f007588447155bc7b08
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_280.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00080188 -0.03599898 -0.00809771
+v 0.00080188 -0.03599898 -0.01106200
+v 0.00023057 -0.03599898 -0.00809771
+v 0.00080188 -0.04114447 -0.00809771
+v 0.00023057 -0.03599898 -0.01106200
+v 0.00080188 -0.04011084 -0.01106200
+v 0.00023057 -0.04093090 -0.00809771
+v 0.00036659 -0.04099134 -0.00809771
+v 0.00080188 -0.04111778 -0.00824772
+v 0.00023057 -0.03989626 -0.01106200
+v 0.00080188 -0.04011387 -0.01105417
+v 0.00023057 -0.04071782 -0.00881615
+v 0.00068136 -0.04105028 -0.00836930
+v 0.00080188 -0.04109410 -0.00834812
+v 0.00023057 -0.03991389 -0.01101412
+v 0.00080188 -0.04070019 -0.00945131
+v 0.00023057 -0.04065184 -0.00899721
+v 0.00080188 -0.04107698 -0.00841979
+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 18
+f 1 18 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 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 8
+f 8 13 9
+f 8 12 13
+f 9 13 14
+f 10 11 15
+f 11 16 17
+f 11 17 15
+f 12 17 13
+f 13 18 14
+f 13 17 16
+f 13 16 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_281.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac493385fc9700a3f07d2cf84d6666be32fad14
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_281.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02000983 0.00325497 -0.01318404
+v -0.02000983 0.00325497 -0.01717412
+v -0.02069358 0.00325497 -0.01318404
+v -0.02000983 -0.02193024 -0.01318404
+v -0.02069358 0.00325497 -0.01717412
+v -0.02000983 -0.01881630 -0.01717412
+v -0.02069358 -0.02070488 -0.01318404
+v -0.02069358 -0.02066297 -0.01324770
+v -0.02006579 -0.02134345 -0.01392261
+v -0.02000983 -0.02150617 -0.01382653
+v -0.02069358 -0.01757861 -0.01717412
+v -0.02000983 -0.01954116 -0.01648554
+v -0.02004839 -0.01875466 -0.01717412
+v -0.02069358 -0.02065311 -0.01326254
+v -0.02000983 -0.02112402 -0.01436669
+v -0.02000983 -0.02139769 -0.01398198
+v -0.02069358 -0.01965951 -0.01463618
+v -0.02069358 -0.01926009 -0.01518767
+v -0.02000983 -0.02002440 -0.01588562
+v -0.02000983 -0.02031040 -0.01549075
+v -0.02067832 -0.01761559 -0.01717412
+v -0.02069358 -0.01760080 -0.01715459
+v -0.02017142 -0.01939570 -0.01633595
+v -0.02039859 -0.01818759 -0.01717412
+v -0.02069358 -0.01883356 -0.01577470
+v -0.02058140 -0.01781530 -0.01717412
+v -0.02069358 -0.01814815 -0.01654374
+v -0.02069358 -0.01782023 -0.01690970
+v -0.02053561 -0.01790899 -0.01717412
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 20
+f 1 20 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 24
+f 2 24 29
+f 2 29 26
+f 2 26 21
+f 2 21 11
+f 2 11 5
+f 3 5 11
+f 3 11 22
+f 3 22 28
+f 3 28 27
+f 3 27 25
+f 3 25 18
+f 3 18 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 6 12 13
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 15
+f 11 21 22
+f 12 19 23
+f 12 23 24
+f 12 24 13
+f 18 25 19
+f 19 25 23
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 25 29
+f 23 29 24
+f 25 27 29
+f 26 29 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_282.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d555a278d06af5ad7aedc1bf5cbe51ba4a4b3c1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_282.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 -0.03710643 -0.00458440
+v -0.00815161 -0.03704762 -0.00458440
+v -0.00805384 -0.03700297 -0.00671169
+v -0.00805384 -0.03710643 -0.00232520
+v -0.00822228 -0.03700514 -0.00229984
+v -0.00850034 -0.03683742 -0.00458440
+v -0.00850034 -0.03677208 -0.00592030
+v -0.00850034 -0.03673178 -0.00672691
+v -0.00806503 -0.03699534 -0.00672691
+v -0.00805384 -0.03700188 -0.00672691
+v -0.00805384 -0.03708138 -0.00229984
+v -0.00805502 -0.03710534 -0.00229984
+v -0.00815161 -0.03704762 -0.00229984
+v -0.00850034 -0.03683742 -0.00229984
+v -0.00850034 -0.03656406 -0.00752168
+v -0.00805384 -0.03699970 -0.00674044
+v -0.00805384 -0.02598017 -0.00229984
+v -0.00850034 -0.02598017 -0.00229984
+v -0.00850034 -0.03611644 -0.00903852
+v -0.00805384 -0.03653248 -0.00870032
+v -0.00805384 -0.03671544 -0.00807972
+v -0.00805384 -0.03678188 -0.00776688
+v -0.00805384 -0.02598017 -0.01957521
+v -0.00850034 -0.02598017 -0.01955999
+v -0.00850034 -0.03609139 -0.00910278
+v -0.00844597 -0.03615238 -0.00904359
+v -0.00805384 -0.03477031 -0.01305806
+v -0.00805384 -0.02691789 -0.01954309
+v -0.00845947 -0.02598017 -0.01956169
+v -0.00850034 -0.02681769 -0.01953125
+v -0.00850034 -0.03463090 -0.01268772
+v -0.00805384 -0.03436952 -0.01402531
+v -0.00805384 -0.02726422 -0.01952787
+v -0.00840064 -0.02691789 -0.01953125
+v -0.00850034 -0.02691789 -0.01951941
+v -0.00850034 -0.03423556 -0.01361947
+v -0.00805384 -0.03377160 -0.01538996
+v -0.00805384 -0.02752016 -0.01949405
+v -0.00850034 -0.02895995 -0.01924209
+v -0.00850034 -0.03377705 -0.01465944
+v -0.00850034 -0.03341874 -0.01544915
+v -0.00805384 -0.03375091 -0.01543224
+v -0.00829741 -0.03365616 -0.01525637
+v -0.00805384 -0.02906015 -0.01928436
+v -0.00840064 -0.02906015 -0.01924039
+v -0.00850034 -0.02905688 -0.01921841
+v -0.00850034 -0.03259755 -0.01706914
+v -0.00805384 -0.03296131 -0.01698966
+v -0.00805384 -0.02940649 -0.01922687
+v -0.00805384 -0.02965044 -0.01916768
+v -0.00828194 -0.03110548 -0.01875676
+v -0.00850034 -0.03089638 -0.01876015
+v -0.00850034 -0.03235468 -0.01742425
+v -0.00828194 -0.03266943 -0.01722640
+v -0.00805384 -0.03280448 -0.01726360
+v -0.00805384 -0.03111637 -0.01880242
+v -0.00805384 -0.03147360 -0.01870603
+v -0.00850034 -0.03098568 -0.01873309
+v -0.00850034 -0.03193756 -0.01802794
+v -0.00805384 -0.03213468 -0.01827145
+v -0.00805384 -0.03236775 -0.01793324
+v -0.00805384 -0.03258666 -0.01761533
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 32
+f 1 32 37
+f 1 37 42
+f 1 42 48
+f 1 48 55
+f 1 55 62
+f 1 62 61
+f 1 61 60
+f 1 60 57
+f 1 57 56
+f 1 56 50
+f 1 50 49
+f 1 49 44
+f 1 44 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 12
+f 5 12 11
+f 5 11 17
+f 5 17 18
+f 5 18 14
+f 5 14 6
+f 6 14 18
+f 6 18 24
+f 6 24 30
+f 6 30 35
+f 6 35 39
+f 6 39 46
+f 6 46 52
+f 6 52 58
+f 6 58 59
+f 6 59 53
+f 6 53 47
+f 6 47 41
+f 6 41 40
+f 6 40 36
+f 6 36 31
+f 6 31 25
+f 6 25 19
+f 6 19 15
+f 6 15 8
+f 6 8 7
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 29
+f 17 29 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 23 28 29
+f 24 29 30
+f 25 31 26
+f 26 31 27
+f 27 31 32
+f 28 33 34
+f 28 34 29
+f 29 34 30
+f 30 34 35
+f 31 36 32
+f 32 36 37
+f 33 38 35
+f 33 35 34
+f 35 38 39
+f 36 40 37
+f 37 41 42
+f 37 40 43
+f 37 43 41
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 40 41 43
+f 41 47 42
+f 42 47 48
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 53 54
+f 47 54 48
+f 48 54 55
+f 50 56 51
+f 51 57 58
+f 51 58 52
+f 51 56 57
+f 53 59 60
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 57 60 58
+f 58 60 59
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_283.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32628da60b8cee54fdcfb7cf7458ae9e29bd290
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_283.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 -0.03267697 -0.01892170
+v -0.00516773 -0.03236496 -0.01901283
+v -0.00451303 -0.03307348 -0.01892170
+v -0.00516773 0.03214237 -0.01892170
+v -0.00516773 -0.03206595 -0.01908673
+v -0.00351176 -0.03341148 -0.01899239
+v -0.00366689 -0.03343098 -0.01896165
+v -0.00351176 -0.03352198 -0.01896165
+v -0.00415447 -0.03326198 -0.01892170
+v -0.00415447 0.03288339 -0.01892170
+v -0.00516773 0.03092035 -0.01925716
+v -0.00516773 -0.03119494 -0.01929986
+v -0.00351176 -0.03179945 -0.01938464
+v -0.00351176 0.03233738 -0.01896165
+v -0.00351176 0.03233738 -0.01910136
+v -0.00413664 0.03233738 -0.01905733
+v -0.00411622 0.03091385 -0.01940869
+v -0.00415447 0.03092035 -0.01940315
+v -0.00516773 0.02877530 -0.01954419
+v -0.00516773 -0.03118194 -0.01930260
+v -0.00411622 -0.03119494 -0.01943034
+v -0.00351176 -0.03119494 -0.01946742
+v -0.00351176 0.03091385 -0.01945132
+v -0.00415447 0.02877530 -0.01959330
+v -0.00516773 0.02663026 -0.01960412
+v -0.00516773 -0.03014841 -0.01947203
+v -0.00351176 -0.02965440 -0.01959216
+v -0.00351176 0.02877530 -0.01959771
+v -0.00411622 0.02877530 -0.01959510
+v -0.00415447 0.02663676 -0.01960419
+v -0.00516773 -0.02475330 -0.01960419
+v -0.00516773 -0.02921889 -0.01954726
+v -0.00516773 -0.02904989 -0.01956056
+v -0.00411622 -0.02904989 -0.01960419
+v -0.00351176 -0.02904989 -0.01960419
+v -0.00351176 0.02663676 -0.01960419
+v -0.00516773 -0.02800337 -0.01960419
+v -0.00516773 -0.02903689 -0.01956123
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 31
+f 1 31 37
+f 1 37 38
+f 1 38 33
+f 1 33 32
+f 1 32 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 8 7
+f 6 12 13
+f 6 13 22
+f 6 22 27
+f 6 27 35
+f 6 35 36
+f 6 36 28
+f 6 28 23
+f 6 23 15
+f 6 15 14
+f 6 14 8
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 23 16
+f 16 23 17
+f 17 23 19
+f 17 19 18
+f 19 24 25
+f 19 23 24
+f 20 26 21
+f 21 26 22
+f 22 26 27
+f 23 28 29
+f 23 29 24
+f 24 29 25
+f 25 29 28
+f 25 28 30
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 28 36 30
+f 30 36 35
+f 30 35 34
+f 30 34 37
+f 30 37 31
+f 33 38 34
+f 34 38 37
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_284.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f91f7f0f4c9a7098e6188a124b7d020a1a04a3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_284.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00428619 -0.04055372 -0.01324574
+v 0.00428619 -0.03975247 -0.01545711
+v 0.00432714 -0.04056816 -0.01324574
+v 0.00428619 -0.00425544 -0.01324574
+v 0.00428619 -0.03973803 -0.01548473
+v 0.00443702 -0.03978495 -0.01548473
+v 0.00445275 -0.03986797 -0.01529425
+v 0.00599812 -0.04075223 -0.01397585
+v 0.00664934 -0.04112760 -0.01324574
+v 0.00664934 -0.00425544 -0.01324574
+v 0.00428619 -0.00425544 -0.01548473
+v 0.00446432 -0.03979217 -0.01548473
+v 0.00636433 -0.04025776 -0.01548473
+v 0.00664934 -0.04045988 -0.01515573
+v 0.00664934 -0.04047071 -0.01512701
+v 0.00664934 -0.04081359 -0.01414572
+v 0.00664934 -0.00425544 -0.01548473
+v 0.00664934 -0.04031912 -0.01548473
+f 1 2 3
+f 1 3 9
+f 1 9 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 8 9
+f 3 7 8
+f 4 10 17
+f 4 17 11
+f 5 11 17
+f 5 17 18
+f 5 18 13
+f 5 13 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 15
+f 9 15 14
+f 9 14 18
+f 9 18 17
+f 9 17 10
+f 13 18 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_285.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b2754c45355c7ef06292de604103e662c84f4a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_285.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.01665238 -0.01960170
+v -0.00950790 0.02235571 -0.01960170
+v -0.00850034 0.01665238 -0.01960170
+v -0.00950790 0.01665238 0.00634983
+v -0.00950790 0.02449808 -0.01955851
+v -0.00850034 0.02449808 -0.01959916
+v -0.00850034 0.02235571 -0.01960170
+v -0.00850034 0.01665238 0.00634983
+v -0.00950790 0.02482233 0.00635237
+v -0.00950790 0.02663852 -0.01938067
+v -0.00850034 0.02663852 -0.01951278
+v -0.00850034 0.02482233 0.00635237
+v -0.00950790 0.02488602 0.00635237
+v -0.00950790 0.02873843 -0.01897927
+v -0.00850034 0.02877703 -0.01919521
+v -0.00850034 0.02813818 0.00635237
+v -0.00950524 0.02813818 0.00635237
+v -0.00950790 0.03263522 0.00634983
+v -0.00850034 0.03066077 -0.01869219
+v -0.00950790 0.03011842 -0.01860835
+v -0.00850034 0.03333970 0.00634983
+v -0.00850034 0.03470425 0.00561053
+v -0.00950790 0.03387046 0.00567913
+v -0.00850034 0.03186899 -0.01743463
+v -0.00950790 0.03110082 -0.01738382
+v -0.00892640 0.03153702 -0.01743463
+v -0.00850034 0.03475057 0.00557751
+v -0.00950790 0.03438579 0.00531837
+v -0.00938906 0.03193268 -0.01621771
+v -0.00850034 0.03293438 -0.01537680
+v -0.00950790 0.03187671 -0.01613641
+v -0.00850034 0.03570788 0.00423611
+v -0.00950790 0.03454791 0.00508973
+v -0.00950790 0.03201953 -0.01581377
+v -0.00850034 0.03299421 -0.01523961
+v -0.00850034 0.03574648 0.00415735
+v -0.00950790 0.03505938 0.00405065
+v -0.00950790 0.03455563 0.00507702
+v -0.00950790 0.03284753 -0.01385756
+v -0.00850034 0.03472934 -0.01114173
+v -0.00850034 0.03618847 0.00253141
+v -0.00950790 0.03509026 0.00393124
+v -0.00950790 0.03464828 -0.00960217
+v -0.00950790 0.03494358 -0.00890352
+v -0.00850034 0.03564226 -0.00897720
+v -0.00850034 0.03631971 0.00184039
+v -0.00950790 0.03558822 0.00184039
+v -0.00950790 0.03537398 0.00276514
+v -0.00950790 0.03552452 -0.00671866
+v -0.00850034 0.03625602 -0.00671866
+v -0.00850034 0.03636796 -0.00030382
+v -0.00950790 0.03562103 0.00037958
+v -0.00950790 0.03563454 -0.00459224
+v -0.00850034 0.03636796 -0.00459224
+v -0.00950790 0.03563454 -0.00030382
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 23
+f 1 23 28
+f 1 28 33
+f 1 33 38
+f 1 38 37
+f 1 37 42
+f 1 42 48
+f 1 48 47
+f 1 47 52
+f 1 52 55
+f 1 55 53
+f 1 53 49
+f 1 49 44
+f 1 44 43
+f 1 43 39
+f 1 39 34
+f 1 34 31
+f 1 31 25
+f 1 25 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 19
+f 3 19 24
+f 3 24 30
+f 3 30 35
+f 3 35 40
+f 3 40 45
+f 3 45 50
+f 3 50 54
+f 3 54 51
+f 3 51 46
+f 3 46 41
+f 3 41 36
+f 3 36 32
+f 3 32 27
+f 3 27 22
+f 3 22 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 6
+f 9 12 16
+f 9 16 17
+f 9 17 13
+f 10 14 15
+f 10 15 11
+f 13 17 18
+f 14 19 15
+f 14 20 19
+f 16 21 17
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 20 24
+f 20 25 26
+f 20 26 24
+f 22 27 28
+f 22 28 23
+f 24 26 29
+f 24 29 30
+f 25 31 29
+f 25 29 26
+f 27 32 28
+f 28 32 33
+f 29 31 34
+f 29 34 35
+f 29 35 30
+f 32 36 37
+f 32 37 38
+f 32 38 33
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 41 42
+f 39 43 40
+f 40 43 44
+f 40 44 45
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 44 49 50
+f 44 50 45
+f 46 51 47
+f 47 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 52
+f 51 54 53
+f 51 53 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_286.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d48b2e6e90cc4692c4e3ce937542142c149c72d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_286.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 0.01477905 -0.00981788
+v -0.01799965 0.01477905 -0.01927661
+v -0.01875131 0.01477905 -0.00981788
+v -0.01799965 -0.01061551 -0.00981788
+v -0.01799965 0.01378474 -0.01941455
+v -0.01801908 0.01477905 -0.01927373
+v -0.01875131 0.01477905 -0.01916453
+v -0.01875131 -0.01061551 -0.00981788
+v -0.01799965 -0.01061551 -0.01955920
+v -0.01875131 0.01164201 -0.01944042
+v -0.01875131 0.01378474 -0.01930247
+v -0.01799965 0.01164201 -0.01950843
+v -0.01875131 -0.01061551 -0.01950364
+v -0.01827549 -0.01061551 -0.01954675
+v -0.01875131 -0.00799552 -0.01958315
+v -0.01799965 -0.00874622 -0.01959273
+v -0.01875131 0.00953657 -0.01951609
+v -0.01799965 0.00949929 -0.01955441
+v -0.01875131 0.00735656 -0.01957261
+v -0.01875131 -0.01013576 -0.01952663
+v -0.01875131 -0.00585279 -0.01960135
+v -0.01799965 -0.00660598 -0.01960231
+v -0.01799965 0.00735656 -0.01958602
+v -0.01875131 0.00521383 -0.01960039
+v -0.01875131 -0.00371255 -0.01960327
+v -0.01799965 -0.00446325 -0.01960423
+v -0.01799965 0.00521383 -0.01960231
+v -0.01875131 0.00307110 -0.01960327
+v -0.01799965 -0.00321788 -0.01960423
+v -0.01799965 0.00320533 -0.01960327
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 26
+f 1 26 29
+f 1 29 30
+f 1 30 27
+f 1 27 23
+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 10
+f 3 10 17
+f 3 17 19
+f 3 19 24
+f 3 24 28
+f 3 28 25
+f 3 25 21
+f 3 21 15
+f 3 15 20
+f 3 20 13
+f 3 13 8
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 6 11 7
+f 9 14 15
+f 9 15 16
+f 10 12 17
+f 12 18 19
+f 12 19 17
+f 13 20 14
+f 14 20 15
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 28 29
+f 25 29 26
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_287.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8036fcc8337825e3d3accf48f8c4192d89bd886
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_287.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01032557 0.02878732 -0.01518616
+v 0.01032557 0.02878732 -0.01635517
+v 0.00986334 0.02878732 -0.01518616
+v 0.01032557 -0.02525141 -0.01518616
+v 0.00986334 0.02878732 -0.01635517
+v 0.01032557 -0.02525141 -0.01635517
+v 0.00986334 -0.02525141 -0.01518616
+v 0.00986334 -0.02525141 -0.01635517
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_288.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e217d3a3ec90241e7f21e90a7d4e09d897fd7358
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_288.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01159242 0.03347239 0.00412188
+v -0.01159242 0.03356314 0.00395786
+v -0.01170893 0.03347239 0.00395035
+v -0.01159242 0.03347239 -0.00866874
+v -0.01159242 0.03357135 0.00392531
+v -0.01171358 0.03347239 0.00393533
+v -0.01223514 0.03347239 -0.00674314
+v -0.01159242 0.03400562 -0.00672436
+v -0.01159242 0.03406741 0.00188953
+v -0.01172318 0.03347239 0.00390403
+v -0.01224126 0.03347239 -0.00672436
+v -0.01224483 0.03347239 -0.00667177
+v -0.01159242 0.03401306 -0.00658914
+v -0.01208014 0.03347239 0.00273715
+v -0.01159242 0.03407823 0.00184320
+v -0.01234181 0.03347239 -0.00521317
+v -0.01238101 0.03347239 -0.00462347
+v -0.01159242 0.03412036 -0.00462472
+v -0.01232841 0.03347239 0.00184320
+v -0.01159242 0.03412036 -0.00018882
+v -0.01159389 0.03412144 -0.00029900
+v -0.01238364 0.03347239 -0.00029900
+v -0.01238372 0.03347239 -0.00458215
+v -0.01159389 0.03412144 -0.00458215
+v -0.01159242 0.03412252 -0.00458215
+v -0.01159242 0.03412252 -0.00029900
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 22
+f 1 22 23
+f 1 23 17
+f 1 17 16
+f 1 16 12
+f 1 12 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 25
+f 1 25 26
+f 1 26 20
+f 1 20 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 10
+f 9 15 14
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 15 19
+f 15 20 21
+f 15 21 22
+f 15 22 19
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 20 26 21
+f 21 26 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_289.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901a85c187c5dc932af81850e844a0c0267fa4a6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_289.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.02746555 0.00635223
+v -0.01062676 0.02746555 0.00491921
+v -0.01159234 0.02746555 0.00635223
+v -0.01062676 -0.03207276 0.00635223
+v -0.01159234 0.02746555 0.00491921
+v -0.01062676 -0.03402286 0.00491921
+v -0.01159234 -0.03124818 0.00635223
+v -0.01062676 -0.03224129 0.00627843
+v -0.01159234 -0.03321032 0.00491921
+v -0.01062676 -0.03345107 0.00564975
+v -0.01098734 -0.03382424 0.00491921
+v -0.01159234 -0.03289132 0.00555182
+v -0.01062676 -0.03333070 0.00579917
+v -0.01159234 -0.03290336 0.00553049
+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 13
+f 7 13 8
+f 9 11 14
+f 10 13 11
+f 11 13 12
+f 11 12 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_29.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd15ca059db88e470ec1f23a804ff3cdea72683
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v 0.00148020 -0.00819078 0.01149715
+v 0.00199749 -0.01160129 0.01115655
+v 0.00148020 -0.00761066 0.01246294
+v 0.00148020 -0.00525894 0.01149715
+v 0.00199749 -0.01090410 0.01115655
+v 0.00207503 -0.01193688 0.01115655
+v 0.00475130 -0.01406227 0.01683836
+v 0.00422788 -0.01192127 0.01683836
+v 0.00375854 -0.00980889 0.01675343
+v 0.00360141 -0.00763928 0.01740934
+v 0.00346061 -0.00621368 0.01773910
+v 0.00311677 -0.00526154 0.01730273
+v 0.00297086 -0.00526154 0.01693774
+v 0.00148020 -0.00549568 0.01303573
+v 0.00148020 -0.00525894 0.01308361
+v 0.00199647 -0.00525894 0.01149715
+v 0.00199749 -0.00526154 0.01115745
+v 0.01190262 -0.01090410 0.01115655
+v 0.00280047 -0.01407528 0.01115655
+v 0.00548183 -0.01525634 0.01796948
+v 0.00532573 -0.01406227 0.01815740
+v 0.00508596 -0.01192127 0.01841759
+v 0.00407279 -0.00526154 0.01867236
+v 0.00540939 -0.01470223 0.01805711
+v 0.00199647 -0.00525894 0.01406928
+v 0.01190262 -0.00526154 0.01115745
+v 0.01190262 -0.03183542 0.01115655
+v 0.00732145 -0.02449411 0.01115655
+v 0.00553591 -0.01725426 0.01571717
+v 0.00570528 -0.01681461 0.01683836
+v 0.00528594 -0.01574281 0.01683836
+v 0.00752449 -0.01968402 0.01811674
+v 0.00719595 -0.01835207 0.01846728
+v 0.00651949 -0.01606539 0.01866785
+v 0.00669498 -0.01470223 0.01911415
+v 0.00679497 -0.01393740 0.01936441
+v 0.00579201 -0.00620587 0.01998056
+v 0.00476762 -0.00526154 0.01935989
+v 0.00441255 -0.00526154 0.01903013
+v 0.00618074 -0.00526154 0.02018836
+v 0.00654805 -0.00526154 0.02025340
+v 0.00811728 -0.00526154 0.02023353
+v 0.00918758 -0.00526154 0.01972850
+v 0.01062418 -0.00526154 0.01865610
+v 0.01169550 -0.00526154 0.01766230
+v 0.01190262 -0.00526154 0.01745451
+v 0.01190262 -0.03105238 0.01255509
+v 0.01152306 -0.03063874 0.01255509
+v 0.01115371 -0.03095092 0.01115655
+v 0.00779079 -0.02556070 0.01115655
+v 0.00640725 -0.01835207 0.01683836
+v 0.01002015 -0.02116684 0.01991371
+v 0.00849174 -0.02692127 0.01115655
+v 0.00958448 -0.02833646 0.01198863
+v 0.00991200 -0.02780056 0.01341608
+v 0.00977426 -0.02375009 0.01796135
+v 0.00943552 -0.02263146 0.01838145
+v 0.01040787 -0.02263146 0.01945114
+v 0.00839583 -0.01835207 0.01953877
+v 0.00815299 -0.01620847 0.01988389
+v 0.00791322 -0.01456695 0.02000495
+v 0.00763978 -0.01313875 0.02006097
+v 0.00946511 -0.01835207 0.02018384
+v 0.01079151 -0.02046705 0.02032297
+v 0.01190262 -0.02263146 0.02038621
+v 0.01190262 -0.02040982 0.02036814
+v 0.01190262 -0.01835207 0.02022088
+v 0.01190262 -0.01722044 0.02006097
+v 0.01190262 -0.03028755 0.01380457
+v 0.01184344 -0.03025373 0.01377385
+v 0.01038644 -0.02905446 0.01264363
+v 0.01011198 -0.02965019 0.01115655
+v 0.00966509 -0.01973865 0.02012602
+v 0.01182201 -0.02387496 0.02013054
+v 0.00947327 -0.02868245 0.01115655
+v 0.01172100 -0.02613042 0.01822154
+v 0.01105679 -0.02452793 0.01880698
+v 0.01147715 -0.02263146 0.02027238
+v 0.01190262 -0.02392699 0.02014680
+v 0.01190262 -0.02622668 0.01832002
+v 0.01190262 -0.02502741 0.01935086
+v 0.01190262 -0.02589889 0.01862267
+f 1 2 3
+f 1 3 14
+f 1 14 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 5 18
+f 2 18 27
+f 2 27 49
+f 2 49 72
+f 2 72 75
+f 2 75 53
+f 2 53 50
+f 2 50 28
+f 2 28 19
+f 2 19 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 25
+f 4 25 16
+f 4 16 26
+f 4 26 17
+f 4 17 5
+f 5 17 26
+f 5 26 18
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 11 10
+f 8 10 9
+f 8 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 11 20 24
+f 11 24 21
+f 12 23 25
+f 12 25 15
+f 12 15 13
+f 13 15 14
+f 16 25 46
+f 16 46 26
+f 18 26 46
+f 18 46 68
+f 18 68 67
+f 18 67 66
+f 18 66 65
+f 18 65 79
+f 18 79 81
+f 18 81 82
+f 18 82 80
+f 18 80 69
+f 18 69 47
+f 18 47 27
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 30
+f 20 30 32
+f 20 32 33
+f 20 33 34
+f 20 34 24
+f 21 35 36
+f 21 36 22
+f 21 24 34
+f 21 34 35
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 25
+f 25 39 38
+f 25 38 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 27 47 48
+f 27 48 49
+f 28 50 29
+f 29 50 30
+f 30 50 51
+f 30 51 32
+f 32 52 33
+f 32 51 50
+f 32 50 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 58
+f 32 58 52
+f 33 52 59
+f 33 59 34
+f 34 60 35
+f 34 59 60
+f 35 60 36
+f 36 61 62
+f 36 62 37
+f 36 60 61
+f 37 40 38
+f 37 62 40
+f 40 62 63
+f 40 63 41
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 44
+f 44 68 45
+f 45 68 46
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 52 73 59
+f 52 58 74
+f 52 74 73
+f 53 75 54
+f 54 75 72
+f 54 72 71
+f 54 71 55
+f 55 71 70
+f 55 70 56
+f 56 70 76
+f 56 76 77
+f 56 77 74
+f 56 74 57
+f 57 74 58
+f 59 73 60
+f 60 73 61
+f 61 73 62
+f 62 73 63
+f 63 73 64
+f 64 73 65
+f 65 73 78
+f 65 78 79
+f 69 80 76
+f 69 76 70
+f 73 74 78
+f 74 79 78
+f 74 77 81
+f 74 81 79
+f 76 80 82
+f 76 82 77
+f 77 82 81
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_290.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400e3dbbae3952e346e04a656ba66c0e479d493d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_290.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.03234279 -0.01227219
+v -0.00351176 0.03234279 -0.01339916
+v -0.00415443 0.03234279 -0.01227219
+v -0.00351176 -0.03780294 -0.01227219
+v -0.00415443 0.03234279 -0.01339916
+v -0.00351176 -0.03733604 -0.01339916
+v -0.00415443 -0.03743903 -0.01227219
+v -0.00410354 -0.03747336 -0.01227219
+v -0.00404799 -0.03705452 -0.01339916
+v -0.00415443 -0.03699272 -0.01339916
+v -0.00415443 -0.03714378 -0.01302439
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 11
+f 3 11 7
+f 4 8 9
+f 4 9 6
+f 7 11 8
+f 8 11 9
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_291.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1bf0b5f7475775e64f34e8984cda02f05c5e71
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_291.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 0.03234279 0.00403405
+v -0.00295333 0.03234279 -0.00398607
+v -0.00351176 0.03234279 0.00403405
+v -0.00295333 -0.00082903 0.00403405
+v -0.00351176 0.03234279 -0.00398607
+v -0.00295333 -0.00082903 -0.00398607
+v -0.00351176 -0.00082903 0.00403405
+v -0.00351176 -0.00082903 -0.00398607
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_292.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb534556a2ae7e1716240ac83cb3b7e12dce1379
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_292.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.01702886 0.00301364
+v -0.00083021 0.01702886 0.00107571
+v -0.00183008 0.01702886 0.00301364
+v -0.00083021 -0.04057707 0.00301364
+v -0.00183008 0.01702886 0.00107571
+v -0.00083021 -0.04086045 0.00107571
+v -0.00183008 -0.04020301 0.00301364
+v -0.00083021 -0.04081511 0.00239106
+v -0.00183008 -0.04046939 0.00107571
+v -0.00083021 -0.04082645 0.00232865
+v -0.00083158 -0.04087179 0.00107571
+v -0.00183008 -0.04032203 0.00240681
+v -0.00085155 -0.04082078 0.00234459
+v -0.00108500 -0.04076977 0.00107571
+v -0.00183008 -0.04046939 0.00115273
+v -0.00176714 -0.04048072 0.00171575
+v -0.00183008 -0.04045238 0.00171916
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 17
+f 3 17 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 10
+f 9 14 15
+f 10 13 11
+f 11 13 16
+f 11 16 15
+f 11 15 14
+f 12 17 13
+f 13 17 16
+f 15 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_293.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098772ef09e9e3d1ecc005c05df9060c3e8ace07
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_293.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02593750 0.00759037 -0.00947418
+v -0.02593750 0.01062683 -0.00947418
+v -0.02528747 0.00759037 -0.00947418
+v -0.02593750 0.00759037 0.00553673
+v -0.02593750 0.01155842 -0.00886742
+v -0.02591860 0.01164241 -0.00886742
+v -0.02573987 0.01149243 -0.00947418
+v -0.02528747 0.01196808 -0.00947418
+v -0.02528747 0.00759037 0.00590711
+v -0.02566046 0.00759037 0.00581828
+v -0.02593750 0.00876921 0.00531089
+v -0.02593750 0.01163813 -0.00878612
+v -0.02589296 0.01196808 -0.00854221
+v -0.02580674 0.01196808 -0.00889452
+v -0.02560421 0.01196808 -0.00947418
+v -0.02570557 0.01164241 -0.00947418
+v -0.02528747 0.01196808 0.00513624
+v -0.02528747 0.00875550 0.00590711
+v -0.02543547 0.00759037 0.00590711
+v -0.02550813 0.00759037 0.00590561
+v -0.02529581 0.00947412 0.00582430
+v -0.02530510 0.00947412 0.00581828
+v -0.02528747 0.00957868 0.00581527
+v -0.02528747 0.01108491 0.00550662
+v -0.02528747 0.01126832 0.00546747
+v -0.02593750 0.01020389 0.00481856
+v -0.02593750 0.01196808 -0.00833594
+v -0.02590861 0.01196808 -0.00846994
+v -0.02581572 0.01196808 0.00416512
+v -0.02528747 0.00950198 0.00582581
+v -0.02583111 0.01196808 0.00413652
+v -0.02593750 0.01179239 0.00401607
+v -0.02593750 0.01196808 0.00390917
+f 1 2 7
+f 1 7 16
+f 1 16 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 26
+f 1 26 32
+f 1 32 33
+f 1 33 27
+f 1 27 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 17
+f 3 17 25
+f 3 25 24
+f 3 24 23
+f 3 23 30
+f 3 30 18
+f 3 18 9
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 15 14
+f 8 14 13
+f 8 13 28
+f 8 28 27
+f 8 27 33
+f 8 33 31
+f 8 31 29
+f 8 29 17
+f 9 18 19
+f 10 20 18
+f 10 18 21
+f 10 21 22
+f 10 22 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 22 23
+f 12 27 28
+f 12 28 13
+f 17 29 26
+f 17 26 25
+f 18 30 21
+f 18 20 19
+f 21 30 23
+f 21 23 22
+f 26 29 31
+f 26 31 32
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_294.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a6798f425d172d2ef04b4a2b8a3784d6d22b67
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_294.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00755133 0.01455357 0.00114089
+v 0.00755133 0.01455357 0.00035902
+v 0.00687226 0.01455357 0.00114089
+v 0.00755133 -0.04333878 0.00114089
+v 0.00689958 0.01455357 0.00035902
+v 0.00755133 -0.04335579 0.00035902
+v 0.00687226 0.01455357 0.00042277
+v 0.00687226 -0.04321975 0.00114089
+v 0.00725300 -0.04328777 0.00114089
+v 0.00755133 -0.04335012 0.00065765
+v 0.00687226 0.01454791 0.00035902
+v 0.00687226 -0.04323109 0.00035902
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 9 10
+f 5 11 7
+f 6 10 9
+f 6 9 8
+f 6 8 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_295.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1275269efb686fe5bce1c706762c49b54d62e0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_295.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.02868228 0.00635237
+v -0.01399461 0.02883591 0.00628041
+v -0.01486849 0.02881113 0.00585905
+v -0.01486316 0.02774560 0.00635237
+v -0.01399461 -0.01950948 0.00635237
+v -0.01399461 0.02969825 0.00586435
+v -0.01399461 0.03038217 0.00548968
+v -0.01418214 0.03029296 0.00543292
+v -0.01512946 0.02868228 0.00577754
+v -0.01512946 0.02854351 0.00585127
+v -0.01512946 0.02745320 0.00635237
+v -0.01512946 -0.01950948 0.00635237
+v -0.01399461 -0.01950948 0.00454600
+v -0.01399461 0.03067953 0.00518750
+v -0.01512946 0.02979737 0.00478276
+v -0.01512946 -0.01950948 0.00454600
+v -0.01399461 0.03112061 0.00454600
+v -0.01512946 0.02994605 0.00454600
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 13
+f 1 13 17
+f 1 17 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 16
+f 5 16 13
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 18
+f 9 18 16
+f 9 16 12
+f 9 12 11
+f 9 11 10
+f 13 16 18
+f 13 18 17
+f 14 17 15
+f 15 17 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_296.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf859e1103fe9d48bd481b23443a7b46dcaf556
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_296.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.03997564 -0.00458294
+v -0.00351176 -0.03970955 -0.00458294
+v -0.00338500 -0.03976742 -0.00462873
+v -0.00295333 -0.03997280 -0.00462873
+v -0.00295333 -0.03997564 -0.00029819
+v -0.00351176 -0.03970671 -0.00462873
+v -0.00351176 -0.03970955 -0.00029819
+v -0.00295333 -0.03417948 -0.00462873
+v -0.00295333 -0.03992798 0.00176066
+v -0.00351176 -0.03966529 0.00179458
+v -0.00351176 -0.03417948 -0.00462873
+v -0.00295333 -0.03417948 0.00403405
+v -0.00295333 -0.03992742 0.00177932
+v -0.00351176 -0.03966473 0.00180984
+v -0.00351176 -0.03417948 0.00403405
+v -0.00295333 -0.03945537 0.00403405
+v -0.00295333 -0.03984742 0.00220499
+v -0.00351176 -0.03928289 0.00384241
+v -0.00351176 -0.03954501 0.00244751
+v -0.00351176 -0.03918077 0.00403405
+v -0.00295333 -0.03952970 0.00389414
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 10
+f 2 10 14
+f 2 14 19
+f 2 19 18
+f 2 18 20
+f 2 20 15
+f 2 15 11
+f 2 11 6
+f 3 6 11
+f 3 11 8
+f 3 8 4
+f 5 9 10
+f 5 10 7
+f 8 11 15
+f 8 15 12
+f 9 13 10
+f 10 13 14
+f 12 15 20
+f 12 20 16
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 16 20 18
+f 16 18 21
+f 17 21 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_297.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c602849dfe3fbf69d832bf448bb4c678fec229a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_297.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03830603 -0.01063896
+v 0.00023052 0.03830603 -0.01227320
+v -0.00083011 0.03830603 -0.01063896
+v 0.00023052 -0.00001016 -0.01063896
+v -0.00083011 0.03830603 -0.01227320
+v 0.00023052 -0.00001016 -0.01227320
+v -0.00083011 -0.00001016 -0.01063896
+v -0.00083011 -0.00001016 -0.01227320
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_298.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbfae2cd72b20e33e6d525b47488ad1d1fa2bda
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_298.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00664934 -0.00425544 -0.01548513
+v 0.00664934 -0.00425544 -0.01960384
+v 0.00428619 -0.00425544 -0.01548513
+v 0.00664934 -0.04032083 -0.01548513
+v 0.00428619 -0.00425544 -0.01960384
+v 0.00664934 -0.03334146 -0.01960384
+v 0.00445275 -0.03119858 -0.01960425
+v 0.00428619 -0.03103265 -0.01960425
+v 0.00428619 -0.03973833 -0.01548513
+v 0.00636433 -0.04025728 -0.01548513
+v 0.00458300 -0.03903581 -0.01743722
+v 0.00664934 -0.03950534 -0.01739408
+v 0.00664934 -0.03339794 -0.01960263
+v 0.00445275 -0.03334146 -0.01960384
+v 0.00428619 -0.03119858 -0.01960425
+v 0.00428619 -0.03900050 -0.01730415
+v 0.00446432 -0.03979482 -0.01548513
+v 0.00538390 -0.03873573 -0.01854090
+v 0.00664934 -0.03948415 -0.01743682
+v 0.00664934 -0.03548434 -0.01948529
+v 0.00428619 -0.03334146 -0.01960102
+v 0.00428619 -0.03317553 -0.01960384
+v 0.00428619 -0.03847096 -0.01824129
+v 0.00659475 -0.03880987 -0.01859453
+v 0.00664934 -0.03883458 -0.01856469
+v 0.00428619 -0.03756721 -0.01878325
+v 0.00428619 -0.03737304 -0.01885018
+v 0.00458300 -0.03765900 -0.01879333
+v 0.00659475 -0.03762722 -0.01902237
+v 0.00664934 -0.03762722 -0.01902600
+v 0.00664934 -0.03553730 -0.01947521
+v 0.00659475 -0.03548434 -0.01948368
+v 0.00428619 -0.03531842 -0.01940182
+v 0.00664934 -0.03881340 -0.01859614
+v 0.00428619 -0.03548434 -0.01937561
+v 0.00445275 -0.03548434 -0.01938771
+v 0.00664934 -0.03564321 -0.01945263
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 25
+f 1 25 34
+f 1 34 30
+f 1 30 37
+f 1 37 31
+f 1 31 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 15
+f 3 15 22
+f 3 22 21
+f 3 21 33
+f 3 33 35
+f 3 35 27
+f 3 27 26
+f 3 26 23
+f 3 23 16
+f 3 16 9
+f 4 10 11
+f 4 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 9 16 17
+f 10 17 11
+f 11 16 18
+f 11 18 12
+f 11 17 16
+f 12 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 23 18
+f 18 24 25
+f 18 25 19
+f 18 23 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 24
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 24 34 25
+f 24 30 34
+f 27 29 28
+f 27 35 29
+f 29 35 36
+f 29 36 30
+f 30 36 37
+f 31 36 32
+f 31 37 36
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_299.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8bbe181642a24bf46586b0b248e57a34ae745b5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_299.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01630243 0.02878701 -0.01518616
+v 0.01525265 0.02878701 -0.01518616
+v 0.01781097 0.02878670 -0.01518616
+v 0.01781097 0.02878701 -0.01529452
+v 0.01525265 0.02878701 -0.01777261
+v 0.01525265 0.02557652 -0.01518616
+v 0.01781097 0.02557652 -0.01518616
+v 0.01772833 0.02878701 -0.01743639
+v 0.01781097 0.02557652 -0.01529452
+v 0.01756481 0.02878701 -0.01777261
+v 0.01525265 0.02557652 -0.01777261
+v 0.01772833 0.02557652 -0.01743639
+v 0.01762616 0.02557652 -0.01764652
+v 0.01756481 0.02557652 -0.01777261
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 9
+f 3 9 4
+f 4 9 12
+f 4 12 8
+f 5 10 14
+f 5 14 11
+f 6 11 14
+f 6 14 13
+f 6 13 12
+f 6 12 9
+f 6 9 7
+f 8 12 13
+f 8 13 10
+f 10 13 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_3.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c1192c227dd8382396fe7920e6d39ef3c4bc46
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.02585698 0.00080772 0.00635237
+v -0.02557353 0.00310566 0.00635237
+v 0.00023052 0.00080772 0.00635237
+v -0.02552246 0.00080772 0.00665535
+v -0.02553523 0.00353012 0.00635261
+v -0.02526965 0.00553166 0.00635261
+v -0.02399286 0.01164608 0.00635261
+v -0.02339532 0.01348662 0.00635261
+v -0.01743778 0.02443841 0.00635237
+v 0.00023052 0.00080772 0.00757483
+v 0.00023052 0.00310566 0.00635237
+v -0.02525433 0.00080772 0.00686452
+v -0.02339532 0.01164608 0.00672260
+v -0.02446782 0.00080772 0.00734927
+v -0.02125285 0.01807152 0.00649800
+v -0.02148268 0.01807152 0.00635261
+v -0.02126562 0.01850695 0.00635261
+v -0.01910017 0.02211486 0.00635261
+v -0.01875799 0.02264544 0.00635261
+v -0.01686578 0.02528001 0.00635237
+v -0.02398009 0.00080772 0.00757483
+v 0.00023052 0.00310566 0.00757483
+v 0.00022797 0.03818944 0.00635237
+v -0.02327274 0.00971771 0.00695463
+v -0.02232025 0.01057395 0.00719861
+v -0.02164355 0.01378667 0.00703958
+v -0.02114816 0.01598947 0.00693045
+v -0.02408223 0.00080772 0.00752768
+v -0.01902867 0.02021211 0.00692818
+v -0.01503741 0.02445671 0.00757483
+v -0.01389084 0.02611795 0.00757483
+v -0.01319371 0.02710226 0.00757483
+v -0.01655935 0.02569715 0.00635237
+v -0.01668958 0.02054143 0.00757483
+v -0.02036676 0.01531619 0.00724911
+v 0.00022797 0.03726368 0.00686308
+v 0.00022797 0.03722709 0.00688235
+v 0.00022797 0.03718318 0.00689767
+v 0.00022797 0.03617326 0.00719263
+v 0.00022797 0.03461446 0.00757483
+v 0.00017689 0.03817114 0.00635237
+v 0.00018966 0.03721977 0.00688032
+v -0.01592095 0.02237466 0.00757483
+v -0.01585711 0.02664853 0.00635237
+v -0.01213142 0.02823293 0.00757483
+v -0.01384233 0.02884035 0.00635237
+v -0.01485866 0.02773895 0.00635237
+v -0.00427912 0.03338133 0.00757483
+v -0.00387566 0.03353136 0.00757483
+v -0.00047683 0.03454494 0.00757483
+v 0.00018456 0.03461446 0.00757483
+v -0.00182512 0.03733686 0.00635237
+v -0.00410293 0.03509381 0.00689420
+v -0.01106402 0.02931604 0.00757483
+v -0.01275194 0.02996004 0.00635237
+v -0.00848744 0.03122976 0.00757483
+v -0.00212389 0.03719049 0.00635237
+v -0.00555592 0.03528043 0.00635237
+v -0.01055075 0.03189939 0.00635237
+v -0.01169220 0.03096265 0.00635237
+v -0.01002726 0.03227262 0.00635237
+v -0.00639094 0.03477181 0.00635237
+v -0.00733833 0.03416073 0.00635237
+f 1 2 9
+f 1 9 20
+f 1 20 33
+f 1 33 44
+f 1 44 47
+f 1 47 46
+f 1 46 55
+f 1 55 60
+f 1 60 59
+f 1 59 61
+f 1 61 63
+f 1 63 62
+f 1 62 58
+f 1 58 57
+f 1 57 52
+f 1 52 41
+f 1 41 23
+f 1 23 11
+f 1 11 3
+f 1 3 10
+f 1 10 21
+f 1 21 28
+f 1 28 14
+f 1 14 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 11 22
+f 3 22 10
+f 4 12 6
+f 4 6 5
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 7 13 8
+f 8 13 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 10 22 40
+f 10 40 51
+f 10 51 50
+f 10 50 49
+f 10 49 48
+f 10 48 56
+f 10 56 54
+f 10 54 45
+f 10 45 32
+f 10 32 31
+f 10 31 30
+f 10 30 43
+f 10 43 34
+f 10 34 21
+f 11 23 22
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 15
+f 13 14 28
+f 13 28 21
+f 13 21 24
+f 15 27 29
+f 15 29 18
+f 15 18 17
+f 15 17 16
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 25 24
+f 21 34 35
+f 21 35 25
+f 22 23 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 23 41 42
+f 23 42 36
+f 25 35 26
+f 26 35 27
+f 27 35 30
+f 27 30 29
+f 30 35 43
+f 32 44 33
+f 32 45 46
+f 32 46 47
+f 32 47 44
+f 34 43 35
+f 36 42 37
+f 37 42 38
+f 38 42 48
+f 38 48 49
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 41 52 42
+f 42 52 53
+f 42 53 48
+f 45 54 55
+f 45 55 46
+f 48 53 56
+f 52 57 53
+f 53 57 58
+f 53 58 56
+f 54 56 59
+f 54 59 60
+f 54 60 55
+f 56 61 59
+f 56 58 62
+f 56 62 63
+f 56 63 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_30.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8f07b6a9e905ba0576d65909b65725595bde99
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01354257 -0.00333117 0.01530917
+v 0.01354257 -0.00333117 0.00803444
+v 0.01369203 -0.00333117 0.01512826
+v 0.01426750 -0.00035151 0.01469024
+v 0.01426750 0.00191300 0.01483411
+v 0.01354257 0.00103040 0.01495519
+v 0.01426750 -0.00333117 0.00803444
+v 0.01354257 0.00451627 0.00803444
+v 0.01426750 -0.00333117 0.01419524
+v 0.01426750 0.00298458 0.01461830
+v 0.01354257 0.00451627 0.01444238
+v 0.01426750 0.00451627 0.00803444
+v 0.01426750 0.00451627 0.01366249
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 8
+f 1 8 2
+f 2 8 12
+f 2 12 7
+f 3 9 4
+f 4 9 7
+f 4 7 12
+f 4 12 13
+f 4 13 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 8 11 13
+f 8 13 12
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_300.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc35a2dbcf9581403ae566fa1e05c823ca16ba81
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_300.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.03972380 -0.00921689
+v -0.00083021 0.03838534 -0.01282126
+v -0.00183008 0.03926601 -0.00921689
+v -0.00083021 0.00008992 -0.00921689
+v -0.00183008 0.03859096 -0.01101007
+v -0.00183008 0.03891684 -0.01015105
+v -0.00083021 0.03823404 -0.01321457
+v -0.00183008 0.03775297 -0.01321457
+v -0.00183008 0.03786160 -0.01293123
+v -0.00183008 0.00008992 -0.00921689
+v -0.00083021 0.00008992 -0.01321457
+v -0.00183008 0.00008992 -0.01321457
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 8
+f 3 8 12
+f 3 12 10
+f 4 10 12
+f 4 12 11
+f 7 11 12
+f 7 12 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_301.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229b4b27d8a91d0243e104c30872e1baec607c11
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_301.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.03443687 -0.01518146
+v -0.00716753 -0.03158649 -0.01518146
+v -0.00805384 -0.03385402 -0.01518146
+v -0.00716753 -0.03419051 -0.01588114
+v -0.00805384 -0.03158649 -0.01518146
+v -0.00716753 -0.03158649 -0.01885424
+v -0.00805384 -0.03377199 -0.01539179
+v -0.00716753 -0.03409481 -0.01606990
+v -0.00805384 -0.03158649 -0.01863132
+v -0.00716753 -0.03248100 -0.01861263
+v -0.00748879 -0.03238447 -0.01858027
+v -0.00798331 -0.03158649 -0.01869029
+v -0.00805384 -0.03296146 -0.01699034
+v -0.00716753 -0.03333032 -0.01740994
+v -0.00805384 -0.03213531 -0.01827177
+v -0.00716753 -0.03277982 -0.01830126
+v -0.00805384 -0.03280494 -0.01726432
+v -0.00805384 -0.03258759 -0.01761596
+v -0.00805384 -0.03236800 -0.01793452
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 19
+f 3 19 18
+f 3 18 17
+f 3 17 13
+f 3 13 7
+f 3 7 4
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 12 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 15
+f 11 15 12
+f 13 17 14
+f 14 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_302.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_302.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f706be00a482c6a16d8e2823df5b3c8be37588
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_302.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00958588 0.02333134 -0.01956713
+v -0.00950790 0.02333134 -0.01956713
+v -0.01054287 0.02333134 -0.01956460
+v -0.00950790 0.02449611 -0.01956206
+v -0.00950790 0.02333134 0.00635237
+v -0.01059029 0.02333134 -0.01955952
+v -0.01054287 0.02449611 -0.01952147
+v -0.01054287 0.02558306 -0.01938192
+v -0.00950790 0.02555287 -0.01942505
+v -0.00950790 0.02558306 0.00635237
+v -0.01062676 0.02333134 0.00635237
+v -0.01062676 0.02333134 -0.01955445
+v -0.01062676 0.02449611 -0.01951132
+v -0.00953671 0.02558306 -0.01941998
+v -0.01058580 0.02558306 -0.01937177
+v -0.00950790 0.02558306 -0.01941998
+v -0.01062676 0.02558306 0.00635237
+v -0.01062676 0.02558306 -0.01936162
+f 1 2 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 9
+f 2 9 16
+f 2 16 10
+f 2 10 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 14 9
+f 8 13 15
+f 8 15 18
+f 8 18 17
+f 8 17 10
+f 8 10 16
+f 8 16 14
+f 9 14 16
+f 11 17 18
+f 11 18 13
+f 11 13 12
+f 13 18 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_303.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7916cc259317ffdb15264c7f019604eb1bc211
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_303.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.02395935 0.00729850 -0.01680719
+v -0.02461697 0.00729850 -0.01539194
+v -0.02431683 0.00777081 -0.01593770
+v -0.02395935 0.00738389 -0.01678854
+v -0.02395935 0.00729850 0.00050798
+v -0.02468508 0.00729850 -0.01519872
+v -0.02456850 0.00887322 -0.01451059
+v -0.02395935 0.00954223 -0.01569024
+v -0.02415194 0.00955304 -0.01525126
+v -0.02395935 0.01033445 -0.01526652
+v -0.02395935 0.01829991 0.00050798
+v -0.02485488 0.00729850 0.00050798
+v -0.02485479 0.00729850 -0.01471567
+v -0.02485488 0.00955304 -0.01325466
+v -0.02440554 0.01030203 -0.01404618
+v -0.02462854 0.01164330 -0.01253941
+v -0.02424486 0.01164330 -0.01361059
+v -0.02395935 0.01164330 -0.01440042
+v -0.02395935 0.01832260 0.00007070
+v -0.02401554 0.01817778 0.00050798
+v -0.02485488 0.01622802 0.00050798
+v -0.02485488 0.00729850 -0.00699876
+v -0.02485488 0.00954439 -0.01325975
+v -0.02485488 0.01164330 -0.01189535
+v -0.02449328 0.01278137 -0.01215467
+v -0.02395935 0.01346551 -0.01283771
+v -0.02395935 0.01833125 -0.00011405
+v -0.02404552 0.01815292 -0.00030049
+v -0.02406857 0.01806213 0.00050798
+v -0.02476722 0.01643878 0.00050798
+v -0.02485488 0.01624424 0.00019951
+v -0.02485488 0.01273598 -0.01100891
+v -0.02395935 0.01381461 -0.01245128
+v -0.02485488 0.01356819 -0.01026145
+v -0.02485488 0.01499376 -0.00869367
+v -0.02473198 0.01547471 -0.00850723
+v -0.02446611 0.01485325 -0.00993434
+v -0.02395935 0.01833990 -0.00030049
+v -0.02485488 0.01625937 -0.00030049
+v -0.02424810 0.01765359 0.00050798
+v -0.02404552 0.01815292 -0.00458352
+v -0.02468964 0.01662035 0.00050798
+v -0.02395935 0.01509427 -0.01100891
+v -0.02485488 0.01604213 -0.00667842
+v -0.02442684 0.01690352 -0.00735977
+v -0.02395935 0.01685597 -0.00899705
+v -0.02425862 0.01608428 -0.00908010
+v -0.02395935 0.01601187 -0.00996654
+v -0.02395935 0.01833990 -0.00244115
+v -0.02485488 0.01625937 -0.00458352
+v -0.02395935 0.01833881 -0.00458352
+v -0.02449118 0.01705375 -0.00593097
+v -0.02485488 0.01606807 -0.00645639
+v -0.02483796 0.01608428 -0.00667673
+v -0.02406700 0.01788812 -0.00667673
+v -0.02395935 0.01812158 -0.00668181
+v -0.02395935 0.01792163 -0.00708520
+v -0.02395935 0.01790650 -0.00711401
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 18
+f 1 18 26
+f 1 26 33
+f 1 33 43
+f 1 43 48
+f 1 48 46
+f 1 46 58
+f 1 58 57
+f 1 57 56
+f 1 56 51
+f 1 51 49
+f 1 49 38
+f 1 38 27
+f 1 27 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 5 11 20
+f 5 20 29
+f 5 29 40
+f 5 40 42
+f 5 42 30
+f 5 30 21
+f 5 21 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 12 21 31
+f 12 31 39
+f 12 39 50
+f 12 50 53
+f 12 53 44
+f 12 44 35
+f 12 35 34
+f 12 34 32
+f 12 32 24
+f 12 24 14
+f 12 14 23
+f 12 23 22
+f 13 23 14
+f 13 22 23
+f 14 16 15
+f 14 24 16
+f 16 25 17
+f 16 24 25
+f 17 25 18
+f 18 25 26
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 30 31
+f 24 32 25
+f 25 33 26
+f 25 32 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 33
+f 27 38 28
+f 28 39 31
+f 28 31 40
+f 28 40 29
+f 28 38 49
+f 28 49 41
+f 28 41 50
+f 28 50 39
+f 30 42 31
+f 31 42 40
+f 33 37 43
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 43
+f 41 49 51
+f 41 51 52
+f 41 52 50
+f 44 53 52
+f 44 52 54
+f 44 54 45
+f 45 54 52
+f 45 52 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 48 47
+f 50 52 53
+f 51 56 52
+f 52 56 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_304.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aea47d9d3a81ecb2d88ef78d69b50c17ce40f38
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_304.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00450667 0.02878032 -0.00293675
+v 0.00384166 0.02878032 -0.00293675
+v 0.00450667 -0.02362321 -0.00293675
+v 0.00450667 0.02878032 -0.00736499
+v 0.00384166 0.02878032 -0.00736499
+v 0.00384159 -0.02362321 -0.00293718
+v 0.00384166 -0.02362321 -0.00293675
+v 0.00450667 -0.04273887 -0.00293718
+v 0.00450667 -0.02362321 -0.00736542
+v 0.00384159 -0.02362321 -0.00736542
+v 0.00384159 -0.04253581 -0.00293718
+v 0.00441767 -0.04271787 -0.00293718
+v 0.00450667 -0.04273887 -0.00467726
+v 0.00450667 -0.04248680 -0.00736542
+v 0.00384159 -0.04226273 -0.00736542
+v 0.00384159 -0.04253581 -0.00458406
+v 0.00441767 -0.04271787 -0.00458406
+v 0.00450667 -0.04271086 -0.00532882
+v 0.00450667 -0.04265485 -0.00656344
+v 0.00384159 -0.04244478 -0.00661243
+v 0.00413953 -0.04236776 -0.00736542
+v 0.00384159 -0.04251480 -0.00516886
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 11
+f 2 11 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 10 15
+f 6 15 20
+f 6 20 22
+f 6 22 16
+f 6 16 11
+f 7 11 12
+f 7 12 8
+f 8 12 17
+f 8 17 13
+f 9 14 21
+f 9 21 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 15 21 20
+f 16 22 17
+f 17 22 19
+f 17 19 18
+f 19 22 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_305.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe7d08e1905470590c95649746ef0aa1359c853
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_305.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.01344340 0.01548961 -0.01960423
+v -0.01399456 0.01548961 -0.01960169
+v -0.01399456 0.01592793 -0.01960169
+v -0.01344340 0.01592793 -0.01960169
+v -0.01344340 0.01548961 0.00635237
+v -0.01399461 0.02643253 -0.01763004
+v -0.01399456 0.01548961 0.00635237
+v -0.01399456 0.01807101 -0.01957374
+v -0.01344340 0.01807101 -0.01958390
+v -0.01344340 0.01758919 -0.01958898
+v -0.01344340 0.01670921 0.00635237
+v -0.01399461 0.02675040 -0.01746743
+v -0.01399456 0.02568471 -0.01860316
+v -0.01399456 0.02440823 -0.01891568
+v -0.01399456 0.02235550 -0.01928409
+v -0.01399456 0.02021409 -0.01948735
+v -0.01399461 0.02643253 0.00634983
+v -0.01399456 0.01670921 0.00635237
+v -0.01344340 0.02021409 -0.01953309
+v -0.01344340 0.02925818 0.00634983
+v -0.01399461 0.02741791 -0.01661881
+v -0.01380041 0.02775418 -0.01645112
+v -0.01344340 0.02797167 -0.01665184
+v -0.01344340 0.02708666 -0.01777487
+v -0.01394810 0.02577004 -0.01859300
+v -0.01399456 0.02581521 -0.01848628
+v -0.01344340 0.02605946 -0.01865906
+v -0.01344340 0.02444504 -0.01904526
+v -0.01344340 0.02235550 -0.01937810
+v -0.01399461 0.02868435 0.00634983
+v -0.01384552 0.02884496 0.00634983
+v -0.01344340 0.03025695 0.00586454
+v -0.01399461 0.02969818 0.00586200
+v -0.01399461 0.02883994 0.00627869
+v -0.01399461 0.02795828 -0.01563807
+v -0.01344340 0.02870778 -0.01529253
+v -0.01344340 0.03064173 0.00565620
+v -0.01399461 0.03038409 0.00548851
+v -0.01399461 0.02813060 -0.01529253
+v -0.01399461 0.02913940 -0.01325990
+v -0.01344340 0.02899887 -0.01470561
+v -0.01344340 0.03174255 0.00454334
+v -0.01399461 0.03067854 0.00518615
+v -0.01399461 0.03009969 -0.01132129
+v -0.01378924 0.03202696 -0.00786583
+v -0.01345727 0.02953757 -0.01359020
+v -0.01344340 0.02952251 -0.01364610
+v -0.01344340 0.03177601 0.00447982
+v -0.01348382 0.03172415 0.00451539
+v -0.01399461 0.03134940 0.00421050
+v -0.01399461 0.03173418 -0.00802082
+v -0.01344340 0.03220596 -0.00813007
+v -0.01344340 0.03168399 -0.00924801
+v -0.01399461 0.03197342 -0.00672248
+v -0.01386726 0.03210558 -0.00672248
+v -0.01344340 0.03246360 -0.00672248
+v -0.01344340 0.03228961 0.00336950
+v -0.01383807 0.03207547 0.00308747
+v -0.01399461 0.03185297 0.00320943
+v -0.01399461 0.03209889 -0.00458568
+v -0.01392872 0.03216748 -0.00458568
+v -0.01344340 0.03258071 -0.00458568
+v -0.01344340 0.03245356 0.00266062
+v -0.01399461 0.03193159 0.00291724
+v -0.01390385 0.03214239 0.00183995
+v -0.01399461 0.03209889 -0.00030193
+v -0.01392872 0.03216748 -0.00030193
+v -0.01344340 0.03258071 -0.00244381
+v -0.01344340 0.03253387 0.00183995
+v -0.01399461 0.03204703 0.00183995
+v -0.01399461 0.03205205 0.00166209
+v -0.01344340 0.03257904 -0.00030193
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 19
+f 1 19 29
+f 1 29 28
+f 1 28 27
+f 1 27 24
+f 1 24 23
+f 1 23 36
+f 1 36 41
+f 1 41 47
+f 1 47 53
+f 1 53 52
+f 1 52 56
+f 1 56 62
+f 1 62 68
+f 1 68 72
+f 1 72 69
+f 1 69 63
+f 1 63 57
+f 1 57 48
+f 1 48 42
+f 1 42 37
+f 1 37 32
+f 1 32 20
+f 1 20 11
+f 1 11 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 17
+f 2 17 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 18
+f 5 18 7
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 6 17 30
+f 6 30 34
+f 6 34 33
+f 6 33 38
+f 6 38 43
+f 6 43 50
+f 6 50 59
+f 6 59 64
+f 6 64 70
+f 6 70 71
+f 6 71 66
+f 6 66 60
+f 6 60 54
+f 6 54 51
+f 6 51 44
+f 6 44 40
+f 6 40 39
+f 6 39 35
+f 6 35 21
+f 6 21 12
+f 7 18 30
+f 7 30 17
+f 8 16 19
+f 8 19 9
+f 11 20 18
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 25
+f 13 25 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 19
+f 18 20 31
+f 18 31 30
+f 20 32 33
+f 20 33 34
+f 20 34 31
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 24 27 25
+f 30 31 34
+f 32 37 33
+f 33 37 38
+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 41 46 47
+f 42 48 49
+f 42 49 43
+f 43 49 50
+f 44 51 45
+f 45 52 53
+f 45 53 46
+f 45 51 54
+f 45 54 55
+f 45 55 56
+f 45 56 52
+f 46 53 47
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 50
+f 54 60 61
+f 54 61 55
+f 55 61 62
+f 55 62 56
+f 57 63 58
+f 58 64 59
+f 58 63 65
+f 58 65 64
+f 60 66 67
+f 60 67 61
+f 61 67 68
+f 61 68 62
+f 63 69 65
+f 64 65 70
+f 65 71 70
+f 65 69 67
+f 65 67 66
+f 65 66 71
+f 67 69 72
+f 67 72 68
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_306.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f39ce0c4ecfb32bcb88a7e23ba2f76555cd2a1f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_306.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01680300 -0.02968983 -0.00184933
+v -0.01723698 -0.02916536 -0.00184933
+v -0.01680300 -0.02530883 -0.00184933
+v -0.01680300 -0.02968983 -0.00029886
+v -0.01723698 -0.02916536 -0.00029886
+v -0.01723698 -0.02530883 -0.00184933
+v -0.01680300 -0.02530883 0.00326022
+v -0.01680300 -0.02963365 0.00184329
+v -0.01723035 -0.02911690 0.00184329
+v -0.01723698 -0.02910875 0.00184329
+v -0.01723698 -0.02530883 0.00326022
+v -0.01680300 -0.02924555 0.00326022
+v -0.01699427 -0.02901398 0.00326022
+v -0.01723698 -0.02871036 0.00326022
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 11
+f 2 11 6
+f 3 6 11
+f 3 11 7
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 7 11 14
+f 7 14 13
+f 7 13 12
+f 8 12 9
+f 9 12 13
+f 9 13 10
+f 10 13 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_307.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb23e12d7ad954439d9fdbe3472d5f12aa713a3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_307.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00174202 -0.00485222 -0.00057518
+v 0.00174202 -0.00485222 -0.00186564
+v 0.00066976 -0.00485222 -0.00057518
+v 0.00174202 -0.04184451 -0.00057518
+v 0.00066976 -0.00485222 -0.00186564
+v 0.00174202 -0.04184451 -0.00186564
+v 0.00066976 -0.04144249 -0.00057518
+v 0.00119109 -0.04163807 -0.00057518
+v 0.00078931 -0.04148957 -0.00186564
+v 0.00066976 -0.04144249 -0.00186564
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 4 9 6
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_308.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd288c61728a8248fa97235d585013e1ff9a6263
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_308.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01680305 0.02099934 -0.01881560
+v -0.01682029 0.02099934 -0.01881067
+v -0.01680305 0.02105006 -0.01880574
+v -0.01680305 0.02099934 0.00635237
+v -0.01723697 0.02099934 -0.01841403
+v -0.01680305 0.02236534 -0.01821202
+v -0.01680305 0.02537689 0.00635237
+v -0.01723697 0.02099934 0.00635237
+v -0.01723697 0.02237687 -0.01775133
+v -0.01680305 0.02325987 -0.01752222
+v -0.01680305 0.02662878 0.00588675
+v -0.01699208 0.02662474 0.00579314
+v -0.01686863 0.02528813 0.00635237
+v -0.01723697 0.02474519 0.00635237
+v -0.01723697 0.02270194 -0.01749758
+v -0.01680305 0.02344028 -0.01738179
+v -0.01680305 0.02681956 0.00579806
+v -0.01680305 0.02688757 0.00576604
+v -0.01686948 0.02688757 0.00572662
+v -0.01723697 0.02648699 0.00570691
+v -0.01723697 0.02634462 0.00576357
+v -0.01723697 0.02436132 -0.01524833
+v -0.01680305 0.02436132 -0.01613276
+v -0.01680305 0.02688757 -0.01171555
+v -0.01721769 0.02688757 0.00532259
+v -0.01723697 0.02688757 0.00529796
+v -0.01723697 0.02438726 -0.01520891
+v -0.01680305 0.02496997 -0.01524340
+v -0.01680305 0.02662359 -0.01222798
+v -0.01703711 0.02688757 -0.01119081
+v -0.01723697 0.02688757 -0.01074243
+v -0.01723697 0.02560975 -0.01307791
+v -0.01723697 0.02659650 -0.01130659
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 16
+f 1 16 23
+f 1 23 28
+f 1 28 29
+f 1 29 24
+f 1 24 18
+f 1 18 17
+f 1 17 11
+f 1 11 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 14
+f 4 14 8
+f 5 9 6
+f 5 8 14
+f 5 14 21
+f 5 21 20
+f 5 20 26
+f 5 26 31
+f 5 31 33
+f 5 33 32
+f 5 32 27
+f 5 27 22
+f 5 22 15
+f 5 15 9
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 14
+f 15 22 16
+f 16 22 23
+f 18 24 30
+f 18 30 31
+f 18 31 26
+f 18 26 25
+f 18 25 19
+f 19 25 20
+f 20 25 26
+f 22 27 28
+f 22 28 23
+f 24 29 30
+f 27 32 28
+f 28 32 33
+f 28 33 29
+f 29 33 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_309.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf324528ebdad55ecb44fd0c895d21ce5463b0b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_309.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02130396 0.01895071 0.00320473
+v -0.02130392 0.01895071 -0.00316830
+v -0.02181533 0.01895071 0.00320473
+v -0.02130396 -0.01373407 0.00320473
+v -0.02130392 0.01895071 -0.00466792
+v -0.02130392 -0.01373407 -0.00316830
+v -0.02181538 0.01895071 -0.00316830
+v -0.02181533 -0.01373407 0.00320473
+v -0.02181538 0.01895071 -0.00466792
+v -0.02130392 -0.01373407 -0.00466792
+v -0.02181538 -0.01373407 -0.00316830
+v -0.02181538 -0.01373407 -0.00466792
+f 1 2 5
+f 1 5 9
+f 1 9 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 7 11
+f 3 11 8
+f 4 8 11
+f 4 11 12
+f 4 12 10
+f 4 10 6
+f 5 10 12
+f 5 12 9
+f 7 9 12
+f 7 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_31.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d628cb0dc5da519286e83d2fa859fcb12c2c53d5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.01476100 0.00276950 0.01176107
+v -0.01460985 0.00276950 0.01041076
+v 0.00023052 0.00276950 0.01176107
+v -0.01455996 0.01592841 0.01176107
+v -0.01457757 0.01806765 0.01041076
+v 0.00023052 0.00276950 0.01041076
+v 0.00023052 0.03151311 0.01176107
+v -0.01451447 0.01806765 0.01176107
+v -0.01441468 0.02020973 0.01041076
+v 0.00023052 0.03174576 0.01041076
+v 0.00023052 0.03174576 0.01041221
+v 0.00018943 0.03151879 0.01176107
+v -0.01430609 0.02020973 0.01176107
+v -0.01409918 0.02119991 0.01176107
+v -0.01401700 0.02209363 0.01041221
+v -0.01401700 0.02209079 0.01041076
+v 0.00016742 0.03175427 0.01041076
+v 0.00016742 0.03151879 0.01176107
+v -0.01395097 0.02189786 0.01176107
+v -0.01382330 0.02229507 0.01176107
+v -0.01366921 0.02316325 0.01041221
+v -0.01366921 0.02316325 0.01041076
+v -0.00197507 0.03160674 0.01041076
+v -0.00197507 0.03160674 0.01041221
+v -0.00197507 0.03141097 0.01176107
+v -0.00118264 0.03146204 0.01176107
+v -0.01359584 0.02297032 0.01176107
+v -0.01301179 0.02449389 0.01041221
+v -0.01301326 0.02449106 0.01041076
+v -0.00411755 0.03114995 0.01041076
+v -0.00411755 0.03114995 0.01041221
+v -0.00411755 0.03096553 0.01176107
+v -0.00332512 0.03113293 0.01176107
+v -0.01283276 0.02449389 0.01176107
+v -0.01202566 0.02609123 0.01041221
+v -0.01202713 0.02608840 0.01041076
+v -0.00626003 0.03040944 0.01041076
+v -0.00627177 0.03021368 0.01176107
+v -0.01191854 0.02595221 0.01176107
+v -0.01157075 0.02634942 0.01176107
+v -0.01108503 0.02716086 0.01041221
+v -0.01108503 0.02716086 0.01041076
+v -0.00742666 0.02990726 0.01041076
+v -0.00733568 0.02985335 0.01150214
+v -0.00701577 0.02993847 0.01176107
+v -0.01094268 0.02702467 0.01176107
+v -0.01026912 0.02767723 0.01176107
+v -0.01001525 0.02817374 0.01041076
+v -0.00849790 0.02924619 0.01041076
+v -0.00828365 0.02915824 0.01176107
+v -0.00759542 0.02962922 0.01176107
+v -0.00987144 0.02804890 0.01176107
+v -0.00931087 0.02844610 0.01176107
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 26
+f 1 26 25
+f 1 25 33
+f 1 33 32
+f 1 32 38
+f 1 38 45
+f 1 45 51
+f 1 51 50
+f 1 50 53
+f 1 53 52
+f 1 52 47
+f 1 47 46
+f 1 46 40
+f 1 40 39
+f 1 39 34
+f 1 34 27
+f 1 27 20
+f 1 20 19
+f 1 19 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 22
+f 2 22 29
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+f 2 36 42
+f 2 42 48
+f 2 48 49
+f 2 49 43
+f 2 43 37
+f 2 37 30
+f 2 30 23
+f 2 23 17
+f 2 17 10
+f 2 10 6
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+f 3 10 11
+f 3 11 7
+f 4 8 5
+f 5 8 9
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 40 46 41
+f 41 47 48
+f 41 48 42
+f 41 46 47
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 47 52 48
+f 48 52 53
+f 48 53 49
+f 49 53 50
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_310.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fcb09bb09574be24a453d058c17284fdbda074
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_310.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.01512957 0.01124522 -0.01960423
+v -0.01634805 0.01124522 -0.01960168
+v -0.01512957 0.01164577 -0.01960423
+v -0.01512957 0.01124522 0.00635237
+v -0.01634805 0.01164577 -0.01960168
+v -0.01634805 0.01124522 0.00635237
+v -0.01512957 0.01378910 -0.01959660
+v -0.01512957 0.02745404 0.00635237
+v -0.01512957 0.01593051 -0.01958136
+v -0.01634805 0.01378910 -0.01957627
+v -0.01634805 0.02087191 0.00635237
+v -0.01512957 0.02854400 0.00584930
+v -0.01634805 0.02714977 0.00587724
+v -0.01585963 0.02665486 0.00635237
+v -0.01512957 0.01806999 -0.01952038
+v -0.01634805 0.01593051 -0.01950005
+v -0.01619693 0.02619654 0.00635237
+v -0.01634805 0.02599241 0.00634983
+v -0.01512957 0.02868650 0.00577561
+v -0.01629283 0.02812226 0.00541228
+v -0.01634805 0.02728843 0.00581118
+v -0.01634805 0.02664138 0.00610846
+v -0.01634805 0.02619654 0.00627615
+v -0.01634805 0.01806999 -0.01935777
+v -0.01512957 0.02021717 -0.01934760
+v -0.01512957 0.02980149 0.00477963
+v -0.01634805 0.02800287 0.00544277
+v -0.01561035 0.02954923 0.00445187
+v -0.01634805 0.02809145 0.00537417
+v -0.01512957 0.02235279 -0.01905542
+v -0.01634805 0.02025183 -0.01905033
+v -0.01512957 0.03023478 0.00408091
+v -0.01512957 0.03039654 0.00375823
+v -0.01512957 0.03051401 0.00352194
+v -0.01634805 0.02933547 0.00332884
+v -0.01634805 0.02914097 0.00372012
+v -0.01634805 0.02900039 0.00400215
+v -0.01634805 0.02235279 -0.01868954
+v -0.01598379 0.02355830 -0.01855996
+v -0.01512957 0.02266861 -0.01899190
+v -0.01512957 0.03084909 0.00202796
+v -0.01594944 0.02990356 0.00302395
+v -0.01634805 0.02952419 0.00260218
+v -0.01634805 0.02237590 -0.01868446
+v -0.01537634 0.02498526 -0.01781806
+v -0.01512957 0.02474840 -0.01817123
+v -0.01512957 0.02410328 -0.01868700
+v -0.01634805 0.02421305 -0.01725909
+v -0.01626110 0.02435940 -0.01723622
+v -0.01590996 0.02557838 -0.01638760
+v -0.01512957 0.03086642 0.00184249
+v -0.01634805 0.02959159 0.00184249
+v -0.01512957 0.02542432 -0.01760463
+v -0.01512957 0.02605789 -0.01682969
+v -0.01634805 0.02435940 -0.01705836
+v -0.01514841 0.02692446 -0.01529252
+v -0.01512957 0.02694372 -0.01529252
+v -0.01634805 0.02557453 -0.01528236
+v -0.01614433 0.02585184 -0.01528998
+v -0.01634805 0.02840149 -0.00978412
+v -0.01556825 0.02736353 -0.01352160
+v -0.01512957 0.03091071 -0.00002498
+v -0.01602387 0.02998251 -0.00030193
+v -0.01634805 0.02964166 -0.00030193
+v -0.01512957 0.02798939 -0.01318622
+v -0.01634805 0.02635637 -0.01380109
+v -0.01512957 0.03011539 -0.00889484
+v -0.01634805 0.02907742 -0.00841718
+v -0.01512957 0.03091649 -0.00030193
+v -0.01512957 0.03091842 -0.00431382
+v -0.01512957 0.03091842 -0.00458568
+v -0.01634805 0.02964166 -0.00458568
+v -0.01512957 0.03042543 -0.00826727
+v -0.01634805 0.02951264 -0.00674280
+v -0.01590007 0.02985157 -0.00779723
+v -0.01512957 0.03078939 -0.00672502
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+f 1 5 3
+f 1 3 7
+f 1 7 9
+f 1 9 15
+f 1 15 25
+f 1 25 30
+f 1 30 40
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+f 1 47 46
+f 1 46 53
+f 1 53 54
+f 1 54 57
+f 1 57 65
+f 1 65 67
+f 1 67 73
+f 1 73 76
+f 1 76 71
+f 1 71 70
+f 1 70 69
+f 1 69 62
+f 1 62 51
+f 1 51 41
+f 1 41 34
+f 1 34 33
+f 1 33 32
+f 1 32 26
+f 1 26 19
+f 1 19 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 23
+f 2 23 22
+f 2 22 13
+f 2 13 21
+f 2 21 27
+f 2 27 29
+f 2 29 37
+f 2 37 36
+f 2 36 35
+f 2 35 43
+f 2 43 52
+f 2 52 64
+f 2 64 72
+f 2 72 74
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+f 2 68 60
+f 2 60 66
+f 2 66 58
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+f 2 44 38
+f 2 38 31
+f 2 31 24
+f 2 24 16
+f 2 16 10
+f 2 10 5
+f 3 5 7
+f 4 8 14
+f 4 14 17
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+f 5 9 7
+f 5 10 9
+f 8 12 13
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+f 9 10 15
+f 10 16 15
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 22 14
+f 14 22 23
+f 14 23 17
+f 15 16 24
+f 15 24 25
+f 17 23 18
+f 19 26 20
+f 20 27 21
+f 20 26 28
+f 20 28 29
+f 20 29 27
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+f 24 31 30
+f 26 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 36
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+f 28 37 29
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+f 30 38 39
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+f 34 41 42
+f 34 42 35
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+f 38 44 39
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 39 44 48
+f 39 48 49
+f 39 49 50
+f 39 50 45
+f 41 51 42
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+f 43 51 52
+f 45 53 46
+f 45 50 54
+f 45 54 53
+f 48 55 50
+f 48 50 49
+f 50 56 57
+f 50 57 54
+f 50 55 58
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+f 50 59 60
+f 50 60 61
+f 50 61 56
+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 56 61 60
+f 56 60 65
+f 56 65 57
+f 58 66 59
+f 59 66 60
+f 60 67 65
+f 60 68 67
+f 62 69 63
+f 63 70 71
+f 63 71 72
+f 63 72 64
+f 63 69 70
+f 67 68 73
+f 68 74 75
+f 68 75 73
+f 71 76 74
+f 71 74 72
+f 73 75 76
+f 74 76 75
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_311.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97da750f675ccd417c4312014e0381afd0986b1d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_311.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.03773856 0.00635208
+v -0.00183008 0.03733538 0.00634979
+v -0.00183008 0.03732747 0.00635208
+v -0.00083021 -0.03814582 0.00635208
+v -0.00083021 0.03833146 0.00602333
+v -0.00183008 0.03746187 0.00627594
+v -0.00183008 -0.03786913 0.00635208
+v -0.00083021 -0.03933954 0.00568021
+v -0.00083021 0.03897971 0.00559851
+v -0.00128806 0.03888484 0.00551910
+v -0.00167299 0.03869511 0.00551910
+v -0.00183008 0.03861606 0.00551910
+v -0.00183008 -0.03914981 0.00555701
+v -0.00083021 -0.04035934 0.00409693
+v -0.00083021 0.03904295 0.00551910
+v -0.00183008 0.03875836 0.00542499
+v -0.00083021 0.03962005 0.00469070
+v -0.00183008 -0.03917353 0.00551910
+v -0.00183008 -0.04000360 0.00399955
+v -0.00083021 -0.04058070 0.00301364
+v -0.00183008 0.03883741 0.00531061
+v -0.00083021 0.03988093 0.00418647
+v -0.00183008 -0.04020124 0.00301364
+v -0.00083021 0.04018134 0.00301364
+v -0.00183008 0.03941451 0.00418647
+v -0.00083021 0.03992046 0.00407961
+v -0.00183008 0.03950938 0.00399727
+v -0.00183008 0.03972282 0.00301364
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 24
+f 1 24 26
+f 1 26 22
+f 1 22 17
+f 1 17 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 6 12
+f 2 12 16
+f 2 16 21
+f 2 21 25
+f 2 25 27
+f 2 27 28
+f 2 28 23
+f 2 23 19
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+f 2 18 13
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+f 2 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 16 11
+f 10 15 17
+f 10 17 16
+f 11 16 12
+f 13 18 14
+f 14 19 20
+f 14 18 19
+f 16 17 21
+f 17 22 21
+f 19 23 20
+f 20 23 28
+f 20 28 24
+f 21 22 25
+f 22 26 27
+f 22 27 25
+f 24 28 27
+f 24 27 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_312.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1206140ab7da0a06329334348dc334e2a27c982
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_312.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01032557 -0.02525296 -0.01518616
+v 0.01032557 -0.02525296 -0.01635517
+v 0.00986334 -0.02525296 -0.01518616
+v 0.01032557 -0.04111796 -0.01518616
+v 0.00986334 -0.02525296 -0.01635517
+v 0.01032557 -0.04066600 -0.01635517
+v 0.00986334 -0.04103409 -0.01518616
+v 0.01032557 -0.04111641 -0.01519063
+v 0.00986334 -0.04057903 -0.01635517
+v 0.01032557 -0.04077317 -0.01617163
+v 0.00998786 -0.04060699 -0.01635517
+v 0.00986334 -0.04073434 -0.01604461
+v 0.01032557 -0.04106981 -0.01532405
+v 0.00986334 -0.04073123 -0.01605216
+v 0.01032557 -0.04081976 -0.01603855
+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 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 11 14
+f 10 15 12
+f 10 12 14
+f 10 14 11
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_313.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_313.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f245034e6900bbf55c665c488cda453acf8b5e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_313.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00023080 -0.04106666 -0.00728855
+v 0.00175205 -0.04164930 -0.00728855
+v 0.00023080 0.02878732 -0.00728855
+v 0.00023080 -0.04095568 -0.00798026
+v 0.00036679 -0.04098343 -0.00809763
+v 0.00095066 -0.04119152 -0.00809763
+v 0.00202831 -0.04154526 -0.00809763
+v 0.00202831 -0.04173947 -0.00728855
+v 0.00202831 0.02878732 -0.00728855
+v 0.00023080 0.02878732 -0.00809763
+v 0.00023080 -0.04092101 -0.00809763
+v 0.00314301 -0.04187126 -0.00809763
+v 0.00314301 -0.04207240 -0.00728855
+v 0.00202831 0.02878732 -0.00809763
+v 0.00314301 0.02878039 -0.00728855
+v 0.00314301 0.02878039 -0.00809763
+f 1 2 8
+f 1 8 13
+f 1 13 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 14
+f 3 14 10
+f 4 11 5
+f 5 11 10
+f 5 10 14
+f 5 14 16
+f 5 16 12
+f 5 12 7
+f 5 7 6
+f 7 12 13
+f 7 13 8
+f 9 15 16
+f 9 16 14
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_314.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_314.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0a9d7b13f63e290f3f07329d60037535eddb45
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_314.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.02569164 -0.00232500
+v -0.01399461 0.02569164 -0.00716916
+v -0.01512946 0.02569164 -0.00232500
+v -0.01399461 -0.01182831 -0.00232500
+v -0.01512946 0.02569164 -0.00716916
+v -0.01399461 -0.03227614 -0.00716916
+v -0.01512946 -0.01182831 -0.00232500
+v -0.01399461 -0.03246400 -0.00232547
+v -0.01512946 -0.03121163 -0.00716916
+v -0.01399461 -0.03233876 -0.00672486
+v -0.01499027 -0.03144502 -0.00672486
+v -0.01455537 -0.03176950 -0.00716916
+v -0.01512946 -0.03143364 -0.00232547
+v -0.01505803 -0.03150195 -0.00232547
+v -0.01399461 -0.03246400 -0.00458396
+v -0.01512946 -0.03127994 -0.00690600
+v -0.01399461 -0.03235015 -0.00658308
+v -0.01512946 -0.03142795 -0.00472669
+v -0.01512946 -0.03131410 -0.00672486
+v -0.01505803 -0.03150195 -0.00458396
+v -0.01512946 -0.03143364 -0.00458396
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 16
+f 3 16 19
+f 3 19 18
+f 3 18 21
+f 3 21 13
+f 3 13 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 20
+f 8 20 15
+f 9 12 16
+f 10 17 11
+f 11 18 19
+f 11 19 16
+f 11 16 12
+f 11 17 15
+f 11 15 20
+f 11 20 18
+f 13 21 20
+f 13 20 14
+f 18 20 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_315.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_315.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6ab81cb824a3ce1a30802b1ef108a3452a1cf1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_315.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 -0.03823476 0.00490986
+v -0.00351171 -0.03893202 0.00471895
+v -0.00351171 -0.03889680 0.00484958
+v -0.00330172 -0.03884046 0.00525618
+v -0.00415443 -0.03778401 0.00557643
+v -0.00415443 0.03233575 0.00490986
+v -0.00197419 -0.03955884 0.00471895
+v -0.00351171 0.03233575 0.00471895
+v -0.00197419 -0.03912922 0.00553934
+v -0.00351171 -0.03851648 0.00540215
+v -0.00415443 -0.03763611 0.00576350
+v -0.00415443 0.03233575 0.00635237
+v -0.00183017 -0.03960110 0.00471895
+v -0.00183017 0.03233575 0.00471895
+v -0.00183017 -0.03915035 0.00555677
+v -0.00197419 -0.03784036 0.00635237
+v -0.00351171 -0.03769950 0.00594162
+v -0.00405614 -0.03767133 0.00578093
+v -0.00415443 -0.03647402 0.00635237
+v -0.00183017 0.03233575 0.00635237
+v -0.00183017 -0.03787557 0.00635237
+v -0.00237620 -0.03762907 0.00635237
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 8
+f 1 8 2
+f 2 7 3
+f 2 8 14
+f 2 14 13
+f 2 13 7
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 20
+f 6 20 14
+f 6 14 8
+f 7 13 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 13 15
+f 10 18 11
+f 11 18 19
+f 12 19 22
+f 12 22 16
+f 12 16 21
+f 12 21 20
+f 13 14 20
+f 13 20 21
+f 13 21 15
+f 15 21 16
+f 16 22 17
+f 17 22 18
+f 18 22 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_316.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96d3adc3182ab29df018635d1e34d31c0abf91a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_316.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 -0.03134347 -0.00297510
+v -0.00850034 -0.03134347 -0.00297510
+v -0.00950790 -0.03134347 -0.00214373
+v -0.00950790 -0.02029976 -0.00297510
+v -0.00850034 -0.03134347 -0.00214373
+v -0.00850034 -0.02029976 -0.00297510
+v -0.00950790 -0.02029976 -0.00214373
+v -0.00850034 -0.02029976 -0.00214373
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_317.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_317.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2f26c40f1fc0ff95b6c72ec7909b0aca0338ad
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_317.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03004526 0.00635226
+v -0.01266345 0.03097028 0.00590539
+v -0.01273589 0.03097028 0.00587191
+v -0.01275452 0.02995470 0.00635226
+v -0.01266345 -0.03026830 0.00635226
+v -0.01266345 0.03111259 0.00582475
+v -0.01344330 0.03024579 0.00586754
+v -0.01344330 0.02961187 0.00617817
+v -0.01344330 0.03063391 0.00565706
+v -0.01344330 0.02924962 0.00635226
+v -0.01269627 -0.03024889 0.00635226
+v -0.01266345 -0.03126447 0.00593421
+v -0.01266345 0.03208935 0.00504047
+v -0.01344330 0.03174005 0.00454469
+v -0.01344330 -0.02947913 0.00635226
+v -0.01274673 -0.03127094 0.00589928
+v -0.01266345 -0.03145206 0.00584105
+v -0.01266345 0.03240632 0.00446608
+v -0.01273589 0.03266506 0.00387714
+v -0.01342215 0.03179827 0.00446579
+v -0.01344330 0.03177886 0.00446579
+v -0.01344330 -0.03097985 0.00570976
+v -0.01344330 -0.03198249 0.00467424
+v -0.01344330 -0.03211833 0.00452081
+v -0.01338024 -0.03220242 0.00446608
+v -0.01266345 -0.03310803 0.00384366
+v -0.01266345 0.03271681 0.00388238
+v -0.01266345 0.03275562 0.00375167
+v -0.01344330 0.03227694 0.00337816
+v -0.01344330 -0.03212480 0.00451179
+v -0.01344330 -0.03264229 0.00337816
+v -0.01266345 -0.03317272 0.00371295
+v -0.01266345 0.03284618 0.00337816
+v -0.01337406 -0.03270051 0.00337816
+v -0.01266345 -0.03323740 0.00337816
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 17
+f 1 17 26
+f 1 26 32
+f 1 32 35
+f 1 35 33
+f 1 33 28
+f 1 28 27
+f 1 27 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 5 11 12
+f 6 13 9
+f 7 9 14
+f 7 14 21
+f 7 21 29
+f 7 29 31
+f 7 31 30
+f 7 30 24
+f 7 24 23
+f 7 23 22
+f 7 22 15
+f 7 15 10
+f 7 10 8
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 21
+f 24 30 25
+f 25 31 32
+f 25 32 26
+f 25 30 31
+f 28 33 29
+f 29 33 35
+f 29 35 34
+f 29 34 31
+f 31 34 32
+f 32 34 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_318.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4975eeee9951079fb993cee8ea054a7814ec6dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_318.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02128547 -0.02010416 -0.01250063
+v -0.02069365 -0.02010416 -0.01250063
+v -0.02130386 -0.02010416 -0.01245389
+v -0.02130386 -0.02006993 -0.01250063
+v -0.02069365 -0.01903188 -0.01250063
+v -0.02069365 -0.02010416 -0.00688329
+v -0.02130386 -0.02010416 -0.00688329
+v -0.02130386 -0.01903188 -0.01250063
+v -0.02069365 -0.01903188 -0.00688329
+v -0.02130386 -0.01903188 -0.00688329
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_319.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_319.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2e91057ada34d5b717b1babf36262527e21f315
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_319.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03425783 0.00635237
+v -0.00716753 0.03439373 0.00628818
+v -0.00733454 0.03415054 0.00635237
+v -0.00716753 -0.03342113 0.00635237
+v -0.00805384 0.03488727 0.00568069
+v -0.00805384 0.03364269 0.00635237
+v -0.00716753 0.03517338 0.00586587
+v -0.00805384 -0.03388605 0.00635237
+v -0.00716753 -0.03450119 0.00635166
+v -0.00805384 0.03515907 0.00548555
+v -0.00716753 0.03628920 0.00505669
+v -0.00805384 -0.03407202 0.00635209
+v -0.00716753 -0.03545965 0.00596080
+v -0.00790479 0.03543803 0.00533994
+v -0.00805384 0.03523775 0.00542050
+v -0.00716753 0.03637503 0.00489827
+v -0.00730157 0.03623913 0.00501328
+v -0.00805384 -0.03543819 0.00563614
+v -0.00716753 -0.03661839 0.00513141
+v -0.00745504 0.03618191 0.00489827
+v -0.00805384 0.03561684 0.00489827
+v -0.00716753 -0.03669707 0.00489827
+v -0.00805384 -0.03563132 0.00549480
+v -0.00735363 -0.03656117 0.00507790
+v -0.00729376 -0.03664700 0.00489827
+v -0.00805384 -0.03597464 0.00489827
+v -0.00741470 -0.03659693 0.00489827
+f 1 2 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 22
+f 1 22 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 15
+f 5 15 21
+f 5 21 26
+f 5 26 23
+f 5 23 18
+f 5 18 12
+f 5 12 8
+f 5 8 6
+f 7 11 10
+f 8 12 9
+f 9 12 13
+f 10 11 14
+f 10 14 15
+f 11 16 17
+f 11 17 14
+f 12 18 13
+f 13 18 19
+f 14 17 20
+f 14 20 21
+f 14 21 15
+f 16 20 17
+f 16 22 25
+f 16 25 27
+f 16 27 26
+f 16 26 21
+f 16 21 20
+f 18 23 19
+f 19 24 25
+f 19 25 22
+f 19 23 24
+f 23 26 24
+f 24 26 27
+f 24 27 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_32.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f39f061d37eff45aa32c7b9beaaae6bfdd9e8e1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,342 @@
+# https://github.com/mikedh/trimesh
+v -0.01902721 -0.00763861 0.02082037
+v -0.01902721 -0.00619726 0.02037776
+v -0.01911213 -0.00620274 0.02036847
+v -0.02034181 -0.00641803 0.02015007
+v -0.01911213 -0.00763861 0.02079481
+v -0.01902721 -0.00970758 0.02052065
+v -0.01902721 -0.00512629 0.01918469
+v -0.01911213 -0.00512994 0.01918818
+v -0.02081277 -0.00432716 0.01805784
+v -0.02224138 -0.00445670 0.01788707
+v -0.02266280 -0.00588528 0.01823093
+v -0.02149130 -0.00763861 0.01941006
+v -0.02042044 -0.00763861 0.02020350
+v -0.02034024 -0.00894495 0.02015587
+v -0.01908225 -0.00970576 0.02049858
+v -0.01902721 -0.00980611 0.02047767
+v -0.01902721 -0.00429250 0.01811360
+v -0.01911213 -0.00428885 0.01811709
+v -0.02125464 -0.00261579 0.01505368
+v -0.02141818 -0.00377617 0.01703903
+v -0.02268718 -0.00213413 0.01396633
+v -0.02300796 -0.00392577 0.01645934
+v -0.02443578 -0.00448954 0.01573211
+v -0.02466222 -0.00591812 0.01603764
+v -0.02275951 -0.00763861 0.01833897
+v -0.02256688 -0.00908726 0.01816123
+v -0.02120196 -0.00972765 0.01896164
+v -0.01977729 -0.01036987 0.01976089
+v -0.01902721 -0.01184041 0.01892679
+v -0.01902721 -0.00425783 0.01806249
+v -0.01911213 -0.00357365 0.01683805
+v -0.02125464 -0.00213413 0.01398375
+v -0.01902721 -0.00357365 0.01683805
+v -0.01902721 -0.00352804 0.01674976
+v -0.02463942 -0.00213960 0.01180904
+v -0.02411499 -0.00249537 0.01323678
+v -0.02356148 -0.00321057 0.01485038
+v -0.02125464 -0.00017645 0.00895242
+v -0.02339715 -0.00040451 0.00895242
+v -0.02661132 -0.00442021 0.01149074
+v -0.02517721 -0.00531968 0.01488988
+v -0.02487686 -0.00392213 0.01430554
+v -0.02627952 -0.00549484 0.01282089
+v -0.02536748 -0.00763861 0.01469704
+v -0.02464650 -0.00763861 0.01602370
+v -0.02382959 -0.00763861 0.01709479
+v -0.02451126 -0.00878987 0.01583899
+v -0.02331224 -0.00965102 0.01672537
+v -0.02206369 -0.01051218 0.01761291
+v -0.02063587 -0.01124745 0.01833316
+v -0.01902721 -0.01186413 0.01890588
+v -0.01902721 -0.00258113 0.01456576
+v -0.02601377 -0.00308833 0.01041268
+v -0.02547205 -0.00345688 0.01236434
+v -0.02516777 -0.00139886 0.00895242
+v -0.02101090 -0.00021111 0.00895242
+v -0.02693997 -0.00549484 0.01041268
+v -0.02670095 -0.00549484 0.01174980
+v -0.02626616 -0.00277452 0.00895242
+v -0.02649810 -0.00311570 0.00895242
+v -0.02674262 -0.00415931 0.01041268
+v -0.02672847 -0.00695260 0.01183228
+v -0.02626223 -0.00765503 0.01254905
+v -0.02545947 -0.00977874 0.01255486
+v -0.02473534 -0.00961271 0.01450535
+v -0.02448689 -0.01088438 0.01366428
+v -0.02405838 -0.01021662 0.01509085
+v -0.02263057 -0.01121826 0.01618518
+v -0.02196069 -0.01264684 0.01538128
+v -0.02129788 -0.01194623 0.01686129
+v -0.01967743 -0.01267603 0.01753740
+v -0.02121061 -0.01400608 0.01463198
+v -0.02046132 -0.01535256 0.01388036
+v -0.01902721 -0.01188603 0.01888149
+v -0.01902721 -0.00056871 0.00895242
+v -0.02705869 -0.00549484 0.00895242
+v -0.02685584 -0.00384550 0.00895242
+v -0.02680631 -0.00728649 0.01041268
+v -0.02649967 -0.00835929 0.01041268
+v -0.02599333 -0.00977874 0.01041268
+v -0.02440590 -0.01289132 0.01109692
+v -0.02472040 -0.01133503 0.01255486
+v -0.02407490 -0.01240600 0.01255486
+v -0.02257710 -0.01329453 0.01395471
+v -0.02331696 -0.01176561 0.01452278
+v -0.01902721 -0.01369409 0.01682411
+v -0.01952569 -0.01471763 0.01530809
+v -0.01902721 -0.01551859 0.01474467
+v -0.02188914 -0.01472128 0.01300676
+v -0.02120668 -0.01569191 0.01239803
+v -0.02009729 -0.01722083 0.01131532
+v -0.01927488 -0.01690520 0.01271053
+v -0.01902721 -0.01695993 0.01285690
+v -0.01902721 -0.01565360 0.01458784
+v -0.01902721 -0.01881544 0.00895242
+v -0.02681260 -0.00741785 0.00895242
+v -0.02654842 -0.00848882 0.00895242
+v -0.02626301 -0.00932809 0.00895242
+v -0.02610183 -0.00977874 0.00895242
+v -0.02544296 -0.01123833 0.00895242
+v -0.02510881 -0.01196995 0.00895242
+v -0.02494605 -0.01207395 0.01039409
+v -0.02451283 -0.01305735 0.00966803
+v -0.02372973 -0.01388749 0.01039409
+v -0.02252128 -0.01534891 0.01041268
+v -0.02237582 -0.01518653 0.01157903
+v -0.02289867 -0.01402980 0.01239803
+v -0.02080569 -0.01744707 0.00895242
+v -0.02053994 -0.01767148 0.00895242
+v -0.01926151 -0.01869502 0.00895242
+v -0.01902721 -0.01783386 0.01116778
+v -0.01902721 -0.01720624 0.01246192
+v -0.02452306 -0.01307559 0.00895242
+v -0.02302054 -0.01503327 0.00895242
+v -0.02263292 -0.01550399 0.00895242
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+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 29
+f 1 29 51
+f 1 51 74
+f 1 74 86
+f 1 86 88
+f 1 88 94
+f 1 94 93
+f 1 93 112
+f 1 112 111
+f 1 111 95
+f 1 95 75
+f 1 75 52
+f 1 52 34
+f 1 34 33
+f 1 33 30
+f 1 30 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
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+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 14 15
+f 7 17 18
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+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
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+f 11 24 25
+f 11 25 12
+f 11 23 24
+f 12 25 14
+f 12 14 13
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 29
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 32 21
+f 19 21 20
+f 19 31 33
+f 19 33 34
+f 19 34 32
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 21 32 38
+f 21 38 39
+f 21 39 35
+f 22 37 23
+f 23 40 41
+f 23 41 24
+f 23 37 36
+f 23 36 42
+f 23 42 40
+f 24 41 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 25 46 26
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 27
+f 27 49 28
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 30 33 31
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+f 32 52 38
+f 35 53 54
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+f 38 95 110
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+f 38 108 115
+f 38 115 114
+f 38 114 113
+f 38 113 101
+f 38 101 100
+f 38 100 99
+f 38 99 98
+f 38 98 97
+f 38 97 96
+f 38 96 76
+f 38 76 77
+f 38 77 60
+f 38 60 59
+f 38 59 55
+f 38 55 39
+f 38 52 56
+f 40 57 58
+f 40 58 43
+f 40 43 41
+f 40 42 54
+f 40 54 53
+f 40 53 59
+f 40 59 60
+f 40 60 61
+f 40 61 57
+f 43 58 62
+f 43 62 44
+f 44 63 47
+f 44 47 45
+f 44 62 63
+f 45 47 46
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 71 51
+f 50 70 72
+f 50 72 73
+f 50 73 71
+f 51 71 74
+f 52 75 56
+f 53 55 59
+f 57 76 62
+f 57 62 58
+f 57 61 77
+f 57 77 76
+f 60 77 61
+f 62 78 79
+f 62 79 80
+f 62 80 64
+f 62 64 63
+f 62 76 78
+f 64 80 81
+f 64 81 82
+f 64 82 66
+f 64 66 65
+f 66 82 83
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 68
+f 68 85 84
+f 68 84 69
+f 69 84 72
+f 69 72 70
+f 71 86 74
+f 71 73 87
+f 71 87 88
+f 71 88 86
+f 72 84 73
+f 73 89 90
+f 73 90 91
+f 73 91 92
+f 73 92 93
+f 73 93 94
+f 73 94 87
+f 73 84 89
+f 76 96 78
+f 78 96 97
+f 78 97 79
+f 79 97 98
+f 79 98 80
+f 80 98 99
+f 80 99 100
+f 80 100 101
+f 80 101 102
+f 80 102 81
+f 81 103 104
+f 81 104 105
+f 81 105 106
+f 81 106 107
+f 81 107 83
+f 81 83 82
+f 81 102 103
+f 83 107 84
+f 84 107 106
+f 84 106 89
+f 87 94 88
+f 89 106 90
+f 90 106 91
+f 91 108 109
+f 91 109 110
+f 91 110 95
+f 91 95 111
+f 91 111 112
+f 91 112 92
+f 91 106 108
+f 92 112 93
+f 101 113 103
+f 101 103 102
+f 103 113 114
+f 103 114 104
+f 104 114 115
+f 104 115 105
+f 105 115 108
+f 105 108 106
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_320.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_320.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058779bdefe25f8c42b430eed1bcdb0768b65f68
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_320.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00450667 0.02878733 -0.00736579
+v 0.00450667 0.02878733 -0.01106164
+v 0.00384159 0.02878733 -0.00736579
+v 0.00450667 -0.04248999 -0.00736579
+v 0.00384159 0.02878733 -0.01106164
+v 0.00450667 -0.04138064 -0.01106164
+v 0.00384159 -0.04226673 -0.00736579
+v 0.00384159 -0.04195276 -0.00890274
+v 0.00450667 -0.04230859 -0.00824172
+v 0.00384159 -0.04118529 -0.01106164
+v 0.00450667 -0.04216905 -0.00886584
+v 0.00433238 -0.04133878 -0.01106164
+v 0.00384159 -0.04175043 -0.00948416
+v 0.00445250 -0.04215509 -0.00886801
+v 0.00450667 -0.04218998 -0.00880035
+v 0.00411029 -0.04127599 -0.01106164
+v 0.00384159 -0.04122715 -0.01095201
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 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 15
+f 8 15 9
+f 10 16 17
+f 11 15 14
+f 11 14 12
+f 12 14 16
+f 13 17 16
+f 13 16 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_321.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_321.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eccd72a1e7851c2ad7efb0a88f125c4b018906f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_321.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.02341492 -0.01620630
+v -0.01159234 0.02341492 -0.01810200
+v -0.01266334 0.02341492 -0.01620630
+v -0.01159234 -0.03049854 -0.01620630
+v -0.01266334 0.02341492 -0.01810200
+v -0.01159234 -0.02910532 -0.01810200
+v -0.01266334 -0.02946945 -0.01620630
+v -0.01166427 -0.03043521 -0.01620630
+v -0.01172141 -0.03022411 -0.01655664
+v -0.01159234 -0.03041938 -0.01637423
+v -0.01266334 -0.02811317 -0.01810200
+v -0.01159234 -0.02943251 -0.01777040
+v -0.01266334 -0.02884145 -0.01726437
+v -0.01211123 -0.03003413 -0.01620630
+v -0.01181399 -0.03030327 -0.01620630
+v -0.01159234 -0.03029272 -0.01661342
+v -0.01253596 -0.02891533 -0.01732579
+v -0.01266334 -0.02870424 -0.01744622
+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 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 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 12 11
+f 7 13 14
+f 8 15 9
+f 9 16 10
+f 9 15 14
+f 9 14 13
+f 9 13 17
+f 9 17 12
+f 9 12 16
+f 11 12 18
+f 12 17 18
+f 13 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_322.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_322.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9e8277079470a03884f041ca13bc73c0d87720
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_322.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01680300 0.00359997 0.00325987
+v -0.01680300 0.00359997 -0.00026993
+v -0.01723698 0.00359997 0.00325987
+v -0.01680300 -0.02530883 0.00325987
+v -0.01723698 0.00359997 -0.00026993
+v -0.01680300 -0.02530883 -0.00026993
+v -0.01723698 -0.02530883 0.00325987
+v -0.01723698 -0.02530883 -0.00026993
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_323.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54cc41899d7c6af2fc646d4292c0f18dc4fd8f61
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_323.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03752918 -0.00798018
+v -0.00597001 0.03725799 -0.00901180
+v -0.00634593 0.03732723 -0.00798018
+v -0.00597001 -0.02141900 -0.00798018
+v -0.00641662 0.03702141 -0.00899473
+v -0.00597001 0.03674444 -0.01039751
+v -0.00716741 0.03671559 -0.00861455
+v -0.00716741 0.03683099 -0.00798018
+v -0.00716741 -0.02141900 -0.00798018
+v -0.00597001 -0.02141900 -0.01127159
+v -0.00716741 0.03628282 -0.00972608
+v -0.00597001 0.03650209 -0.01100966
+v -0.00716741 -0.02141900 -0.01127159
+v -0.00597001 0.03639823 -0.01127159
+v -0.00716741 0.03616742 -0.01000702
+v -0.00716741 0.03561348 -0.01127159
+v -0.00675773 0.03590199 -0.01127159
+v -0.00691902 0.03579236 -0.01127159
+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 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 13
+f 4 13 10
+f 5 6 11
+f 5 11 7
+f 6 12 11
+f 7 11 15
+f 7 15 16
+f 7 16 13
+f 7 13 9
+f 7 9 8
+f 10 13 16
+f 10 16 18
+f 10 18 17
+f 10 17 14
+f 11 12 14
+f 11 14 15
+f 14 17 15
+f 15 17 18
+f 15 18 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_324.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bf8abcbc1764636918901a8e3c4e4e97dc2f35
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_324.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00080183 0.02878732 -0.00809781
+v 0.00023063 0.02878732 -0.00809781
+v 0.00080183 -0.03599898 -0.00809781
+v 0.00080183 0.02878732 -0.00919771
+v 0.00023063 0.02878732 -0.00919771
+v 0.00023063 -0.03599898 -0.00809781
+v 0.00080183 -0.03599898 -0.00919771
+v 0.00080177 0.02878732 -0.01106182
+v 0.00023069 0.02878732 -0.01106182
+v 0.00023063 -0.03599898 -0.00919771
+v 0.00080177 -0.03599898 -0.01106182
+v 0.00023069 -0.03599898 -0.01106182
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 12
+f 5 12 10
+f 8 11 12
+f 8 12 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_325.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9698304890c9e1a513626ab7c4142ceca045a2db
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_325.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.03669264 -0.00229984
+v -0.00805384 0.03669264 -0.00453742
+v -0.00850034 0.03636749 -0.00229984
+v -0.00805384 -0.02598018 -0.00229984
+v -0.00805384 0.03656994 -0.00672757
+v -0.00850034 0.03625093 -0.00672757
+v -0.00850034 0.03636749 -0.00453742
+v -0.00850034 -0.02598018 -0.00229984
+v -0.00805384 -0.02598018 -0.01957377
+v -0.00805384 0.03607302 -0.00870769
+v -0.00850034 0.03563746 -0.00898548
+v -0.00850034 -0.02598018 -0.01956021
+v -0.00805384 -0.02510904 -0.01960426
+v -0.00805384 0.03401174 -0.01359446
+v -0.00822482 0.03468043 -0.01172275
+v -0.00834903 0.03310380 -0.01523750
+v -0.00850034 0.03387678 -0.01314898
+v -0.00840064 -0.02477163 -0.01960426
+v -0.00850034 -0.02477163 -0.01960087
+v -0.00805384 -0.02477163 -0.01960426
+v -0.00805384 0.03331851 -0.01523750
+v -0.00805384 0.03325103 -0.01539503
+v -0.00850034 0.03293202 -0.01538148
+v -0.00850034 0.03299337 -0.01523750
+v -0.00850034 -0.02466734 -0.01960426
+v -0.00805384 0.02449058 -0.01960256
+v -0.00805384 0.03220812 -0.01743612
+v -0.00850034 0.03186457 -0.01743612
+v -0.00850034 0.02234341 -0.01960256
+v -0.00840064 0.02449058 -0.01960256
+v -0.00805384 0.02663161 -0.01953989
+v -0.00805384 0.03106092 -0.01867941
+v -0.00850034 0.03064989 -0.01869466
+v -0.00850034 0.02449058 -0.01959917
+v -0.00805384 0.02877878 -0.01926210
+v -0.00840064 0.02663161 -0.01952803
+v -0.00805384 0.03080939 -0.01875055
+v -0.00822792 0.03079712 -0.01871668
+v -0.00825397 0.03049652 -0.01879290
+v -0.00850034 0.02877265 -0.01919773
+v -0.00850034 0.02663161 -0.01951448
+v -0.00840064 0.02877878 -0.01921806
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 20
+f 1 20 26
+f 1 26 31
+f 1 31 35
+f 1 35 37
+f 1 37 32
+f 1 32 27
+f 1 27 22
+f 1 22 21
+f 1 21 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 17
+f 3 17 24
+f 3 24 23
+f 3 23 28
+f 3 28 33
+f 3 33 40
+f 3 40 41
+f 3 41 34
+f 3 34 29
+f 3 29 25
+f 3 25 19
+f 3 19 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 6
+f 6 10 11
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 13
+f 12 19 18
+f 13 18 25
+f 13 25 20
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 19 25
+f 20 25 26
+f 22 27 23
+f 23 27 28
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 29 34 30
+f 30 34 31
+f 31 34 36
+f 31 36 35
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 34 41 36
+f 35 36 42
+f 35 42 37
+f 36 41 42
+f 37 42 39
+f 37 39 38
+f 39 42 40
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_326.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_326.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4518762b3d440200a5fe00a9095db1118b0eacbe
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_326.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 -0.01951065 0.00635237
+v -0.01399461 -0.01951065 0.00454600
+v -0.01512946 -0.01951065 0.00635237
+v -0.01399461 -0.02900161 0.00635237
+v -0.01512946 -0.01951065 0.00454600
+v -0.01399461 -0.03142245 0.00454600
+v -0.01512946 -0.02771656 0.00635237
+v -0.01484527 -0.02811303 0.00635237
+v -0.01399461 -0.02909023 0.00632320
+v -0.01512946 -0.03039977 0.00454600
+v -0.01399461 -0.03074960 0.00556023
+v -0.01429535 -0.03062133 0.00547854
+v -0.01459742 -0.03095367 0.00454600
+v -0.01512946 -0.02819000 0.00617697
+v -0.01493648 -0.02915670 0.00591828
+v -0.01512946 -0.02934794 0.00562158
+v -0.01512946 -0.02906574 0.00585215
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 17
+f 3 17 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 11
+f 10 13 12
+f 10 12 16
+f 11 15 12
+f 12 15 17
+f 12 17 16
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_327.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_327.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f9218bab79fd0684fb2ad18f5e2f49bf983d5a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_327.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01238028 0.00688346 -0.00293720
+v 0.01238044 0.00689344 -0.01013866
+v 0.01238036 0.00689344 -0.00737816
+v 0.01238028 0.00689344 -0.00526982
+v 0.01155306 0.00688346 -0.00293720
+v 0.01238028 -0.04410030 -0.00293720
+v 0.01238044 0.00689344 -0.01106200
+v 0.01238044 -0.04313693 -0.01013866
+v 0.01155306 0.00689344 -0.00526982
+v 0.01155298 0.00689344 -0.01013866
+v 0.01155306 -0.04402043 -0.00293720
+v 0.01238028 -0.04410030 -0.00458348
+v 0.01238036 -0.04386070 -0.00737816
+v 0.01238044 -0.04279251 -0.01106200
+v 0.01155298 0.00689344 -0.01106200
+v 0.01238044 -0.04309201 -0.01026193
+v 0.01238036 -0.04352627 -0.00890753
+v 0.01238036 -0.04338152 -0.00941334
+v 0.01155306 -0.04309201 -0.01011957
+v 0.01155298 -0.04306705 -0.01019035
+v 0.01155298 -0.04308202 -0.01013866
+v 0.01155306 -0.04402043 -0.00458348
+v 0.01238028 -0.04400047 -0.00672522
+v 0.01155306 -0.04393059 -0.00672522
+v 0.01237015 -0.04386070 -0.00737737
+v 0.01155298 -0.04270766 -0.01106200
+v 0.01155306 -0.04343643 -0.00895843
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 8
+f 1 8 2
+f 2 7 15
+f 2 15 10
+f 2 10 9
+f 2 9 4
+f 2 4 3
+f 2 8 16
+f 2 16 14
+f 2 14 7
+f 5 9 10
+f 5 10 21
+f 5 21 11
+f 6 11 22
+f 6 22 12
+f 6 12 13
+f 6 13 8
+f 7 14 26
+f 7 26 15
+f 8 13 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 16
+f 10 15 26
+f 10 26 20
+f 10 20 21
+f 11 21 22
+f 12 23 13
+f 12 22 24
+f 12 24 23
+f 13 23 25
+f 13 25 17
+f 14 20 26
+f 14 16 20
+f 17 27 18
+f 17 25 24
+f 17 24 27
+f 18 27 19
+f 19 27 20
+f 20 27 21
+f 21 27 24
+f 21 24 22
+f 23 24 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_328.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5887c88803067f8df7c830c5b396580cc4ba22f2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_328.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.01891289 0.00635214
+v -0.01634805 0.01891289 0.00403415
+v -0.01680296 0.01891289 0.00635214
+v -0.01634805 0.00566908 0.00635214
+v -0.01680296 0.01891289 0.00403415
+v -0.01634805 0.00563234 0.00403415
+v -0.01680296 0.00550635 0.00635214
+v -0.01634872 0.00550635 0.00635214
+v -0.01634854 0.00550635 0.00403415
+v -0.01680296 0.00550635 0.00403415
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 4 9 6
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_329.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8723befaff241308c2ebe9533aac263283414c18
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_329.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03724205 -0.00009755
+v -0.00716753 0.03724205 -0.00458298
+v -0.00797706 0.03674584 -0.00029891
+v -0.00797420 0.03674129 -0.00009755
+v -0.00716753 -0.00925517 -0.00009755
+v -0.00716753 0.03714189 -0.00672536
+v -0.00797706 0.03674584 -0.00458298
+v -0.00805384 0.03669122 -0.00029891
+v -0.00805384 0.03668666 -0.00009755
+v -0.00805384 -0.00925517 -0.00009755
+v -0.00716753 -0.00925517 -0.00716684
+v -0.00716753 0.03702809 -0.00716684
+v -0.00783660 0.03664570 -0.00716684
+v -0.00790158 0.03669122 -0.00672536
+v -0.00805384 0.03669122 -0.00458298
+v -0.00805384 -0.00925517 -0.00716684
+v -0.00805384 0.03645905 -0.00716684
+v -0.00805384 0.03658196 -0.00672536
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 7 15
+f 3 15 8
+f 3 8 9
+f 3 9 4
+f 5 10 16
+f 5 16 11
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 15 18
+f 8 18 17
+f 8 17 16
+f 8 16 10
+f 8 10 9
+f 11 16 17
+f 11 17 13
+f 11 13 12
+f 13 17 18
+f 13 18 14
+f 14 18 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_33.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ebea0b03988bb4be9762536476d26199f204429
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.01782187 0.00803383
+v 0.00199455 -0.01838333 0.00803383
+v 0.00023052 -0.01547451 0.00911226
+v 0.00023052 -0.00525894 0.00803383
+v 0.00199455 -0.01631093 0.00884611
+v 0.00199455 -0.00525894 0.00803383
+v 0.00199455 -0.01547580 0.00911226
+v 0.00023052 -0.00525894 0.00911226
+v 0.00199455 -0.00525894 0.00911226
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 7
+f 2 7 5
+f 3 5 7
+f 3 7 9
+f 3 9 8
+f 4 8 9
+f 4 9 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_330.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_330.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db9f41546a62d5103dcc0ef9a9cbe0128f28567
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_330.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.01969368 -0.01605841
+v -0.01062676 0.01969368 -0.01726763
+v -0.01159234 0.01969368 -0.01605841
+v -0.01062676 -0.03133681 -0.01605841
+v -0.01159234 0.01969368 -0.01726763
+v -0.01062676 -0.03064248 -0.01726763
+v -0.01159234 -0.03056256 -0.01605841
+v -0.01136909 -0.03075737 -0.01605841
+v -0.01159234 -0.03029282 -0.01661336
+v -0.01062676 -0.03081232 -0.01703798
+v -0.01159234 -0.02978831 -0.01726763
+v -0.01159234 -0.02979331 -0.01726361
+v -0.01159234 -0.03041770 -0.01637412
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 9
+f 3 9 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 12
+f 6 12 11
+f 7 13 8
+f 8 13 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_331.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_331.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50548e76c08a0a90a766db117a0beab5589eadad
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_331.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 -0.00632108 -0.01330821
+v -0.00183017 -0.00632108 -0.01766465
+v -0.00351176 -0.00632108 -0.01330821
+v -0.00183017 -0.03824048 -0.01330821
+v -0.00351176 -0.00632108 -0.01766465
+v -0.00183017 -0.03635956 -0.01766465
+v -0.00351176 -0.03721254 -0.01330821
+v -0.00196910 -0.03817799 -0.01330821
+v -0.00215642 -0.03725628 -0.01546617
+v -0.00183017 -0.03752498 -0.01514035
+v -0.00351176 -0.03537224 -0.01766465
+v -0.00183017 -0.03658140 -0.01732091
+v -0.00211757 -0.03622521 -0.01766465
+v -0.00351176 -0.03682823 -0.01477358
+v -0.00350814 -0.03737188 -0.01330821
+v -0.00209058 -0.03811550 -0.01330821
+v -0.00299178 -0.03652828 -0.01629396
+v -0.00183017 -0.03705006 -0.01634301
+v -0.00183017 -0.03740625 -0.01544400
+v -0.00351045 -0.03539723 -0.01766465
+v -0.00351176 -0.03545347 -0.01759684
+v -0.00183017 -0.03681261 -0.01691747
+v -0.00351176 -0.03589402 -0.01685691
+v -0.00351176 -0.03546597 -0.01758021
+v -0.00342123 -0.03545034 -0.01766465
+v -0.00351176 -0.03680323 -0.01483925
+v -0.00347555 -0.03681261 -0.01486655
+v -0.00351176 -0.03636581 -0.01592549
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 20
+f 2 20 11
+f 2 11 5
+f 3 5 11
+f 3 11 21
+f 3 21 24
+f 3 24 23
+f 3 23 28
+f 3 28 26
+f 3 26 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 10
+f 9 17 18
+f 11 20 21
+f 12 22 17
+f 12 17 13
+f 13 17 23
+f 13 23 24
+f 13 24 21
+f 13 21 25
+f 14 26 27
+f 14 27 16
+f 14 16 15
+f 16 27 17
+f 17 28 23
+f 17 22 18
+f 17 27 26
+f 17 26 28
+f 20 25 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_332.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45075bd66d8a381d4a87fd8bc9e794c0ff864c28
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_332.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 -0.01408340 -0.00087330
+v -0.00351176 -0.01408340 -0.01105270
+v -0.00415443 -0.01408340 -0.00087330
+v -0.00351176 -0.02763363 -0.00087330
+v -0.00415443 -0.01408340 -0.01105270
+v -0.00351176 -0.02763363 -0.01105270
+v -0.00415443 -0.02763363 -0.00087330
+v -0.00415443 -0.02763363 -0.01105270
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_333.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_333.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e35de8dc448b5bff5420f2cf61c21f3f1b0c66
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_333.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.02637177 -0.01768388
+v 0.00023052 0.02637177 -0.01960406
+v -0.00083011 0.02637177 -0.01768388
+v 0.00023052 -0.03724282 -0.01768388
+v -0.00083011 0.02637177 -0.01960406
+v 0.00023052 -0.02691650 -0.01960425
+v -0.00083011 -0.02591377 -0.01960425
+v -0.00083011 -0.03680685 -0.01768388
+v -0.00005719 -0.03716185 -0.01768388
+v -0.00083011 -0.03654526 -0.01846988
+v -0.00083011 -0.03653903 -0.01848098
+v 0.00023052 -0.03666360 -0.01857892
+v 0.00023052 -0.03119526 -0.01960425
+v -0.00083011 -0.03019875 -0.01960425
+v -0.00083011 -0.03653281 -0.01849038
+v 0.00023052 -0.03610306 -0.01877632
+v 0.00023052 -0.03125754 -0.01960312
+v 0.00016812 -0.03119526 -0.01960425
+v -0.00083011 -0.03119526 -0.01958432
+v -0.00083011 -0.03543042 -0.01883967
+v -0.00001369 -0.03567954 -0.01889438
+v 0.00023052 -0.03581657 -0.01887596
+v -0.00083011 -0.03127000 -0.01957962
+v 0.00023052 -0.03333775 -0.01946720
+v -0.00083011 -0.03470795 -0.01905023
+v 0.00023052 -0.03566086 -0.01892953
+v -0.00083011 -0.03234124 -0.01950950
+v 0.00023052 -0.03340003 -0.01945742
+v 0.00016812 -0.03333775 -0.01946419
+v -0.00083011 -0.03342495 -0.01935271
+v -0.00083011 -0.03333775 -0.01937302
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 16
+f 1 16 22
+f 1 22 26
+f 1 26 28
+f 1 28 24
+f 1 24 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 14
+f 3 14 19
+f 3 19 23
+f 3 23 27
+f 3 27 31
+f 3 31 30
+f 3 30 25
+f 3 25 20
+f 3 20 15
+f 3 15 11
+f 3 11 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 13 18
+f 6 18 14
+f 6 14 7
+f 8 10 9
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 17 23 19
+f 17 19 18
+f 17 24 23
+f 20 25 21
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 24 28 29
+f 24 29 27
+f 25 30 26
+f 26 30 28
+f 27 29 31
+f 28 30 31
+f 28 31 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_334.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_334.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c10d6b73aa9067a61db0e88b73f8d78d6392f12
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_334.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.02341492 -0.01810200
+v -0.01159234 0.02341492 -0.01942044
+v -0.01266334 0.02341492 -0.01810200
+v -0.01159234 -0.02910989 -0.01810200
+v -0.01266334 0.02341492 -0.01937456
+v -0.01159234 0.02239692 -0.01955441
+v -0.01266334 0.02235065 -0.01951544
+v -0.01266334 -0.02811246 -0.01810200
+v -0.01266334 -0.02789138 -0.01835037
+v -0.01159234 -0.02885796 -0.01835595
+v -0.01159234 0.02235065 -0.01956029
+v -0.01266334 0.02020667 -0.01960146
+v -0.01192261 -0.02825641 -0.01862535
+v -0.01266334 -0.02686823 -0.01880710
+v -0.01159234 -0.02842608 -0.01866447
+v -0.01159234 0.02020667 -0.01960278
+v -0.01266334 0.01806784 -0.01960411
+v -0.01159234 -0.02791194 -0.01880284
+v -0.01159234 -0.02659573 -0.01911120
+v -0.01159234 -0.02689394 -0.01904694
+v -0.01266334 -0.02633352 -0.01892224
+v -0.01159234 0.01810897 -0.01960411
+v -0.01266334 -0.02050829 -0.01960411
+v -0.01159234 -0.02586565 -0.01926810
+v -0.01266334 -0.02479624 -0.01925325
+v -0.01159234 -0.02158285 -0.01960411
+v -0.01159234 -0.02372168 -0.01952779
+v -0.01266334 -0.02265226 -0.01951411
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 18
+f 1 18 20
+f 1 20 19
+f 1 19 24
+f 1 24 27
+f 1 27 26
+f 1 26 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 17
+f 3 17 23
+f 3 23 28
+f 3 28 25
+f 3 25 21
+f 3 21 14
+f 3 14 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 6 11 7
+f 7 11 12
+f 9 13 10
+f 9 14 13
+f 10 13 15
+f 11 16 12
+f 12 16 17
+f 13 14 18
+f 13 18 15
+f 14 19 20
+f 14 20 18
+f 14 21 19
+f 16 22 17
+f 17 22 26
+f 17 26 23
+f 19 21 25
+f 19 25 24
+f 23 26 27
+f 23 27 28
+f 24 25 28
+f 24 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_335.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_335.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d2abc0db58d93f24b8440cdf99b331b9b8763c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_335.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 -0.00651573 -0.01188050
+v -0.00083021 -0.00651573 -0.01637871
+v -0.00183008 -0.00651573 -0.01188050
+v -0.00083021 -0.02805282 -0.01188050
+v -0.00183008 -0.00651573 -0.01637871
+v -0.00083021 -0.02805282 -0.01637871
+v -0.00183008 -0.02805282 -0.01188050
+v -0.00183008 -0.02805282 -0.01637871
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_336.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc68c6b582953524427e9921a910fe227bedf9f5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_336.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 -0.03550930 0.00471895
+v -0.00183017 -0.03550930 0.00300771
+v -0.00295333 -0.03550930 0.00471895
+v -0.00183017 -0.03960789 0.00471895
+v -0.00295333 -0.03550930 0.00300771
+v -0.00183017 -0.04020872 0.00300771
+v -0.00295333 -0.03824200 0.00471895
+v -0.00197409 -0.03957063 0.00471895
+v -0.00183017 -0.04001320 0.00399944
+v -0.00295333 -0.03902455 0.00300771
+v -0.00197409 -0.03996305 0.00398537
+v -0.00188492 -0.04018848 0.00300771
+v -0.00295333 -0.03908988 0.00471744
+v -0.00295168 -0.03908988 0.00471895
+v -0.00295201 -0.03969714 0.00300771
+v -0.00295333 -0.03953014 0.00389441
+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 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 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 14 13
+f 8 13 11
+f 10 15 16
+f 11 13 16
+f 11 16 12
+f 12 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_337.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_337.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17f0841469d59c7ef5a0dea33646951f7839d93
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_337.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00850034 0.01158661 0.00635237
+v -0.00850034 0.01158661 -0.00477371
+v -0.00950790 0.01158661 0.00635237
+v -0.00850034 -0.01920464 0.00635237
+v -0.00950790 0.01158661 -0.00477371
+v -0.00850034 0.01158058 -0.01959917
+v -0.00950790 -0.01920464 0.00635237
+v -0.00850034 -0.01920765 -0.00477371
+v -0.00950790 0.01158058 -0.01959917
+v -0.00850034 0.00959415 -0.01960171
+v -0.00950790 0.01060093 -0.01960171
+v -0.00950790 -0.01920765 -0.00477371
+v -0.00850034 -0.01920765 -0.00790904
+v -0.00850034 -0.01920163 -0.01960425
+v -0.00924339 -0.01696500 -0.01960425
+v -0.00950790 -0.01620238 -0.01960425
+v -0.00950790 -0.01920765 -0.00790904
+v -0.00950790 -0.01920163 -0.01960425
+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 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 16
+f 3 16 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 6 11 9
+f 8 12 17
+f 8 17 13
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 13 18 14
+f 14 18 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_338.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_338.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4ab0175fea040646dd3567611ed2ac1afb27c2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_338.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.00082972 0.00403405
+v -0.00295333 -0.00082972 -0.00462873
+v -0.00351176 -0.00082972 0.00403405
+v -0.00295333 -0.01443856 0.00403405
+v -0.00351176 -0.00082972 -0.00462873
+v -0.00295333 -0.01443856 -0.00462873
+v -0.00351176 -0.01443856 0.00403405
+v -0.00351176 -0.01443856 -0.00462873
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_339.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_339.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8977c2c2209bf981c7f32c78204789714d5e51d4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_339.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.00043175 -0.00041635
+v -0.00805384 0.00043175 -0.00229984
+v -0.00850034 0.00043175 -0.00041635
+v -0.00805384 -0.03253269 -0.00041635
+v -0.00850034 0.00043175 -0.00229984
+v -0.00805384 -0.03253269 -0.00229984
+v -0.00850034 -0.03253269 -0.00041635
+v -0.00850034 -0.03253269 -0.00229984
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_34.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9d5285e5261ab2b3cb22191c5a6adc8cf2bdf1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00121375 -0.00114431 0.01533169
+v -0.00121375 -0.00120738 0.01531892
+v -0.00121375 0.00091653 0.01522955
+v -0.00283258 -0.00120738 0.01829939
+v -0.00121375 -0.00120738 0.00757625
+v -0.00121375 0.00276950 0.01507209
+v -0.00346850 -0.00120738 0.01937043
+v -0.01533671 -0.00120738 0.00757625
+v -0.00121375 0.00276950 0.00757625
+v -0.00353209 0.00276950 0.01884554
+v -0.00352794 0.00093171 0.01919168
+v -0.00467398 0.00276950 0.02064716
+v -0.00459933 0.00093171 0.02065993
+v -0.00453989 -0.00120738 0.02066560
+v -0.01533671 0.00276950 0.00757625
+v -0.01533671 -0.00120738 0.01466779
+v -0.00637853 0.00276950 0.02176926
+v -0.00625964 -0.00120738 0.02161748
+v -0.01533671 0.00276950 0.00845010
+v -0.01528556 -0.00120738 0.01478412
+v -0.01397224 0.00276950 0.01617859
+v -0.01405657 0.00276950 0.01597290
+v -0.01450863 0.00276950 0.01469758
+v -0.01457913 0.00276950 0.01439258
+v -0.01533671 -0.00012012 0.01311727
+v -0.00854618 0.00276950 0.02206717
+v -0.00839965 -0.00120738 0.02171961
+v -0.01528141 -0.00120738 0.01479263
+v -0.01264096 0.00276950 0.01872780
+v -0.01056316 0.00276950 0.02121601
+v -0.01035441 -0.00120738 0.02076916
+v -0.01178108 0.00276950 0.02027407
+v -0.01185850 0.00276950 0.02014072
+v -0.01428744 -0.00120738 0.01631052
+v -0.01078850 0.00276950 0.02104295
+v -0.01142580 -0.00120738 0.01985417
+f 1 2 5
+f 1 5 9
+f 1 9 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 7
+f 2 7 14
+f 2 14 18
+f 2 18 27
+f 2 27 31
+f 2 31 36
+f 2 36 34
+f 2 34 28
+f 2 28 20
+f 2 20 16
+f 2 16 8
+f 2 8 5
+f 3 6 4
+f 4 6 7
+f 5 8 15
+f 5 15 9
+f 6 10 11
+f 6 11 7
+f 6 9 15
+f 6 15 19
+f 6 19 24
+f 6 24 23
+f 6 23 22
+f 6 22 21
+f 6 21 29
+f 6 29 33
+f 6 33 32
+f 6 32 35
+f 6 35 30
+f 6 30 26
+f 6 26 17
+f 6 17 12
+f 6 12 10
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 16 25
+f 8 25 19
+f 8 19 15
+f 10 12 11
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 17 26 18
+f 18 26 27
+f 19 25 24
+f 20 28 21
+f 21 28 29
+f 26 30 27
+f 27 30 31
+f 28 32 33
+f 28 33 29
+f 28 34 32
+f 30 35 31
+f 31 35 32
+f 31 32 36
+f 32 34 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_340.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_340.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4814ed1ebac1205589ac3d1631f1fcda44769641
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_340.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01595641 0.01091919 -0.01518616
+v 0.01595641 0.01091919 -0.01336902
+v 0.01595641 0.01142804 -0.01518616
+v 0.01781078 0.01091919 -0.01518616
+v 0.01595641 0.01142804 -0.01336902
+v 0.01781078 0.01091919 -0.01336902
+v 0.01781078 0.01142804 -0.01518616
+v 0.01781097 0.01142804 -0.01336902
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_341.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17be817f0e9ac0389c956ca5bcfed006a56a50b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_341.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.02746555 0.00200079
+v -0.01062676 0.02746555 -0.00037422
+v -0.01159234 0.02746555 0.00200079
+v -0.01062676 0.01073936 0.00200079
+v -0.01159234 0.02746555 -0.00037422
+v -0.01062676 0.01073936 -0.00037422
+v -0.01159234 0.01073936 0.00200079
+v -0.01159234 0.01073936 -0.00037422
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_342.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_342.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f752f8e68f340acb1986632d54c22d1a24bd728e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_342.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.02352491 0.01483391 0.00590711
+v -0.02352491 0.01564549 0.00567762
+v -0.02395931 0.01497205 0.00557044
+v -0.02395931 0.01378058 0.00590711
+v -0.02352491 -0.01556407 0.00590711
+v -0.02352491 0.01570420 0.00565492
+v -0.02395931 0.01536230 0.00541408
+v -0.02395931 -0.01536721 0.00590711
+v -0.02352551 -0.01600266 0.00590711
+v -0.02352491 -0.01600266 0.00576588
+v -0.02352491 0.01728592 0.00475208
+v -0.02395931 0.01684041 0.00430065
+v -0.02395931 -0.01571257 0.00561457
+v -0.02359512 -0.01600266 0.00590711
+v -0.02352491 -0.01600266 -0.00697231
+v -0.02352491 0.01815966 0.00407242
+v -0.02395931 0.01724102 0.00398415
+v -0.02395931 -0.01600266 0.00529429
+v -0.02395931 -0.01600266 -0.00697231
+v -0.02352491 0.00066753 -0.00697483
+v -0.02360366 0.01806641 0.00398415
+v -0.02352491 0.01824600 0.00397154
+v -0.02395931 0.01762781 0.00353903
+v -0.02395931 0.00066753 -0.00697483
+v -0.02352491 0.01892289 -0.00697483
+v -0.02352491 0.01882274 0.00279003
+v -0.02352491 0.01917500 0.00193510
+v -0.02395931 0.01822182 0.00202084
+v -0.02395931 0.01797662 -0.00697483
+v -0.02352491 0.01905758 -0.00669994
+v -0.02352491 0.01923025 0.00082167
+v -0.02395931 0.01833924 -0.00029932
+v -0.02395931 0.01811822 -0.00667977
+v -0.02395931 0.01833924 -0.00458279
+v -0.02352491 0.01927860 -0.00458279
+v -0.02352491 0.01927860 -0.00029932
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 30
+f 1 30 35
+f 1 35 36
+f 1 36 31
+f 1 31 27
+f 1 27 26
+f 1 26 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 17
+f 3 17 23
+f 3 23 28
+f 3 28 32
+f 3 32 34
+f 3 34 33
+f 3 33 29
+f 3 29 24
+f 3 24 19
+f 3 19 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 9 14 18
+f 9 18 19
+f 9 19 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 15 19 24
+f 15 24 20
+f 16 21 17
+f 16 22 21
+f 17 21 23
+f 20 24 29
+f 20 29 25
+f 21 22 23
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 25 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 34 35
+f 30 33 34
+f 31 36 32
+f 32 36 35
+f 32 35 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_343.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_343.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c94f7b917cc9717da7aca03f6cad7abbe58e336
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_343.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.01969368 -0.01960413
+v -0.01159234 0.01969368 -0.01960225
+v -0.01062676 0.02021251 -0.01960413
+v -0.01062676 0.01969368 -0.00037422
+v -0.01159234 0.02021251 -0.01960225
+v -0.01159234 0.01969368 -0.00037422
+v -0.01062676 0.02235404 -0.01960036
+v -0.01062676 0.02305926 -0.00037422
+v -0.01159234 0.02235404 -0.01955895
+v -0.01159234 0.02305926 -0.00037422
+v -0.01062676 0.02449633 -0.01950813
+v -0.01062676 0.02746555 -0.00037610
+v -0.01159234 0.02449633 -0.01937636
+v -0.01159234 0.02746555 -0.00037610
+v -0.01062676 0.02663405 -0.01922578
+v -0.01062676 0.02746555 -0.01902813
+v -0.01159234 0.02659145 -0.01900555
+v -0.01159234 0.02746555 -0.01878155
+f 1 2 5
+f 1 5 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 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 8 12 14
+f 8 14 10
+f 9 13 11
+f 11 13 15
+f 12 16 18
+f 12 18 14
+f 13 17 15
+f 15 17 16
+f 16 17 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_344.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_344.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4c98684bb94ec2276a034fc2a29d28200e7bbb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_344.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00252197 0.02607976 -0.00293675
+v 0.00252197 0.02878732 -0.00293675
+v 0.01780948 0.02607976 -0.00293675
+v 0.00252197 0.02607976 0.00285823
+v 0.00252197 0.02878732 0.00285823
+v 0.01781098 0.02878732 -0.00293675
+v 0.01781098 0.02878043 -0.00293675
+v 0.01780948 0.02607976 0.00285823
+v 0.01780649 0.02878732 0.00285823
+v 0.01781098 0.02878732 0.00184286
+v 0.01781098 0.02878043 0.00184286
+v 0.01780948 0.02776563 0.00285823
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 7 11
+f 3 11 8
+f 4 8 12
+f 4 12 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 11 10
+f 8 10 12
+f 9 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_345.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_345.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a92291a9132d39880aa67d84678304eea5d970
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_345.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.02395935 -0.01888903 -0.00458475
+v -0.02395935 -0.01888903 -0.00030047
+v -0.02407629 -0.01866870 -0.00458475
+v -0.02402588 -0.01857149 -0.00672601
+v -0.02395935 -0.01869592 -0.00672601
+v -0.02395935 -0.01885793 0.00050798
+v -0.02399529 -0.01879053 0.00050798
+v -0.02406822 -0.01865315 0.00050798
+v -0.02407629 -0.01866870 -0.00030047
+v -0.02462206 -0.01759684 -0.00458475
+v -0.02457516 -0.01750094 -0.00672601
+v -0.02450784 -0.01736096 -0.00790975
+v -0.02395935 -0.01797271 -0.00851127
+v -0.02395935 -0.00564833 0.00050798
+v -0.02461460 -0.01758259 0.00050798
+v -0.02462206 -0.01759684 -0.00030047
+v -0.02485488 -0.01695270 -0.00458475
+v -0.02485488 -0.01670644 -0.00672601
+v -0.02485488 -0.01659498 -0.00712585
+v -0.02485488 -0.01684123 -0.00563696
+v -0.02485488 -0.01538315 -0.00876731
+v -0.02466475 -0.01602082 -0.00871996
+v -0.02423776 -0.01661183 -0.00933726
+v -0.02395935 -0.01614783 -0.01050171
+v -0.02395935 -0.01695399 -0.00965293
+v -0.02485488 -0.00564833 0.00050798
+v -0.02395935 -0.00564833 -0.01740777
+v -0.02485488 -0.01690993 0.00050798
+v -0.02485488 -0.01695270 -0.00030047
+v -0.02457069 -0.01464309 -0.01022638
+v -0.02485488 -0.01181246 -0.01199236
+v -0.02427939 -0.01406245 -0.01155919
+v -0.02395935 -0.01406245 -0.01244656
+v -0.02485488 -0.00564833 -0.01556989
+v -0.02395935 -0.00582330 -0.01737445
+v -0.02398127 -0.00564833 -0.01738322
+v -0.02485488 -0.01147678 -0.01226944
+v -0.02443289 -0.01071987 -0.01412660
+v -0.02468999 -0.01153640 -0.01269910
+v -0.02395935 -0.01295819 -0.01344442
+v -0.02452353 -0.00564833 -0.01651338
+v -0.02485488 -0.00573127 -0.01554008
+v -0.02402509 -0.00564833 -0.01731307
+v -0.02395935 -0.00721787 -0.01702195
+v -0.02485488 -0.01126811 -0.01244130
+v -0.02485488 -0.01003165 -0.01342512
+v -0.02461425 -0.00929289 -0.01464570
+v -0.02421102 -0.00991630 -0.01533314
+v -0.02395935 -0.01142753 -0.01481405
+v -0.02395935 -0.01202113 -0.01428794
+v -0.02395935 -0.01216240 -0.01416168
+v -0.02446322 -0.00653873 -0.01635380
+v -0.02485488 -0.00576756 -0.01552605
+v -0.02395935 -0.00846859 -0.01664140
+v -0.02485488 -0.00977503 -0.01361102
+v -0.02485488 -0.00880038 -0.01420201
+v -0.02476030 -0.00763780 -0.01506834
+v -0.02438906 -0.00763780 -0.01613809
+v -0.02395935 -0.00988001 -0.01590310
+v -0.02395935 -0.01024291 -0.01570142
+v -0.02395935 -0.01078338 -0.01531561
+v -0.02485488 -0.00763780 -0.01479476
+v -0.02395935 -0.00872132 -0.01650987
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 25
+f 1 25 24
+f 1 24 33
+f 1 33 40
+f 1 40 51
+f 1 51 50
+f 1 50 49
+f 1 49 61
+f 1 61 60
+f 1 60 59
+f 1 59 63
+f 1 63 54
+f 1 54 44
+f 1 44 35
+f 1 35 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 9 16
+f 3 16 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 26
+f 6 26 28
+f 6 28 15
+f 6 15 8
+f 6 8 7
+f 8 15 9
+f 9 15 16
+f 10 16 29
+f 10 29 17
+f 10 17 11
+f 11 18 19
+f 11 19 12
+f 11 17 20
+f 11 20 18
+f 12 19 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 27 36
+f 14 36 43
+f 14 43 41
+f 14 41 34
+f 14 34 26
+f 15 28 29
+f 15 29 16
+f 17 29 28
+f 17 28 26
+f 17 26 34
+f 17 34 42
+f 17 42 53
+f 17 53 62
+f 17 62 56
+f 17 56 55
+f 17 55 46
+f 17 46 45
+f 17 45 37
+f 17 37 31
+f 17 31 21
+f 17 21 19
+f 17 19 18
+f 17 18 20
+f 21 30 22
+f 21 31 30
+f 22 30 32
+f 22 32 33
+f 22 33 23
+f 23 33 24
+f 27 35 36
+f 30 31 32
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 33
+f 34 41 42
+f 35 43 36
+f 35 44 41
+f 35 41 43
+f 37 45 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 38 45 46
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 41 44 52
+f 41 52 42
+f 42 52 53
+f 44 54 52
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 52 54 58
+f 52 58 57
+f 52 57 53
+f 53 57 62
+f 54 63 58
+f 56 62 57
+f 58 63 59
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_346.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_346.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfb1efc2c5d383b95b0da6727393da9bd805e1b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_346.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01781097 0.02557652 -0.01518616
+v 0.01781097 0.02557652 -0.01529452
+v 0.01525265 0.02557652 -0.01518616
+v 0.01781072 -0.03762258 -0.01518616
+v 0.01772833 0.02557652 -0.01743639
+v 0.01781072 -0.03762258 -0.01529452
+v 0.01772833 -0.03548468 -0.01743639
+v 0.01525265 0.02557652 -0.01777261
+v 0.01525265 -0.03975391 -0.01518616
+v 0.01780721 -0.03773406 -0.01518616
+v 0.01762616 0.02557652 -0.01764652
+v 0.01759861 -0.03762258 -0.01743639
+v 0.01746213 -0.03718319 -0.01777261
+v 0.01756481 -0.03548468 -0.01777261
+v 0.01756481 0.02557652 -0.01777261
+v 0.01525265 -0.04016707 -0.01777261
+v 0.01525265 -0.04141308 -0.01518794
+v 0.01525416 -0.04141964 -0.01518616
+v 0.01746238 -0.03976703 -0.01518616
+v 0.01744761 -0.03976703 -0.01529452
+v 0.01681028 -0.03975391 -0.01733385
+v 0.01671988 -0.03951783 -0.01777261
+v 0.01741931 -0.03762258 -0.01777261
+v 0.01525265 -0.04019330 -0.01774881
+v 0.01525265 -0.04139341 -0.01529452
+v 0.01637154 -0.04090811 -0.01655154
+v 0.01665953 -0.04112453 -0.01529452
+v 0.01667430 -0.04114420 -0.01518616
+v 0.01742257 -0.03985229 -0.01518616
+v 0.01525265 -0.04031790 -0.01762981
+v 0.01525265 -0.04094090 -0.01663762
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 28
+f 1 28 29
+f 1 29 19
+f 1 19 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 16
+f 3 16 24
+f 3 24 30
+f 3 30 31
+f 3 31 25
+f 3 25 17
+f 3 17 9
+f 4 10 6
+f 5 7 11
+f 6 10 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 11
+f 8 15 14
+f 8 14 13
+f 8 13 23
+f 8 23 22
+f 8 22 16
+f 9 17 18
+f 10 19 12
+f 11 14 15
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 16 22 24
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 19 29 20
+f 20 29 28
+f 20 28 27
+f 20 27 21
+f 21 27 26
+f 21 26 22
+f 22 26 30
+f 22 30 24
+f 25 31 26
+f 26 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_347.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_347.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbeb6291f6c01d75443accaa1d6690edb38bfcb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_347.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03688146 -0.01117351
+v -0.00516783 0.03641649 -0.01245741
+v -0.00535055 0.03637069 -0.01233612
+v -0.00536790 0.03638126 -0.01228176
+v -0.00572274 0.03658909 -0.01117351
+v -0.00516783 0.00089866 -0.01117351
+v -0.00516783 0.03627558 -0.01283217
+v -0.00597001 0.03523291 -0.01409577
+v -0.00597001 0.03572607 -0.01292658
+v -0.00587900 0.03604662 -0.01228176
+v -0.00597001 0.03643410 -0.01117351
+v -0.00579176 0.03654682 -0.01117351
+v -0.00597001 0.00089866 -0.01117351
+v -0.00516783 0.00089514 -0.01228176
+v -0.00516783 0.03595151 -0.01358855
+v -0.00516783 0.03571550 -0.01409577
+v -0.00597001 0.00089514 -0.01409577
+v -0.00597001 0.00089514 -0.01228176
+v -0.00516783 0.00089514 -0.01409577
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 13
+f 1 13 6
+f 1 6 14
+f 1 14 19
+f 1 19 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 18
+f 6 18 14
+f 7 15 8
+f 8 15 16
+f 8 16 19
+f 8 19 17
+f 8 17 18
+f 8 18 13
+f 8 13 11
+f 8 11 9
+f 9 11 10
+f 14 18 17
+f 14 17 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_348.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_348.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3d4f38c257835600c253dca039a2a824cc7c98
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_348.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 -0.02603534 0.00237532
+v -0.01266345 -0.02603534 0.00045495
+v -0.01344330 -0.02603534 0.00237532
+v -0.01266345 -0.03346355 0.00237532
+v -0.01344330 -0.02603534 0.00045495
+v -0.01266345 -0.03297842 0.00045495
+v -0.01344330 -0.03278185 0.00237532
+v -0.01268818 -0.03344203 0.00237532
+v -0.01266345 -0.03358372 0.00184330
+v -0.01344330 -0.03293243 0.00045495
+v -0.01266345 -0.03358668 0.00169629
+v -0.01266429 -0.03361264 0.00045495
+v -0.01344330 -0.03290127 0.00184330
+v -0.01293177 -0.03322914 0.00237532
+v -0.01268872 -0.03359187 0.00045495
+v -0.01344330 -0.03292872 0.00063167
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 9
+f 7 9 14
+f 8 14 9
+f 9 15 12
+f 9 12 11
+f 9 13 16
+f 9 16 15
+f 10 15 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_349.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_349.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b412e4397e3ccf67278906cf4363ad0702aa62
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_349.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00083011 -0.03904568 -0.01227320
+v -0.00083011 -0.03890733 -0.01264981
+v 0.00004966 -0.03902263 -0.01326456
+v 0.00023052 -0.03945307 -0.01227320
+v -0.00083011 0.03857956 -0.01227320
+v -0.00083011 -0.03866137 -0.01326456
+v 0.00023052 -0.03908412 -0.01326456
+v 0.00023052 0.03907149 -0.01227320
+v -0.00046123 0.03875635 -0.01227320
+v -0.00065517 0.03829516 -0.01326456
+v -0.00083011 0.03821061 -0.01326456
+v 0.00023052 0.03870255 -0.01326456
+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 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 10
+f 3 10 12
+f 3 12 7
+f 3 7 4
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 11
+f 8 12 9
+f 9 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_35.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafdbaf0369f43492bd358f9da362ef8eed5065b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01533671 -0.00972431 0.02179295
+v -0.01533671 -0.00769045 0.02175776
+v -0.01603358 -0.00766874 0.02162076
+v -0.01603358 -0.00974819 0.02161196
+v -0.01533671 -0.01007161 0.02161070
+v -0.01533671 -0.00604513 0.02068436
+v -0.01603358 -0.00606249 0.02064163
+v -0.01603358 -0.01064031 0.02114313
+v -0.01603358 -0.01154546 0.02063660
+v -0.01533671 -0.01164964 0.02072710
+v -0.01533671 -0.00125459 0.01478445
+v -0.01603358 -0.00370304 0.01751319
+v -0.01603358 -0.01261774 0.01962605
+v -0.01533671 -0.01272193 0.01974294
+v -0.01533671 -0.00012153 0.01311780
+v -0.01603358 -0.00174298 0.01478445
+v -0.01603358 -0.01731060 0.01424399
+v -0.01533671 -0.01702191 0.01481839
+v -0.01533671 0.00020840 0.01255471
+v -0.01603358 -0.00079876 0.01259995
+v -0.01603358 -0.01754502 0.01396621
+v -0.01533671 -0.01763836 0.01408310
+v -0.01533671 0.00162147 0.00895242
+v -0.01603358 0.00048841 0.00895242
+v -0.01603358 -0.01841544 0.01258613
+v -0.01533671 -0.01868460 0.01250317
+v -0.01533671 -0.02055349 0.00895242
+v -0.01603358 -0.02040806 0.00895242
+v -0.01603358 -0.01927717 0.01106653
+v -0.01562426 -0.01934663 0.01129277
+v -0.01533671 -0.01915996 0.01173772
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 31
+f 1 31 27
+f 1 27 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 12
+f 3 12 16
+f 3 16 20
+f 3 20 24
+f 3 24 28
+f 3 28 29
+f 3 29 25
+f 3 25 21
+f 3 21 17
+f 3 17 13
+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+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 21 25 26
+f 21 26 22
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 27 31 30
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_350.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_350.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880e52eff6509f00f4f6f724b2bb4c1625a41117
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_350.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01595641 -0.04178528 -0.01336902
+v 0.01595641 -0.04127970 -0.01518616
+v 0.01667438 -0.04114556 -0.01518616
+v 0.01692163 -0.04145510 -0.01336902
+v 0.01595641 0.01091919 -0.01336902
+v 0.01595641 0.01091919 -0.01518616
+v 0.01742248 -0.03985581 -0.01518616
+v 0.01700132 -0.04131581 -0.01336902
+v 0.01781078 0.01091919 -0.01336902
+v 0.01781078 0.01091919 -0.01518616
+v 0.01746242 -0.03976810 -0.01518616
+v 0.01770549 -0.03977842 -0.01336902
+v 0.01781078 -0.03762712 -0.01336902
+v 0.01781078 -0.03762712 -0.01518616
+v 0.01770967 -0.03976810 -0.01336902
+v 0.01780715 -0.03773545 -0.01518616
+v 0.01774652 -0.03955143 -0.01336902
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 15
+f 1 15 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 17 14
+f 14 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_351.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_351.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32807fdfbf0e1f7d48213f178ecac250c13d6b76
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_351.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.04043766 -0.00556538
+v -0.00083021 0.04037791 -0.00672564
+v -0.00183008 0.03990912 -0.00672564
+v -0.00183008 0.03995968 -0.00556538
+v -0.00083021 -0.00651573 -0.00556538
+v -0.00083021 0.04037332 -0.00674812
+v -0.00183008 0.03960578 -0.00793202
+v -0.00183008 -0.00651573 -0.00556538
+v -0.00083021 -0.00651573 -0.00793202
+v -0.00083021 0.04006998 -0.00793202
+v -0.00183008 -0.00651573 -0.00793202
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 5 8 11
+f 5 11 9
+f 6 10 7
+f 7 10 9
+f 7 9 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_352.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_352.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053d7e58520457e87adcda290615d47dfb2220aa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_352.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.02254110 0.00337816
+v -0.01266345 0.02254110 0.00245903
+v -0.01344330 0.02254110 0.00337816
+v -0.01266345 -0.03323384 0.00337816
+v -0.01266345 0.02253562 0.00237551
+v -0.01267070 0.02254110 0.00237551
+v -0.01344330 0.02254110 0.00237551
+v -0.01344330 -0.03264177 0.00337816
+v -0.01335223 -0.03271852 0.00337816
+v -0.01344330 -0.03265822 0.00334558
+v -0.01266345 -0.03346409 0.00237551
+v -0.01344330 -0.03277883 0.00237551
+v -0.01337406 -0.03270208 0.00337816
+v -0.01293177 -0.03322836 0.00237551
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 5 11 14
+f 5 14 12
+f 5 12 7
+f 5 7 6
+f 8 10 13
+f 9 13 10
+f 10 12 14
+f 10 14 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_353.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_353.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f331ca5027b711ceb6828fa92db69b3f3fad44
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_353.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00083011 -0.03982708 -0.01011496
+v -0.00083011 -0.03963486 -0.01063880
+v -0.00024591 -0.03986553 -0.01063880
+v 0.00023052 -0.04024229 -0.01011496
+v -0.00083011 0.03830978 -0.01011496
+v -0.00083011 0.03830978 -0.01063880
+v 0.00018743 -0.04003469 -0.01063880
+v 0.00023052 -0.04005007 -0.01063880
+v 0.00023052 0.03830978 -0.01011496
+v 0.00023052 0.03830978 -0.01063880
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 10
+f 4 10 9
+f 5 9 10
+f 5 10 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_354.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_354.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0738291be10627060ffa33e7b0da3802a3a4161
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_354.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02352491 0.00666022 -0.00697483
+v -0.02395931 0.00666022 -0.00697483
+v -0.02352491 -0.00450032 -0.00697483
+v -0.02352491 0.01892604 -0.00697596
+v -0.02395931 -0.00450032 -0.00697483
+v -0.02395931 0.01797440 -0.00697596
+v -0.02352491 -0.00450032 -0.01822034
+v -0.02352491 0.01805466 -0.00873487
+v -0.02395931 -0.00450032 -0.01773602
+v -0.02395931 0.01791937 -0.00708547
+v -0.02352491 -0.00423432 -0.01829598
+v -0.02377851 -0.00450032 -0.01793810
+v -0.02395931 -0.00348906 -0.01802729
+v -0.02352491 0.01797440 -0.00887825
+v -0.02395931 0.01685308 -0.00899905
+v -0.02395931 0.01790332 -0.00711482
+v -0.02395931 -0.00150782 -0.01821470
+v -0.02352491 -0.00231499 -0.01846984
+v -0.02352491 0.01592896 -0.01122760
+v -0.02395931 0.01600921 -0.00996769
+v -0.02395931 -0.00120971 -0.01822486
+v -0.02352491 -0.00120971 -0.01850822
+v -0.02352491 0.01369547 -0.01375194
+v -0.02395931 0.01509197 -0.01101084
+v -0.02352491 0.00093205 -0.01842581
+v -0.02395931 0.00093205 -0.01811196
+v -0.02395931 0.01381242 -0.01245139
+v -0.02352491 0.01195959 -0.01530425
+v -0.02395931 0.01346387 -0.01283636
+v -0.02376660 0.01362897 -0.01317392
+v -0.02352491 0.00307610 -0.01830727
+v -0.02395931 0.00307610 -0.01795278
+v -0.02352491 0.01163397 -0.01556617
+v -0.02363657 0.01164085 -0.01529409
+v -0.02395931 0.01164085 -0.01439996
+v -0.02352491 0.00521786 -0.01803858
+v -0.02395931 0.00385805 -0.01782859
+v -0.02395931 0.01033378 -0.01526700
+v -0.02352491 0.00951973 -0.01668045
+v -0.02395931 0.00954266 -0.01569036
+v -0.02352491 0.00721516 -0.01755426
+v -0.02388638 0.00521786 -0.01767280
+v -0.02395931 0.00521786 -0.01755652
+v -0.02352491 0.00816221 -0.01732282
+v -0.02395931 0.00695603 -0.01701575
+v -0.02395931 0.00535545 -0.01751587
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 18
+f 1 18 22
+f 1 22 25
+f 1 25 31
+f 1 31 36
+f 1 36 41
+f 1 41 44
+f 1 44 39
+f 1 39 33
+f 1 33 28
+f 1 28 23
+f 1 23 19
+f 1 19 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 16
+f 2 16 15
+f 2 15 20
+f 2 20 24
+f 2 24 27
+f 2 27 29
+f 2 29 35
+f 2 35 38
+f 2 38 40
+f 2 40 45
+f 2 45 46
+f 2 46 43
+f 2 43 37
+f 2 37 32
+f 2 32 26
+f 2 26 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 7
+f 4 8 6
+f 6 8 10
+f 7 12 13
+f 7 13 11
+f 8 14 15
+f 8 15 16
+f 8 16 10
+f 9 13 12
+f 11 13 17
+f 11 17 18
+f 14 19 15
+f 15 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 21 26 25
+f 23 27 24
+f 23 28 29
+f 23 29 30
+f 23 30 27
+f 25 26 31
+f 26 32 31
+f 27 30 29
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 31 32 36
+f 32 37 36
+f 33 38 34
+f 33 39 40
+f 33 40 38
+f 34 38 35
+f 36 37 42
+f 36 42 41
+f 37 43 42
+f 39 44 45
+f 39 45 40
+f 41 42 44
+f 42 43 46
+f 42 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_355.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_355.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551b48e5dc202c8ab6ac8b0ff7cbaa088f88c718
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_355.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.03111584 0.00454600
+v -0.01399461 0.03134334 0.00421056
+v -0.01512946 0.02994044 0.00454600
+v -0.01399461 -0.03141409 0.00454600
+v -0.01399461 0.03184889 0.00321063
+v -0.01512557 0.03051550 0.00352647
+v -0.01512946 0.03022481 0.00408295
+v -0.01512946 -0.03039035 0.00454600
+v -0.01459725 -0.03094645 0.00454600
+v -0.01399461 -0.03171110 0.00432541
+v -0.01399461 0.03193104 0.00291849
+v -0.01512946 0.03084411 0.00203021
+v -0.01512946 0.03074932 0.00245543
+v -0.01512946 0.03050918 0.00352419
+v -0.01512946 -0.03072528 0.00420555
+v -0.01399461 -0.03208394 0.00352692
+v -0.01479831 -0.03116763 0.00392571
+v -0.01399461 0.03198159 0.00245543
+v -0.01497494 0.03102737 0.00184335
+v -0.01512946 0.03086307 0.00184335
+v -0.01512946 -0.03093382 0.00375571
+v -0.01399461 -0.03221032 0.00324526
+v -0.01432720 -0.03178061 0.00352692
+v -0.01399461 0.03204478 0.00184335
+v -0.01512946 0.03090730 -0.00002025
+v -0.01399461 0.03209534 -0.00011003
+v -0.01512946 -0.03138249 0.00184335
+v -0.01399461 -0.03241254 0.00184335
+v -0.01503026 -0.03147728 0.00184335
+v -0.01508791 0.03095154 -0.00011003
+v -0.01512946 0.03090730 -0.00011003
+v -0.01499760 0.03104633 -0.00011003
+v -0.01399461 -0.03246310 -0.00011003
+v -0.01512946 -0.03138881 0.00165968
+v -0.01505558 -0.03150256 -0.00011003
+v -0.01512946 -0.03143305 -0.00011003
+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 22
+f 1 22 28
+f 1 28 33
+f 1 33 26
+f 1 26 24
+f 1 24 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 13
+f 3 13 12
+f 3 12 20
+f 3 20 25
+f 3 25 31
+f 3 31 36
+f 3 36 34
+f 3 34 27
+f 3 27 21
+f 3 21 15
+f 3 15 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 15 10
+f 10 15 17
+f 10 17 16
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 15 21 17
+f 16 17 23
+f 16 23 22
+f 17 21 23
+f 18 24 19
+f 19 25 20
+f 19 24 26
+f 19 26 25
+f 21 27 22
+f 21 22 23
+f 22 27 29
+f 22 29 28
+f 25 30 31
+f 25 26 32
+f 25 32 30
+f 26 33 35
+f 26 35 36
+f 26 36 31
+f 26 31 30
+f 26 30 32
+f 27 34 29
+f 28 29 33
+f 29 35 33
+f 29 34 35
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_356.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_356.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f9d201d5ed8362f344f7cc4d537c42293b44c46
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_356.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.02309077 0.00583846 -0.01831321
+v -0.02307479 0.00583846 -0.01833404
+v -0.02309077 0.00583846 -0.01784038
+v -0.02309077 0.00700950 -0.01814978
+v -0.02247052 0.00950043 -0.01861345
+v -0.02276317 0.00583846 -0.01874027
+v -0.02181543 0.00583846 -0.01784038
+v -0.02309077 0.00839874 -0.01784038
+v -0.02309077 0.00728577 -0.01811112
+v -0.02237601 0.01081354 -0.01855010
+v -0.02181543 0.01015783 -0.01880423
+v -0.02181543 0.00950043 -0.01885324
+v -0.02181543 0.00834743 -0.01893249
+v -0.02263582 0.00735850 -0.01869391
+v -0.02181543 0.00735850 -0.01899789
+v -0.02205914 0.00583846 -0.01898572
+v -0.02181543 0.00583846 -0.01907063
+v -0.02181543 0.01159837 -0.01784038
+v -0.02294557 0.00950043 -0.01784038
+v -0.02261847 0.01134071 -0.01784038
+v -0.02239686 0.01159837 -0.01784038
+v -0.02181543 0.01159837 -0.01838210
+v -0.02181543 0.01122625 -0.01869378
+f 1 2 6
+f 1 6 16
+f 1 16 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 18
+f 3 18 21
+f 3 21 20
+f 3 20 19
+f 3 19 8
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 10
+f 6 14 15
+f 6 15 16
+f 7 17 15
+f 7 15 13
+f 7 13 12
+f 7 12 11
+f 7 11 23
+f 7 23 22
+f 7 22 18
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 13 15 14
+f 15 17 16
+f 18 22 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_357.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_357.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d26fc05da68291ee5ef9f590dfdac77d880e8a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_357.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 -0.01449528 -0.01342458
+v -0.01266345 -0.01449528 -0.01821572
+v -0.01344330 -0.01449528 -0.01342458
+v -0.01266345 -0.03083396 -0.01342458
+v -0.01344330 -0.01449528 -0.01821572
+v -0.01266345 -0.01663197 -0.01821572
+v -0.01344330 -0.03011586 -0.01342458
+v -0.01311902 -0.03042933 -0.01342458
+v -0.01344330 -0.02994793 -0.01385749
+v -0.01266345 -0.03026620 -0.01466469
+v -0.01344330 -0.01663197 -0.01821572
+v -0.01266345 -0.02801435 -0.01821525
+v -0.01344330 -0.03001510 -0.01370599
+v -0.01344330 -0.02984238 -0.01407840
+v -0.01312589 -0.02955130 -0.01529554
+v -0.01266345 -0.02977201 -0.01571016
+v -0.01302505 -0.02771528 -0.01821525
+v -0.01344330 -0.02726107 -0.01821525
+v -0.01266345 -0.02870366 -0.01744557
+v -0.01335047 -0.02755535 -0.01809471
+v -0.01344330 -0.02897714 -0.01585509
+v -0.01266345 -0.02884440 -0.01726359
+v -0.01344330 -0.02840459 -0.01688743
+v -0.01344330 -0.02733784 -0.01817257
+v -0.01344330 -0.02749297 -0.01803280
+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 16
+f 1 16 22
+f 1 22 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 24
+f 3 24 25
+f 3 25 23
+f 3 23 21
+f 3 21 14
+f 3 14 9
+f 3 9 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 12 11
+f 7 13 8
+f 8 13 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 12 17
+f 11 17 18
+f 12 19 20
+f 12 20 17
+f 14 21 15
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 20 24
+f 17 24 18
+f 19 22 23
+f 19 23 20
+f 20 25 24
+f 20 23 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_358.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_358.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47984fe8c7f6d47b555c030b13b71c7ba6c8cfb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_358.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.02333112 0.00313329
+v -0.01062676 0.02333112 0.00313329
+v -0.00950790 0.00328582 0.00313329
+v -0.00950790 0.02333112 -0.01010180
+v -0.01062676 0.02333112 -0.01010180
+v -0.01062676 0.00328582 0.00313329
+v -0.00950790 -0.01493889 0.00313200
+v -0.00950790 -0.01493889 -0.01010180
+v -0.01062676 -0.01493889 -0.01010180
+v -0.01062676 -0.01493889 0.00313200
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_359.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_359.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c833c8db764e27d553cfdae18b1943512cc39a3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_359.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00664934 0.02878732 -0.01324552
+v 0.00664934 0.02878732 -0.01798842
+v 0.00428619 0.02878732 -0.01324552
+v 0.00664934 -0.00425544 -0.01324552
+v 0.00664934 0.02878409 -0.01960299
+v 0.00659452 0.02878732 -0.01960299
+v 0.00428619 0.02878732 -0.01960299
+v 0.00428619 -0.00425544 -0.01324552
+v 0.00664934 -0.00425544 -0.01960424
+v 0.00664934 -0.00334980 -0.01960424
+v 0.00445297 0.00093256 -0.01960424
+v 0.00428619 0.00109751 -0.01960424
+v 0.00428619 -0.00425544 -0.01960424
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 9 13 12
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_36.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4d4f585a10fb8efde55b0c46b02a5d55099503
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.01533671 -0.02078134 0.00853502
+v -0.01483385 -0.02090359 0.00853502
+v -0.01419538 -0.01952567 0.01166426
+v -0.01533671 -0.01916066 0.01173704
+v -0.01533671 -0.00335031 0.00853502
+v -0.01482623 -0.02090534 0.00853502
+v -0.01268223 -0.01891442 0.01288790
+v -0.01482623 -0.01770415 0.01416631
+v -0.01487652 -0.01886202 0.01244826
+v -0.01290928 -0.02116905 0.00853502
+v -0.01268223 -0.01962521 0.01181731
+v -0.01533671 -0.01868389 0.01250303
+v -0.01533671 -0.00335031 0.01051265
+v 0.00023052 -0.00335031 0.00853502
+v -0.01054281 -0.01964093 0.01183232
+v -0.01054281 -0.01888473 0.01290216
+v -0.01268223 -0.01784386 0.01432085
+v -0.01533671 -0.01763778 0.01408078
+v -0.01482623 -0.01680823 0.01523689
+v -0.01533671 -0.01702130 0.01481751
+v -0.01268223 -0.02119175 0.00853502
+v 0.00023052 -0.00335031 0.01051265
+v -0.01533671 -0.00335206 0.01619870
+v 0.00023052 -0.01669646 0.00853502
+v -0.00896414 -0.01954837 0.01168377
+v -0.01054281 -0.02115857 0.00853502
+v -0.00839881 -0.01761159 0.01400200
+v -0.01054281 -0.01781417 0.01425258
+v -0.01268223 -0.01693398 0.01539219
+v -0.01482623 -0.01592978 0.01619870
+v -0.01533671 -0.01576911 0.01619870
+v -0.00230357 -0.00335206 0.01619870
+v 0.00015585 -0.00335206 0.01430285
+v 0.00023052 -0.00335206 0.01422482
+v -0.00192567 -0.01832587 0.00853502
+v 0.00023052 -0.01388822 0.01029358
+v -0.00280034 -0.01342716 0.01389322
+v -0.00325596 -0.01485574 0.01342732
+v -0.00319653 -0.01713307 0.01132141
+v -0.00839881 -0.02085469 0.00853502
+v -0.00615424 -0.02043555 0.00853502
+v -0.00753938 -0.01935976 0.01131615
+v -0.00831043 -0.01879391 0.01246027
+v -0.00705176 -0.01740376 0.01376793
+v -0.00839881 -0.01653579 0.01507259
+v -0.01054281 -0.01597345 0.01619870
+v -0.01054281 -0.01684666 0.01532392
+v -0.01268223 -0.01616730 0.01619870
+v -0.00169710 -0.00335380 0.01619870
+v -0.00186319 -0.00549492 0.01619870
+v -0.00228681 -0.00749632 0.01619870
+v 0.00023052 -0.00476317 0.01376718
+v -0.00196072 -0.01835207 0.00853502
+v 0.00023052 -0.00617427 0.01329303
+v -0.00280034 -0.00895982 0.01619870
+v -0.00282624 -0.00925845 0.01607791
+v -0.00345862 -0.01041633 0.01619870
+v -0.00436834 -0.01192175 0.01619870
+v -0.00468376 -0.01559272 0.01401626
+v -0.00394014 -0.01636290 0.01268759
+v -0.00473557 -0.01245266 0.01619870
+v -0.00498853 -0.01323156 0.01593086
+v -0.00562243 -0.01702304 0.01337481
+v -0.00462738 -0.01764826 0.01194785
+v -0.00411691 -0.01973174 0.00853502
+v -0.00630662 -0.01796960 0.01261857
+v -0.00641481 -0.01611665 0.01460595
+v -0.00720719 -0.01521026 0.01583258
+v -0.00839881 -0.01546349 0.01607416
+v -0.00922014 -0.01558399 0.01619870
+v -0.00298015 -0.00935975 0.01619870
+v -0.00577786 -0.01466014 0.01544396
+v -0.00603081 -0.01379391 0.01619870
+v -0.00632948 -0.01406810 0.01619870
+v -0.00656414 -0.01424274 0.01619870
+v -0.00838357 -0.01531504 0.01619870
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 18
+f 1 18 20
+f 1 20 31
+f 1 31 23
+f 1 23 13
+f 1 13 5
+f 1 5 14
+f 1 14 24
+f 1 24 35
+f 1 35 53
+f 1 53 65
+f 1 65 41
+f 1 41 40
+f 1 40 26
+f 1 26 21
+f 1 21 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 9 12
+f 5 13 22
+f 5 22 14
+f 7 11 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 18 9
+f 8 17 19
+f 8 19 20
+f 8 20 18
+f 9 18 12
+f 10 21 11
+f 11 21 15
+f 13 23 32
+f 13 32 22
+f 14 22 34
+f 14 34 52
+f 14 52 54
+f 14 54 36
+f 14 36 24
+f 15 25 16
+f 15 21 26
+f 15 26 25
+f 16 27 28
+f 16 28 17
+f 16 25 27
+f 17 28 29
+f 17 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 22 32 33
+f 22 33 34
+f 23 31 30
+f 23 30 48
+f 23 48 46
+f 23 46 70
+f 23 70 76
+f 23 76 75
+f 23 75 74
+f 23 74 73
+f 23 73 61
+f 23 61 58
+f 23 58 57
+f 23 57 71
+f 23 71 55
+f 23 55 51
+f 23 51 50
+f 23 50 49
+f 23 49 32
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 35
+f 25 26 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 48
+f 29 48 30
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 35 39 53
+f 36 54 51
+f 36 51 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 59 60
+f 38 60 39
+f 38 58 61
+f 38 61 62
+f 38 62 59
+f 39 63 64
+f 39 64 53
+f 39 60 63
+f 41 65 42
+f 42 66 44
+f 42 44 43
+f 42 65 66
+f 44 63 67
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 44 66 63
+f 45 69 70
+f 45 70 46
+f 46 48 47
+f 51 54 52
+f 53 64 65
+f 55 71 56
+f 56 71 57
+f 59 72 67
+f 59 67 63
+f 59 63 60
+f 59 62 72
+f 61 73 62
+f 62 73 74
+f 62 74 72
+f 63 66 64
+f 64 66 65
+f 67 72 68
+f 68 72 74
+f 68 74 75
+f 68 75 76
+f 68 76 69
+f 69 76 70
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_360.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_360.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd62c44baa505f10810a3b292845c8f14651101d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_360.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02528747 -0.01570573 -0.00458246
+v -0.02528747 -0.01570573 -0.00243998
+v -0.02593750 -0.01370483 -0.00458246
+v -0.02593750 -0.01341732 -0.00672494
+v -0.02528747 -0.01541746 -0.00672494
+v -0.02528747 -0.01570535 -0.00029901
+v -0.02593750 -0.01370483 -0.00029901
+v -0.02593750 -0.01210789 -0.00871837
+v -0.02528747 -0.01487409 -0.00755152
+v -0.02528747 -0.01567483 0.00023097
+v -0.02593750 -0.01368072 0.00015569
+v -0.02593750 -0.01185618 -0.00894572
+v -0.02545451 -0.01275790 -0.00947418
+v -0.02528747 -0.01327187 -0.00947418
+v -0.02528747 -0.01395278 -0.00885839
+v -0.02528747 -0.01558100 0.00184197
+v -0.02593750 -0.01358350 0.00184197
+v -0.02576715 -0.01185618 -0.00941848
+v -0.02574469 -0.01186447 -0.00947418
+v -0.02570040 -0.01200087 -0.00947418
+v -0.02593750 -0.01185618 0.00449485
+v -0.02528747 -0.01185618 -0.00947418
+v -0.02528747 -0.01429078 0.00397542
+v -0.02593750 -0.01238862 0.00390164
+v -0.02593750 -0.01306802 0.00274383
+v -0.02574685 -0.01185618 -0.00947418
+v -0.02593750 -0.01190931 0.00443613
+v -0.02552044 -0.01185618 0.00590711
+v -0.02528747 -0.01185618 0.00590711
+v -0.02528747 -0.01247943 0.00590711
+v -0.02542371 -0.01214218 0.00590711
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 14
+f 1 14 22
+f 1 22 29
+f 1 29 30
+f 1 30 23
+f 1 23 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 25
+f 3 25 24
+f 3 24 27
+f 3 27 21
+f 3 21 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 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 12 21 28
+f 12 28 29
+f 12 29 22
+f 12 22 26
+f 12 26 18
+f 13 20 19
+f 13 19 26
+f 13 26 22
+f 13 22 14
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 26 19
+f 21 27 28
+f 23 30 31
+f 23 31 28
+f 23 28 24
+f 24 28 27
+f 28 31 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_361.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_361.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bb4a117ed0d056cdfe50f308dd35c7073d0655
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_361.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01680305 0.00359997 -0.00728014
+v -0.01723697 0.00359997 -0.00728014
+v -0.01680305 -0.00126016 -0.00728014
+v -0.01680305 0.00359997 -0.01810980
+v -0.01723697 0.00359997 -0.01810980
+v -0.01723697 -0.00126016 -0.00728014
+v -0.01680309 -0.02191446 -0.00728120
+v -0.01680305 -0.00126016 -0.01810980
+v -0.01723697 -0.00126016 -0.01810980
+v -0.01723693 -0.02191446 -0.01381081
+v -0.01723689 -0.02191446 -0.00728120
+v -0.01680309 -0.02191446 -0.01810450
+v -0.01680309 -0.02190697 -0.01810980
+v -0.01723693 -0.02191446 -0.01810980
+v -0.01680912 -0.02191446 -0.01810980
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 11
+f 3 11 7
+f 3 7 12
+f 3 12 8
+f 4 8 13
+f 4 13 15
+f 4 15 14
+f 4 14 9
+f 4 9 5
+f 6 9 14
+f 6 14 10
+f 6 10 11
+f 7 11 10
+f 7 10 14
+f 7 14 15
+f 7 15 12
+f 8 12 13
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_362.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_362.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d26ae359cec1aa74f8190996c35cd4b993e09a9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_362.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 0.03234279 0.00471895
+v -0.00295333 0.03234279 0.00403412
+v -0.00351176 0.03234279 0.00471895
+v -0.00295333 -0.03823969 0.00471895
+v -0.00351176 0.03234279 0.00403412
+v -0.00295333 -0.03945554 0.00403412
+v -0.00351176 -0.03893546 0.00471895
+v -0.00295333 -0.03908305 0.00471754
+v -0.00351176 -0.03917442 0.00403412
+v -0.00295333 -0.03916036 0.00457944
+v -0.00333826 -0.03926578 0.00403412
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 10 7
+f 6 7 11
+f 7 9 11
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_363.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_363.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab34cc772c10aa48f64551c8605c0f8d4e8f7a0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_363.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01723698 -0.02916506 -0.00458472
+v -0.01725459 -0.02914439 -0.00458472
+v -0.01723698 -0.02916312 -0.00461752
+v -0.01723698 -0.02916506 -0.00244139
+v -0.01723989 -0.02916183 -0.00209459
+v -0.01799958 -0.02821003 -0.00458472
+v -0.01799958 -0.02815902 -0.00593601
+v -0.01723698 -0.02901460 -0.00677021
+v -0.01725459 -0.02914439 -0.00209459
+v -0.01723698 -0.02885123 -0.00209459
+v -0.01799958 -0.02821003 -0.00209459
+v -0.01799958 -0.02814223 -0.00617190
+v -0.01734805 -0.02887900 -0.00677490
+v -0.01799958 -0.02796465 -0.00750913
+v -0.01723698 -0.02899329 -0.00688113
+v -0.01723698 -0.02256898 -0.00209459
+v -0.01799958 -0.02256898 -0.00209459
+v -0.01799958 -0.02795884 -0.00753100
+v -0.01723698 -0.02859359 -0.00822773
+v -0.01723698 -0.02256898 -0.01805389
+v -0.01799958 -0.02256898 -0.01702441
+v -0.01799958 -0.02733636 -0.00886823
+v -0.01723698 -0.02830689 -0.00884324
+v -0.01723698 -0.02295190 -0.01780863
+v -0.01759872 -0.02256898 -0.01771802
+v -0.01798077 -0.02256898 -0.01705721
+v -0.01799958 -0.02318306 -0.01625738
+v -0.01799958 -0.02692504 -0.00961808
+v -0.01776048 -0.02763663 -0.00886823
+v -0.01767636 -0.02538951 -0.01315175
+v -0.01723698 -0.02632968 -0.01244251
+v -0.01723698 -0.02320631 -0.01751806
+v -0.01754781 -0.02272460 -0.01761648
+v -0.01774063 -0.02256898 -0.01747432
+v -0.01789701 -0.02350012 -0.01603867
+v -0.01799958 -0.02339938 -0.01594494
+v -0.01799958 -0.02569945 -0.01184732
+v -0.01795412 -0.02573755 -0.01188325
+v -0.01799958 -0.02449130 -0.01404063
+v -0.01799958 -0.02409095 -0.01476705
+v -0.01728722 -0.02468889 -0.01531225
+v -0.01723698 -0.02560453 -0.01376256
+v -0.01723698 -0.02397666 -0.01653076
+v -0.01723698 -0.02473087 -0.01534974
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 19
+f 1 19 23
+f 1 23 31
+f 1 31 42
+f 1 42 44
+f 1 44 43
+f 1 43 32
+f 1 32 24
+f 1 24 20
+f 1 20 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 11
+f 2 11 6
+f 4 10 5
+f 5 10 16
+f 5 16 17
+f 5 17 11
+f 5 11 9
+f 6 11 17
+f 6 17 21
+f 6 21 27
+f 6 27 36
+f 6 36 40
+f 6 40 39
+f 6 39 37
+f 6 37 28
+f 6 28 22
+f 6 22 18
+f 6 18 14
+f 6 14 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 12 14 13
+f 14 18 15
+f 15 18 19
+f 16 20 25
+f 16 25 34
+f 16 34 26
+f 16 26 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 21 26 27
+f 22 28 29
+f 22 29 23
+f 23 29 28
+f 23 28 30
+f 23 30 31
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 34 33
+f 26 33 27
+f 27 35 36
+f 27 33 35
+f 28 37 38
+f 28 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 32 43 33
+f 33 43 35
+f 35 43 44
+f 35 44 41
+f 35 41 40
+f 35 40 36
+f 37 39 38
+f 41 44 42
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_364.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_364.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476669d4f320aa791a974138d23de58a67d7382c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_364.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02000983 0.00325528 -0.01717435
+v -0.02000983 0.00325528 -0.01949089
+v -0.02069358 0.00325528 -0.01717435
+v -0.02000983 -0.01881782 -0.01717435
+v -0.02000983 0.00307376 -0.01949431
+v -0.02011640 0.00325528 -0.01947788
+v -0.02069358 0.00325528 -0.01940737
+v -0.02069358 -0.01757965 -0.01717435
+v -0.02039859 -0.01818901 -0.01717435
+v -0.02019270 -0.01729658 -0.01851539
+v -0.02000983 -0.01804640 -0.01800472
+v -0.02069358 0.00307376 -0.01941057
+v -0.02000983 0.00093020 -0.01950070
+v -0.02069358 -0.00121120 -0.01942973
+v -0.02069358 0.00093020 -0.01942197
+v -0.02069358 -0.01671747 -0.01794265
+v -0.02067832 -0.01761639 -0.01717435
+v -0.02053561 -0.01791026 -0.01717435
+v -0.02046981 -0.01781086 -0.01743676
+v -0.02000983 -0.01743055 -0.01854802
+v -0.02069358 -0.01575157 -0.01835749
+v -0.02035261 -0.01620535 -0.01860895
+v -0.02000983 -0.01620535 -0.01872624
+v -0.02000983 -0.00121120 -0.01950503
+v -0.02000983 -0.00245585 -0.01950526
+v -0.02069358 -0.00177086 -0.01942973
+v -0.02069358 -0.01411797 -0.01874837
+v -0.02000983 -0.01499528 -0.01887456
+v -0.02000983 -0.00459726 -0.01949499
+v -0.02069358 -0.00391443 -0.01941399
+v -0.02069358 -0.01247788 -0.01894849
+v -0.02000983 -0.01316287 -0.01909111
+v -0.02000983 -0.00674082 -0.01946214
+v -0.02069358 -0.00605583 -0.01937223
+v -0.02069358 -0.01033864 -0.01917029
+v -0.02000983 -0.01102147 -0.01927251
+v -0.02000983 -0.00763758 -0.01943384
+v -0.02069358 -0.00763758 -0.01932249
+v -0.02069358 -0.00819724 -0.01930446
+v -0.02000983 -0.00888007 -0.01939391
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 20
+f 1 20 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 40
+f 1 40 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 15
+f 3 15 14
+f 3 14 26
+f 3 26 30
+f 3 30 34
+f 3 34 38
+f 3 38 39
+f 3 39 35
+f 3 35 31
+f 3 31 27
+f 3 27 21
+f 3 21 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 5 7 6
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 8 16 10
+f 8 10 17
+f 9 18 19
+f 9 19 10
+f 10 20 11
+f 10 19 17
+f 10 16 21
+f 10 21 22
+f 10 22 23
+f 10 23 20
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 17 19 18
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 37 40 38
+f 38 40 39
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_365.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_365.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a13af519a42fac4a06af6db4c98f08e6298e74d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_365.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01267070 0.02254110 0.00237532
+v -0.01344330 0.02254110 0.00237532
+v -0.01266345 0.02253635 0.00237532
+v -0.01266345 0.02254110 0.00237382
+v -0.01344330 0.02254110 0.00045495
+v -0.01344330 -0.02603533 0.00237532
+v -0.01266345 -0.02603533 0.00237532
+v -0.01266345 0.02254110 0.00045495
+v -0.01344330 -0.02603533 0.00045495
+v -0.01266345 -0.02603533 0.00045495
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_366.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_366.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d027d701222eecc182f61f8182a8eac849c4bfb5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_366.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02130387 -0.02372403 -0.00458285
+v -0.02181538 -0.02288552 -0.00458285
+v -0.02130387 -0.02364749 -0.00563076
+v -0.02130387 -0.02372403 -0.00029914
+v -0.02181538 -0.02288034 -0.00465325
+v -0.02181538 -0.02288552 -0.00029914
+v -0.02181538 -0.02275654 -0.00615066
+v -0.02130387 -0.02355700 -0.00672471
+v -0.02130387 -0.02365492 0.00184271
+v -0.02181538 -0.02281371 0.00181293
+v -0.02181538 -0.02270634 -0.00672471
+v -0.02180186 -0.02273133 -0.00672471
+v -0.02181538 -0.02270139 -0.00675314
+v -0.02181538 -0.02211702 -0.00835208
+v -0.02130387 -0.02325424 -0.00752756
+v -0.02130387 -0.02318221 0.00320473
+v -0.02181538 -0.02281259 0.00184271
+v -0.02153411 -0.02242046 -0.00865536
+v -0.02130387 -0.02279053 -0.00870139
+v -0.02181538 -0.02167154 -0.00896946
+v -0.02130387 -0.02142460 0.00320473
+v -0.02167607 -0.02256857 0.00320473
+v -0.02181538 -0.02276734 0.00197269
+v -0.02130387 -0.02246300 -0.00918879
+v -0.02130387 -0.02266222 -0.00890853
+v -0.02181538 -0.02142460 -0.00931064
+v -0.02130387 -0.02142460 -0.01062662
+v -0.02181538 -0.02142460 0.00320473
+v -0.02181538 -0.02231061 0.00320473
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 19
+f 1 19 25
+f 1 25 24
+f 1 24 27
+f 1 27 21
+f 1 21 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 17
+f 2 17 23
+f 2 23 29
+f 2 29 28
+f 2 28 26
+f 2 26 20
+f 2 20 14
+f 2 14 13
+f 2 13 11
+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 10
+f 11 13 12
+f 14 18 19
+f 14 19 15
+f 14 20 18
+f 16 21 28
+f 16 28 29
+f 16 29 22
+f 16 22 17
+f 17 22 23
+f 18 20 24
+f 18 24 25
+f 18 25 19
+f 20 26 27
+f 20 27 24
+f 21 27 26
+f 21 26 28
+f 22 29 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_367.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_367.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a92b8888f566d03f59e2c05dbcda2cf23811a7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_367.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 -0.03880849 0.00063360
+v -0.00477769 -0.03902932 0.00063360
+v -0.00516773 -0.03879724 0.00127332
+v -0.00516773 -0.02501293 0.00063360
+v -0.00415443 -0.03938096 0.00063360
+v -0.00415443 -0.03936971 0.00127332
+v -0.00516773 -0.02501293 0.00127332
+v -0.00415443 -0.02501293 0.00063360
+v -0.00415443 -0.02501293 0.00127332
+f 1 2 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 2 6 3
+f 3 6 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+f 5 8 9
+f 5 9 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_368.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_368.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ecbcecb330d6e1f11eb151c2a9de1f514014f12
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_368.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00147309 -0.02763656 -0.00293675
+v 0.00147309 -0.02763656 -0.00728812
+v 0.00023052 -0.02763656 -0.00293675
+v 0.00147309 -0.04174717 -0.00293675
+v 0.00023052 -0.02763656 -0.00728812
+v 0.00147309 -0.04154551 -0.00728812
+v 0.00023052 -0.04128031 -0.00293675
+v 0.00147309 -0.04174717 -0.00458358
+v 0.00023052 -0.04107451 -0.00728812
+v 0.00147309 -0.04160214 -0.00696991
+v 0.00023052 -0.04128031 -0.00458358
+v 0.00023052 -0.04120020 -0.00655884
+v 0.00147309 -0.04171402 -0.00537846
+v 0.00147309 -0.04165739 -0.00665810
+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 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 9
+f 8 11 12
+f 8 12 13
+f 9 10 14
+f 9 14 12
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_369.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_369.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d952a46c79e131b92af0641be06f30bf597e69c1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_369.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.04071520 -0.00717091
+v 0.00023052 0.04044064 -0.00834754
+v -0.00051176 0.04041014 -0.00717091
+v 0.00023052 -0.03719793 -0.00717091
+v -0.00011420 0.04029574 -0.00834754
+v 0.00023052 -0.03719793 -0.00834754
+v -0.00083011 0.04026523 -0.00717091
+v -0.00083011 -0.03719793 -0.00717091
+v -0.00047864 0.04012795 -0.00834754
+v -0.00083011 -0.03719793 -0.00834754
+v -0.00083011 0.04005931 -0.00796620
+v -0.00083011 0.03996017 -0.00834754
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 7 11 12
+f 7 12 10
+f 7 10 8
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_37.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abf604b1ef943920d077d475c463e52a366fc02
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01526000 0.01807198 0.00854213
+v -0.01457766 0.01806611 0.01041008
+v -0.01515841 0.02021186 0.00854213
+v -0.01501739 0.00851602 0.00854176
+v -0.01517054 0.00277244 0.00854176
+v -0.01460799 0.00277244 0.01041063
+v -0.01441542 0.02020892 0.01041008
+v -0.01435628 0.00851602 0.01041063
+v -0.01472171 0.02247520 0.00854213
+v 0.00022900 0.00851602 0.00854176
+v -0.01389230 0.02443283 0.00854213
+v -0.01262770 0.02659917 0.00854213
+v -0.01053976 0.02875962 0.00854213
+v -0.00799692 0.03062319 0.00854213
+v -0.00411368 0.03208114 0.00854213
+v -0.00197721 0.03264256 0.00854213
+v 0.00016532 0.03279835 0.00854213
+v 0.00022900 0.00277244 0.00854176
+v 0.00022900 0.00277244 0.01041063
+v -0.01401663 0.02208720 0.01041008
+v -0.01445029 0.02232823 0.00926143
+v 0.00022900 0.00851602 0.01041063
+v 0.00016532 0.03174898 0.01041008
+v -0.00197721 0.03160495 0.01041008
+v -0.00411823 0.03114935 0.01041008
+v -0.00626076 0.03040862 0.01041008
+v -0.00742831 0.02990598 0.01041008
+v -0.00849579 0.02924168 0.01041008
+v -0.01001360 0.02817174 0.01041008
+v -0.01108259 0.02716059 0.01041008
+v -0.01202421 0.02608771 0.01041008
+v -0.01301133 0.02448868 0.01041008
+v -0.01366788 0.02316007 0.01041008
+v 0.00022900 0.03278953 0.00854213
+v 0.00023052 0.03196650 0.00926143
+v -0.01033809 0.02853623 0.00926143
+v -0.00777706 0.03034983 0.00926143
+v 0.00023052 0.03174311 0.01041008
+v 0.00023052 0.00851602 0.00926143
+v 0.00023052 0.00851602 0.01041008
+v 0.00023052 0.03175192 0.01037624
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 4
+f 4 10 18
+f 4 18 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 10
+f 5 18 19
+f 5 19 6
+f 6 19 22
+f 6 22 8
+f 7 20 21
+f 7 21 9
+f 7 8 20
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 20
+f 9 21 33
+f 9 33 11
+f 10 17 34
+f 10 34 35
+f 10 35 39
+f 10 39 18
+f 11 33 32
+f 11 32 12
+f 12 30 13
+f 12 32 31
+f 12 31 30
+f 13 30 36
+f 13 36 14
+f 14 26 15
+f 14 36 29
+f 14 29 28
+f 14 28 37
+f 14 37 26
+f 15 26 25
+f 15 25 16
+f 16 25 24
+f 16 24 17
+f 17 24 23
+f 17 23 38
+f 17 38 34
+f 18 39 40
+f 18 40 19
+f 19 40 38
+f 19 38 22
+f 20 33 21
+f 22 38 23
+f 26 37 27
+f 27 37 28
+f 29 36 30
+f 34 38 41
+f 34 41 35
+f 35 41 38
+f 35 38 40
+f 35 40 39
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_370.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_370.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5aeeea2b04dad4da43118e6ccfcb9c0cd6196fc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_370.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.02395935 0.01377941 0.00590711
+v -0.02395935 0.01445597 0.00571685
+v -0.02472953 0.01377941 0.00537967
+v -0.02485488 0.01296463 0.00550070
+v -0.02485488 0.01190251 0.00576970
+v -0.02447172 0.01239356 0.00590711
+v -0.02395935 -0.01537082 0.00590711
+v -0.02395935 0.01497248 0.00557046
+v -0.02395935 0.01533259 0.00542777
+v -0.02450407 0.01493975 0.00511384
+v -0.02485488 0.01377941 0.00511014
+v -0.02485488 0.01357208 0.00523856
+v -0.02471822 0.01164061 0.00590711
+v -0.02485488 0.01164061 0.00582255
+v -0.02404736 -0.01521804 0.00590711
+v -0.02395935 -0.01649114 0.00512547
+v -0.02395935 0.01536169 0.00541508
+v -0.02485488 0.01447416 0.00466039
+v -0.02395935 0.01683484 0.00430259
+v -0.02395935 0.01723132 0.00398497
+v -0.02426581 0.01651838 0.00398497
+v -0.02471997 0.01545262 0.00398497
+v -0.02485488 0.01097133 0.00590711
+v -0.02425362 -0.01485794 0.00590711
+v -0.02427685 -0.01672393 0.00456156
+v -0.02395935 -0.01666210 0.00499176
+v -0.02485488 0.01510707 0.00398497
+v -0.02395935 0.01762416 0.00353944
+v -0.02446672 0.01699125 0.00290525
+v -0.02485488 -0.01354483 0.00590711
+v -0.02468316 -0.01398496 0.00590711
+v -0.02472935 -0.01608739 0.00390305
+v -0.02454448 -0.01743687 0.00313462
+v -0.02395935 -0.01781879 0.00408274
+v -0.02485488 0.01614737 0.00206177
+v -0.02395935 0.01821705 0.00202266
+v -0.02411267 0.01788605 0.00205278
+v -0.02449118 0.01704945 0.00147778
+v -0.02485488 -0.01568363 0.00391891
+v -0.02460251 -0.01755690 0.00184403
+v -0.02405464 -0.01862994 0.00184403
+v -0.02395935 -0.01880817 0.00184403
+v -0.02395935 -0.01809524 0.00377198
+v -0.02485488 -0.01612740 0.00317531
+v -0.02485488 -0.01684761 0.00184403
+v -0.02476713 0.01643472 0.00050798
+v -0.02485488 0.01622375 0.00050798
+v -0.02395935 0.01830072 0.00050798
+v -0.02424810 0.01764962 0.00050798
+v -0.02485488 -0.01690944 0.00050851
+v -0.02461460 -0.01758236 0.00050851
+v -0.02406822 -0.01865176 0.00050851
+v -0.02395935 -0.01885910 0.00050851
+v -0.02485488 -0.01541083 0.00050798
+v -0.02395935 -0.01541083 0.00050798
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 23
+f 1 23 30
+f 1 30 31
+f 1 31 24
+f 1 24 15
+f 1 15 7
+f 1 7 16
+f 1 16 26
+f 1 26 34
+f 1 34 43
+f 1 43 42
+f 1 42 53
+f 1 53 55
+f 1 55 48
+f 1 48 36
+f 1 36 28
+f 1 28 20
+f 1 20 19
+f 1 19 17
+f 1 17 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 18
+f 4 18 27
+f 4 27 35
+f 4 35 47
+f 4 47 54
+f 4 54 50
+f 4 50 45
+f 4 45 44
+f 4 44 39
+f 4 39 30
+f 4 30 23
+f 4 23 14
+f 4 14 5
+f 5 13 6
+f 5 14 13
+f 7 15 16
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 13 14 23
+f 15 24 16
+f 16 25 26
+f 16 24 25
+f 18 22 27
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 27
+f 24 31 25
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 25 31 30
+f 25 30 32
+f 27 29 35
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 35
+f 30 39 32
+f 32 39 33
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 33 39 44
+f 33 44 45
+f 33 45 40
+f 35 46 47
+f 35 38 46
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 49 46
+f 40 45 50
+f 40 50 51
+f 40 51 41
+f 41 52 53
+f 41 53 42
+f 41 51 52
+f 46 49 48
+f 46 48 55
+f 46 55 54
+f 46 54 47
+f 50 54 51
+f 51 54 52
+f 52 54 53
+f 53 54 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_371.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_371.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c3cc133a0f57ec5e73a24c0a6117e0df0521fd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_371.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03234279 0.00300743
+v -0.00295333 0.03234279 0.00300743
+v -0.00183017 0.00919453 0.00300743
+v -0.00183017 0.03234279 -0.01112921
+v -0.00295333 0.03234279 -0.01112921
+v -0.00295333 0.00919453 0.00300743
+v -0.00183017 0.00919453 -0.01112921
+v -0.00295333 0.00919453 -0.01112921
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_372.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_372.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ccf27ce01aeeed9b0e25883d709e6bc5cd20e73
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_372.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00384152 0.02878732 -0.00293675
+v 0.00384152 0.02878732 -0.00745254
+v 0.00314319 0.02878732 -0.00293675
+v 0.00384152 -0.04253737 -0.00293675
+v 0.00314319 0.02878732 -0.00745254
+v 0.00384152 -0.04224414 -0.00745254
+v 0.00314319 -0.04231396 -0.00293675
+v 0.00384152 -0.04253737 -0.00458392
+v 0.00314319 -0.04203469 -0.00745254
+v 0.00384152 -0.04243962 -0.00661171
+v 0.00314319 -0.04222320 -0.00666343
+v 0.00314319 -0.04231396 -0.00458392
+v 0.00314319 -0.04225810 -0.00587831
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 13
+f 3 13 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 6 11 9
+f 8 12 13
+f 8 13 11
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_373.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_373.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab08d6746fb21ddc22d8f437912dbd4108417f4e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_373.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 -0.01094999 -0.00182807
+v -0.00516783 -0.01094999 -0.00351007
+v -0.00597001 -0.01094999 -0.00182807
+v -0.00516783 -0.03215148 -0.00182807
+v -0.00597001 -0.01094999 -0.00351007
+v -0.00516783 -0.03215148 -0.00351007
+v -0.00597001 -0.03215148 -0.00182807
+v -0.00597001 -0.03215148 -0.00351007
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_374.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_374.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aff3f4cae6beb43bb4d21bf98014935565b107d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_374.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01093707 0.02374484 -0.01777261
+v 0.01093707 0.02374484 -0.01518616
+v 0.01093707 0.02429966 -0.01777261
+v 0.01415039 0.02374484 -0.01777261
+v 0.01093707 0.02429966 -0.01518616
+v 0.01415039 0.02374484 -0.01518616
+v 0.01415039 0.02429966 -0.01777261
+v 0.01415039 0.02429966 -0.01518616
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_375.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_375.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae914382faf10a5c4b9031df6c4fbddc0380a73
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_375.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00314296 0.02878733 -0.00538973
+v 0.00314296 0.02878733 -0.00728854
+v 0.00147342 0.02878733 -0.00538973
+v 0.00314296 -0.04228343 -0.00538973
+v 0.00147342 0.02878733 -0.00728854
+v 0.00314296 -0.04207473 -0.00728854
+v 0.00147342 -0.04171298 -0.00538973
+v 0.00231015 -0.04201908 -0.00538973
+v 0.00231015 -0.04196342 -0.00672500
+v 0.00314296 -0.04222082 -0.00666403
+v 0.00147342 -0.04153906 -0.00728854
+v 0.00227811 -0.04181733 -0.00728854
+v 0.00147342 -0.04165036 -0.00665827
+v 0.00147342 -0.04160167 -0.00696997
+v 0.00175276 -0.04165036 -0.00728854
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+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 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_376.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_376.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832c4d83b1b839d8e5e895be734722993f199fd6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_376.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00520518 0.02878732 -0.00293675
+v 0.00520518 0.02878732 -0.01106200
+v 0.00450680 0.02878732 -0.00293675
+v 0.00520518 -0.04292081 -0.00293675
+v 0.00520518 -0.04153803 -0.01106200
+v 0.00450680 0.02878732 -0.01106200
+v 0.00450680 -0.04273831 -0.00293675
+v 0.00520518 -0.04292081 -0.00458391
+v 0.00520518 -0.04175562 -0.01046708
+v 0.00450680 -0.04138360 -0.01106200
+v 0.00450680 -0.04273831 -0.00467776
+v 0.00520518 -0.04291379 -0.00541345
+v 0.00520518 -0.04233822 -0.00883662
+v 0.00450680 -0.04217677 -0.00886366
+v 0.00450680 -0.04271023 -0.00533074
+v 0.00465296 -0.04270321 -0.00655477
+v 0.00520518 -0.04288571 -0.00601314
+v 0.00520518 -0.04256985 -0.00795538
+v 0.00520518 -0.04257687 -0.00792595
+v 0.00450680 -0.04219081 -0.00879924
+v 0.00450680 -0.04265408 -0.00656432
+v 0.00520518 -0.04280850 -0.00683553
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 22
+f 1 22 19
+f 1 19 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 14
+f 3 14 20
+f 3 20 21
+f 3 21 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 10
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 16
+f 16 21 20
+f 16 20 22
+f 16 22 17
+f 19 22 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_377.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_377.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce6d41d2aee032b9d648d15805c6b20627445ad
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_377.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 0.00086996 -0.00688329
+v -0.02069365 0.00086996 -0.01250063
+v -0.02130386 0.00086996 -0.00688329
+v -0.02069365 -0.01903178 -0.00688329
+v -0.02130386 0.00086996 -0.01250063
+v -0.02069365 -0.01903178 -0.01250063
+v -0.02130386 -0.01903178 -0.00688329
+v -0.02130386 -0.01903178 -0.01250063
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_378.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_378.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0a68f3c084622ad060183bff0f12b0c7345a3f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_378.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.02308179 -0.00521081 -0.00216397
+v -0.02181543 -0.00521081 -0.00216397
+v -0.02309077 -0.00521081 -0.00211728
+v -0.02309077 -0.00520819 -0.00216397
+v -0.02181543 0.00149182 -0.00216397
+v -0.02181543 -0.00521081 0.00635237
+v -0.02309077 -0.00521081 0.00635237
+v -0.02309077 0.00149379 -0.00216397
+v -0.02191781 0.00149379 -0.00216397
+v -0.02181543 0.00149379 0.00635237
+v -0.02309077 0.00149379 0.00635237
+f 1 2 6
+f 1 6 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 6
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 5 9 10
+f 6 10 11
+f 6 11 7
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_379.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_379.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8f1bbb15cb0c15d9242df8b5e7f9b0a68f0ad9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_379.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 -0.03939936 -0.00458449
+v -0.00516773 -0.03882642 -0.00458992
+v -0.00415443 -0.03939839 -0.00463515
+v -0.00415443 -0.03939936 -0.00043750
+v -0.00419212 -0.03937904 -0.00043750
+v -0.00516773 -0.03879061 -0.00596501
+v -0.00516773 -0.03882642 -0.00043750
+v -0.00415443 -0.03937904 -0.00503501
+v -0.00415443 -0.02951319 -0.00043750
+v -0.00516773 -0.03878190 -0.00614051
+v -0.00516773 -0.02951319 -0.00043750
+v -0.00430134 -0.03921354 -0.00676654
+v -0.00415443 -0.03928516 -0.00675388
+v -0.00415443 -0.02951319 -0.01892163
+v -0.00516773 -0.03865415 -0.00748304
+v -0.00513867 -0.03866963 -0.00750656
+v -0.00516773 -0.02951319 -0.01892163
+v -0.00415443 -0.03917773 -0.00726773
+v -0.00415443 -0.03326345 -0.01892163
+v -0.00516773 -0.03864060 -0.00754094
+v -0.00516773 -0.03863479 -0.00755903
+v -0.00475685 -0.03844123 -0.00886899
+v -0.00415443 -0.03893481 -0.00842932
+v -0.00516773 -0.03268276 -0.01892163
+v -0.00451313 -0.03307957 -0.01892163
+v -0.00415443 -0.03344733 -0.01887640
+v -0.00516773 -0.03817895 -0.00891060
+v -0.00415443 -0.03878964 -0.00886899
+v -0.00516773 -0.03629753 -0.01362753
+v -0.00415443 -0.03710275 -0.01312634
+v -0.00415443 -0.03812185 -0.01057157
+v -0.00415443 -0.03858543 -0.00940455
+v -0.00516773 -0.03311634 -0.01879317
+v -0.00415443 -0.03345992 -0.01887278
+v -0.00516773 -0.03611946 -0.01407262
+v -0.00416038 -0.03616494 -0.01546581
+v -0.00415443 -0.03661110 -0.01435850
+v -0.00415443 -0.03347540 -0.01886735
+v -0.00415443 -0.03443934 -0.01848920
+v -0.00516773 -0.03395834 -0.01840959
+v -0.00516773 -0.03560168 -0.01536630
+v -0.00415443 -0.03616978 -0.01546038
+v -0.00516773 -0.03541779 -0.01580053
+v -0.00516773 -0.03513519 -0.01646456
+v -0.00415443 -0.03512261 -0.01753387
+v -0.00415443 -0.03616591 -0.01546943
+v -0.00492073 -0.03423126 -0.01834265
+v -0.00415443 -0.03511197 -0.01755197
+v -0.00516773 -0.03416158 -0.01820152
+v -0.00516773 -0.03480711 -0.01711230
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 23
+f 1 23 28
+f 1 28 32
+f 1 32 31
+f 1 31 30
+f 1 30 37
+f 1 37 42
+f 1 42 46
+f 1 46 45
+f 1 45 48
+f 1 48 39
+f 1 39 38
+f 1 38 34
+f 1 34 26
+f 1 26 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 11
+f 2 11 17
+f 2 17 24
+f 2 24 33
+f 2 33 40
+f 2 40 49
+f 2 49 50
+f 2 50 44
+f 2 44 43
+f 2 43 41
+f 2 41 35
+f 2 35 29
+f 2 29 27
+f 2 27 21
+f 2 21 20
+f 2 20 15
+f 2 15 10
+f 2 10 6
+f 3 6 8
+f 4 9 11
+f 4 11 7
+f 4 7 5
+f 6 10 8
+f 8 10 12
+f 8 12 13
+f 9 14 17
+f 9 17 11
+f 10 15 16
+f 10 16 12
+f 12 16 13
+f 13 16 18
+f 14 19 25
+f 14 25 24
+f 14 24 17
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 18
+f 19 26 25
+f 21 27 22
+f 22 28 23
+f 22 27 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 28
+f 24 25 33
+f 25 26 34
+f 25 34 33
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 33 34 38
+f 33 38 39
+f 33 39 40
+f 35 41 36
+f 36 42 37
+f 36 41 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 42
+f 39 47 40
+f 39 48 47
+f 40 47 49
+f 44 50 45
+f 45 50 47
+f 45 47 48
+f 47 50 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_38.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3623c1eb5ff1224b373636e12d06e07d151fd3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00330375 0.01512341 0.02215241
+v -0.00428677 0.01512341 0.02285782
+v -0.00330375 0.01263956 0.02125111
+v -0.00330375 0.01512341 0.01176107
+v -0.00479701 0.01512341 0.02317268
+v -0.00625059 0.01100810 0.02275688
+v -0.00532048 0.01100810 0.02204666
+v -0.00465595 0.01100810 0.02139292
+v -0.00330375 0.01202887 0.02078604
+v -0.00330375 0.01100810 0.01176107
+v -0.01453237 0.01512341 0.01176107
+v -0.00616463 0.01512341 0.02385406
+v -0.00840176 0.01100810 0.02342384
+v -0.00330375 0.01100810 0.01973694
+v -0.01448058 0.01100810 0.01176107
+v -0.01453457 0.01378480 0.01176107
+v -0.01456213 0.01378480 0.01255541
+v -0.01454890 0.01512341 0.01225738
+v -0.00688536 0.01512341 0.02401388
+v -0.00840176 0.01164296 0.02352719
+v -0.00910596 0.01100810 0.02323156
+v -0.01449711 0.01164296 0.01176107
+v -0.01454890 0.01100810 0.01255541
+v -0.01455882 0.01512341 0.01255541
+v -0.01449049 0.01100810 0.01406238
+v -0.01446515 0.01164296 0.01469689
+v -0.00840176 0.01378480 0.02387208
+v -0.00836760 0.01512341 0.02403792
+v -0.01057938 0.01100810 0.02282057
+v -0.01445192 0.01378480 0.01469689
+v -0.01440564 0.01512341 0.01469689
+v -0.01446074 0.01100810 0.01469689
+v -0.01415547 0.01100810 0.01603201
+v -0.01402984 0.01164296 0.01659442
+v -0.01402874 0.01378480 0.01660403
+v -0.01054191 0.01164296 0.02292872
+v -0.00908722 0.01512341 0.02377835
+v -0.01110174 0.01100810 0.02256821
+v -0.01400119 0.01512341 0.01650910
+v -0.01402433 0.01100810 0.01656798
+v -0.01331462 0.01164296 0.01897985
+v -0.01331132 0.01378480 0.01897985
+v -0.01054191 0.01378480 0.02310297
+v -0.01171668 0.01164296 0.02229301
+v -0.01167921 0.01100810 0.02225576
+v -0.01066203 0.01512341 0.02298641
+v -0.01322756 0.01512341 0.01897985
+v -0.01328928 0.01100810 0.01897985
+v -0.01246275 0.01378480 0.02112253
+v -0.01242859 0.01164296 0.02112253
+v -0.01117558 0.01512341 0.02266434
+v -0.01175745 0.01378480 0.02233868
+v -0.01185443 0.01100810 0.02197455
+v -0.01228973 0.01512341 0.02124150
+v -0.01266553 0.01100810 0.02048802
+v -0.01186655 0.01512341 0.02202503
+v -0.01234373 0.01100810 0.02116940
+v -0.01171006 0.01512341 0.02229421
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 24
+f 1 24 31
+f 1 31 39
+f 1 39 47
+f 1 47 54
+f 1 54 56
+f 1 56 58
+f 1 58 51
+f 1 51 46
+f 1 46 37
+f 1 37 28
+f 1 28 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 6 7
+f 4 10 15
+f 4 15 22
+f 4 22 16
+f 4 16 11
+f 5 12 6
+f 6 12 13
+f 6 13 21
+f 6 21 29
+f 6 29 38
+f 6 38 45
+f 6 45 53
+f 6 53 57
+f 6 57 55
+f 6 55 48
+f 6 48 40
+f 6 40 33
+f 6 33 32
+f 6 32 25
+f 6 25 23
+f 6 23 15
+f 6 15 10
+f 6 10 14
+f 6 14 8
+f 6 8 7
+f 8 14 9
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 15 23 22
+f 16 22 23
+f 16 23 17
+f 17 24 18
+f 17 23 25
+f 17 25 26
+f 17 26 24
+f 19 27 20
+f 19 28 27
+f 20 27 21
+f 21 27 29
+f 24 26 30
+f 24 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 30
+f 27 28 36
+f 27 36 29
+f 28 37 36
+f 29 36 38
+f 30 35 31
+f 31 35 39
+f 33 40 34
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 35 42 39
+f 36 37 43
+f 36 43 44
+f 36 44 45
+f 36 45 38
+f 37 46 43
+f 39 42 47
+f 40 48 41
+f 41 49 42
+f 41 48 50
+f 41 50 49
+f 42 49 47
+f 43 46 51
+f 43 51 52
+f 43 52 44
+f 44 52 50
+f 44 50 53
+f 44 53 45
+f 47 49 54
+f 48 55 50
+f 49 50 52
+f 49 52 56
+f 49 56 54
+f 50 55 57
+f 50 57 53
+f 51 58 52
+f 52 58 56
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_380.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_380.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811033f2d0ad3ff455cd2df7046fc0892a498bc2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_380.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 -0.02029868 -0.01960425
+v -0.00850034 -0.02029868 -0.01960425
+v -0.00950790 -0.02029868 -0.00214365
+v -0.00950790 -0.01920766 -0.01960425
+v -0.00850034 -0.01920766 -0.01960425
+v -0.00850034 -0.02029868 -0.00214365
+v -0.00950790 -0.01920766 -0.00214365
+v -0.00850034 -0.01920766 -0.00214365
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_381.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_381.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465191482bba844c744e01435bda553953d9062b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_381.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01170296 0.00795814 -0.01499972
+v -0.01266334 0.00795814 -0.01499972
+v -0.01159234 0.00795432 -0.01499972
+v -0.01159234 0.00795814 -0.01620630
+v -0.01266334 0.00795814 -0.01620630
+v -0.01266334 -0.03010666 -0.01499972
+v -0.01159234 -0.03105370 -0.01499972
+v -0.01159234 -0.03049617 -0.01620630
+v -0.01266334 -0.02946893 -0.01620630
+v -0.01266334 -0.02977061 -0.01570990
+v -0.01198289 -0.03015248 -0.01620630
+v -0.01205492 -0.03051526 -0.01529440
+v -0.01233927 -0.03039688 -0.01499972
+v -0.01213398 -0.03058018 -0.01499972
+v -0.01166427 -0.03043507 -0.01620630
+v -0.01211123 -0.03003410 -0.01620630
+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 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 11
+f 4 11 16
+f 4 16 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 14 12
+f 7 12 15
+f 7 15 8
+f 9 16 10
+f 10 16 11
+f 11 15 12
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_382.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_382.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af987031c5ca5c0713032467c062b9fb09067a7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_382.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03323600 -0.00026207
+v -0.01266345 0.03323600 -0.00239656
+v -0.01268513 0.03322291 -0.00026207
+v -0.01266345 -0.03359783 -0.00026207
+v -0.01268513 0.03322291 -0.00239656
+v -0.01266345 -0.03359129 -0.00239656
+v -0.01344330 0.03257486 -0.00026207
+v -0.01266475 -0.03362402 -0.00026207
+v -0.01266345 -0.03362402 -0.00029905
+v -0.01344330 0.03257486 -0.00239656
+v -0.01266345 -0.03362402 -0.00049422
+v -0.01266551 -0.03362402 -0.00239656
+v -0.01344330 -0.03294324 -0.00026207
+v -0.01343108 -0.03295633 -0.00026207
+v -0.01344330 -0.03294324 -0.00239656
+v -0.01342917 -0.03295633 -0.00239656
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 12
+f 7 10 15
+f 7 15 13
+f 8 12 11
+f 8 11 9
+f 8 14 12
+f 12 14 16
+f 13 15 14
+f 14 15 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_383.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_383.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5b181a8bc7e0b1d573528c989184954beca9b9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_383.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.03886846 0.00063350
+v -0.00415443 0.03889145 -0.00029879
+v -0.00472214 0.03860023 0.00063350
+v -0.00415443 -0.03937734 0.00063350
+v -0.00415443 0.03889145 -0.00043037
+v -0.00516773 0.03840097 -0.00028317
+v -0.00514759 0.03839331 0.00063350
+v -0.00477769 -0.03902481 0.00063350
+v -0.00415443 -0.03940032 -0.00029879
+v -0.00415800 0.03888378 -0.00043750
+v -0.00516773 0.03840097 -0.00043750
+v -0.00415443 0.03708283 -0.00043750
+v -0.00516773 0.03837799 0.00063350
+v -0.00516773 -0.03880256 0.00063350
+v -0.00516773 -0.03882555 -0.00029879
+v -0.00415443 -0.03940032 -0.00043750
+v -0.00516773 -0.03882555 -0.00043750
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 12 10
+f 6 11 17
+f 6 17 15
+f 6 15 14
+f 6 14 13
+f 6 13 7
+f 8 14 15
+f 8 15 9
+f 9 15 17
+f 9 17 16
+f 10 12 16
+f 10 16 17
+f 10 17 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_384.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_384.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f3ab35d0da260a119c4fe73182d1c56b812119
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_384.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.00571247 -0.01605841
+v -0.01062676 0.00571247 -0.01605841
+v -0.01159234 0.00571247 -0.00037422
+v -0.01159234 0.01969368 -0.01605841
+v -0.01062676 0.01969368 -0.01605841
+v -0.01062676 0.00571247 -0.00037422
+v -0.01159234 0.01969368 -0.00037422
+v -0.01062676 0.01969368 -0.00037422
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_385.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_385.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5035539526dab9a7b7f6165396d69f9ab4123f43
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_385.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00732681 0.00276224 -0.01393218
+v 0.00732681 0.00276224 -0.01671706
+v 0.00664957 0.00276224 -0.01393218
+v 0.00732681 -0.02586536 -0.01393218
+v 0.00664957 0.00276224 -0.01671706
+v 0.00732681 -0.02586536 -0.01671706
+v 0.00664957 -0.02586536 -0.01393218
+v 0.00664957 -0.02586536 -0.01671706
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_386.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_386.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d18b1836038293de4d2f88db60aa7636bb2a60b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_386.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00066976 -0.04144019 -0.00293675
+v 0.00174202 -0.04184812 -0.00293675
+v 0.00078931 -0.04148859 -0.00186574
+v 0.00066976 -0.04144019 -0.00186574
+v 0.00066976 0.02878732 -0.00293675
+v 0.00174202 -0.04184812 -0.00186574
+v 0.00174202 0.02878732 -0.00293675
+v 0.00066976 0.02878732 -0.00186574
+v 0.00174202 0.02878732 -0.00186574
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 9
+f 2 9 6
+f 3 6 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_387.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_387.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac1a69ac6264c02d0edf97bc1f95227cc2b2e35
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_387.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01344330 -0.03040136 -0.01278150
+v -0.01344330 -0.03011681 -0.01342411
+v -0.01311902 -0.03043163 -0.01342411
+v -0.01296597 -0.03086147 -0.01278150
+v -0.01344330 0.02994040 -0.01278150
+v -0.01344330 0.02963163 -0.01342411
+v -0.01266345 -0.03083120 -0.01342411
+v -0.01266345 -0.03112786 -0.01278150
+v -0.01268162 0.03070322 -0.01278150
+v -0.01266345 0.03072138 -0.01278150
+v -0.01318841 0.02988591 -0.01342411
+v -0.01266345 0.03039446 -0.01342411
+v -0.01266345 0.03041262 -0.01341002
+v -0.01266643 0.03040657 -0.01342411
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 10
+f 7 10 8
+f 10 13 14
+f 10 14 11
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_388.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_388.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c78eef537c55c68ae5bd31bc31cc92951620df1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_388.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03571939 -0.01409623
+v -0.00516783 0.03518503 -0.01535168
+v -0.00591716 0.03450301 -0.01599417
+v -0.00597001 0.03452410 -0.01586467
+v -0.00597001 0.03522721 -0.01409623
+v -0.00516783 -0.03611069 -0.01409623
+v -0.00516783 0.03487566 -0.01599417
+v -0.00597001 0.03446082 -0.01599417
+v -0.00597001 -0.03561851 -0.01409623
+v -0.00587264 -0.03518258 -0.01535168
+v -0.00516783 -0.03560445 -0.01535168
+v -0.00516783 -0.03533024 -0.01599417
+v -0.00597001 -0.03485212 -0.01599417
+v -0.00597001 -0.03511930 -0.01535168
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 3 8 4
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 6 9 10
+f 6 10 11
+f 9 14 10
+f 10 14 13
+f 10 13 11
+f 11 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_389.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_389.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7bed90764c2f14c96380e1db090a14fc6d3941
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_389.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03794953 -0.00800871
+v -0.00516783 0.03768019 -0.00904294
+v -0.00597001 0.03751559 -0.00800871
+v -0.00516783 -0.03848314 -0.00800871
+v -0.00516783 0.03721632 -0.01025268
+v -0.00597001 0.03679735 -0.01025268
+v -0.00597001 0.03725373 -0.00901174
+v -0.00597001 -0.03795194 -0.00800871
+v -0.00555902 -0.03824373 -0.00800871
+v -0.00597001 -0.03766016 -0.00899329
+v -0.00516783 -0.03817639 -0.00891025
+v -0.00516783 -0.03763771 -0.01025268
+v -0.00597001 -0.03715888 -0.01025268
+v -0.00597001 -0.03783224 -0.00848277
+v -0.00574143 -0.03730104 -0.01025268
+v -0.00516783 -0.03786964 -0.00968438
+v -0.00545381 -0.03747311 -0.01025268
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 13
+f 3 13 10
+f 3 10 14
+f 3 14 8
+f 4 9 10
+f 4 10 11
+f 5 12 17
+f 5 17 15
+f 5 15 13
+f 5 13 6
+f 8 14 9
+f 9 14 10
+f 10 13 15
+f 10 15 11
+f 11 15 16
+f 12 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_39.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44491a5d0f232c531a9fd62f158408199f1692ca
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03796393 -0.00418236
+v -0.00597001 0.03796393 -0.00458348
+v -0.00602416 0.03793404 -0.00418236
+v -0.00597001 0.01027199 -0.00418236
+v -0.00597001 0.03785187 -0.00673964
+v -0.00625857 0.03769500 -0.00672514
+v -0.00625857 0.03779211 -0.00481768
+v -0.00625857 0.03779958 -0.00458348
+v -0.00625857 0.03779958 -0.00418236
+v -0.00716741 0.01027199 -0.00418236
+v -0.00597001 -0.03835137 -0.00418273
+v -0.00597001 0.03752319 -0.00798018
+v -0.00634601 0.03732149 -0.00798018
+v -0.00627006 0.03768753 -0.00673927
+v -0.00716741 0.03713474 -0.00673927
+v -0.00716741 0.03723185 -0.00481768
+v -0.00716741 0.03723932 -0.00458348
+v -0.00716741 0.03723932 -0.00418236
+v -0.00716741 -0.03762676 -0.00418273
+v -0.00597001 -0.03835137 -0.00458348
+v -0.00597001 -0.03794798 -0.00798018
+v -0.00716741 0.03682099 -0.00798018
+v -0.00716741 -0.03762676 -0.00458348
+v -0.00716741 -0.03761929 -0.00481768
+v -0.00597001 -0.03832896 -0.00510988
+v -0.00597001 -0.03822438 -0.00685451
+v -0.00716741 -0.03729060 -0.00784932
+v -0.00716741 -0.03725325 -0.00798018
+v -0.00716741 -0.03752965 -0.00674336
+v -0.00605369 -0.03819450 -0.00673927
+v -0.00597001 -0.03824679 -0.00667012
+v -0.00597001 -0.03823932 -0.00673964
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 25
+f 1 25 31
+f 1 31 32
+f 1 32 26
+f 1 26 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+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 9
+f 10 19 11
+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 22
+f 10 22 28
+f 10 28 27
+f 10 27 29
+f 10 29 24
+f 10 24 23
+f 10 23 19
+f 11 19 23
+f 11 23 20
+f 12 21 28
+f 12 28 22
+f 12 22 13
+f 13 22 14
+f 14 22 15
+f 20 23 24
+f 20 24 25
+f 21 26 27
+f 21 27 28
+f 24 29 25
+f 25 30 31
+f 25 29 30
+f 26 30 29
+f 26 29 27
+f 26 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_390.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_390.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4bf524bb470cbd4c76c8adef9532066a1c8fb6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_390.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00174202 0.02878733 0.00285823
+v 0.00174202 0.02878733 -0.00057518
+v 0.00066976 0.02878733 0.00285823
+v 0.00174202 -0.04157832 0.00285823
+v 0.00066976 0.02878733 -0.00057518
+v 0.00174202 -0.04184797 -0.00057518
+v 0.00066976 -0.04119804 0.00285823
+v 0.00174202 -0.04180649 0.00181201
+v 0.00066976 -0.04144003 -0.00057518
+v 0.00174202 -0.04184797 -0.00029825
+v 0.00066976 -0.04140546 0.00175286
+v 0.00066976 -0.04144003 -0.00029825
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 12
+f 6 12 9
+f 7 11 8
+f 8 11 10
+f 10 11 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_391.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_391.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3f380383c22b894a7ddd8bdf5546075346941c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_391.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 0.02878732 -0.01634340
+v 0.00880497 0.02878732 -0.01806178
+v 0.00732702 0.02878732 -0.01634340
+v 0.00880497 -0.04035231 -0.01634340
+v 0.00732702 0.02878732 -0.01806178
+v 0.00880497 -0.03935745 -0.01806178
+v 0.00732702 -0.04008837 -0.01634340
+v 0.00824606 -0.04026433 -0.01634340
+v 0.00732702 -0.03986503 -0.01686354
+v 0.00732702 -0.03958078 -0.01743650
+v 0.00880497 -0.03983119 -0.01737779
+v 0.00732702 -0.03922209 -0.01806178
+v 0.00880497 -0.03979735 -0.01743247
+v 0.00758036 -0.03925593 -0.01806178
+v 0.00799141 -0.04022372 -0.01634340
+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 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 9 15
+f 8 15 9
+f 10 12 11
+f 11 12 14
+f 11 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_392.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_392.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51bf913b198611bcb0d49d04857e5e1fb183b6a0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_392.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 0.00086996 -0.01942211
+v -0.02119205 0.00086996 -0.01936408
+v -0.02069365 0.00093201 -0.01942211
+v -0.02069365 0.00086996 0.00635237
+v -0.02125536 0.00086996 -0.01935399
+v -0.02125393 0.00093201 -0.01935399
+v -0.02125393 0.00307507 -0.01934137
+v -0.02069365 0.00307507 -0.01940949
+v -0.02069365 0.00555743 0.00635237
+v -0.02130386 0.00086996 0.00635237
+v -0.02130386 0.00086996 -0.01934137
+v -0.02130386 0.00093201 -0.01934137
+v -0.02130386 0.00307507 -0.01932371
+v -0.02125393 0.00521555 -0.01930101
+v -0.02069365 0.00521555 -0.01937922
+v -0.02130386 0.00555743 0.00635237
+v -0.02069365 0.00747236 0.00634985
+v -0.02130386 0.00521555 -0.01928335
+v -0.02125393 0.00555743 -0.01928587
+v -0.02069365 0.00735797 -0.01929848
+v -0.02130386 0.00747236 0.00634985
+v -0.02069365 0.00747236 -0.01929091
+v -0.02130386 0.00555743 -0.01926821
+v -0.02125393 0.00735797 -0.01920261
+v -0.02119963 0.00747236 -0.01920513
+v -0.02130386 0.00747236 -0.01578401
+v -0.02130386 0.00735797 -0.01918495
+v -0.02125393 0.00747236 -0.01919504
+v -0.02130315 0.00747236 -0.01917738
+v -0.02130386 0.00744586 -0.01917738
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 16
+f 4 16 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 18
+f 7 18 14
+f 7 14 15
+f 7 15 8
+f 9 17 21
+f 9 21 16
+f 10 16 21
+f 10 21 26
+f 10 26 30
+f 10 30 27
+f 10 27 23
+f 10 23 18
+f 10 18 13
+f 10 13 12
+f 10 12 11
+f 14 19 20
+f 14 20 15
+f 14 18 23
+f 14 23 19
+f 17 22 25
+f 17 25 28
+f 17 28 29
+f 17 29 26
+f 17 26 21
+f 19 23 27
+f 19 27 24
+f 19 24 20
+f 20 24 25
+f 20 25 22
+f 24 27 28
+f 24 28 25
+f 26 29 30
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_393.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_393.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60592d203c7500aef223f1a1a311c136a0d6bbec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_393.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 -0.03496319 -0.01257465
+v -0.00805384 -0.03476637 -0.01305912
+v -0.00786228 -0.03475444 -0.01340668
+v -0.00766257 -0.03520774 -0.01257465
+v -0.00805384 0.02542114 -0.01257465
+v -0.00805384 -0.03462322 -0.01340668
+v -0.00716753 -0.03517791 -0.01340668
+v -0.00716753 -0.03551192 -0.01257465
+v -0.00716753 0.02542114 -0.01257465
+v -0.00805384 0.02542114 -0.01340668
+v -0.00716753 0.02542114 -0.01340668
+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 6 10
+f 3 10 11
+f 3 11 7
+f 3 7 8
+f 3 8 4
+f 5 9 11
+f 5 11 10
+f 7 11 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_394.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_394.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacb1510ea0485a4d1b466218e4caf8563fff5df
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_394.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.03522097 0.00544164
+v -0.00805384 0.03524947 0.00542024
+v -0.00809339 0.03519248 0.00544164
+v -0.00805384 -0.03566500 0.00544164
+v -0.00850034 0.03484339 0.00544164
+v -0.00805384 0.03594764 0.00444901
+v -0.00850034 -0.03533729 0.00544164
+v -0.00850034 -0.03578611 0.00477814
+v -0.00850034 -0.03631331 0.00398562
+v -0.00805384 -0.03658403 0.00398562
+v -0.00850034 0.03570542 0.00424111
+v -0.00805384 0.03617562 0.00391258
+v -0.00850034 0.03574104 0.00416508
+v -0.00850034 -0.03632756 0.00391258
+v -0.00805384 -0.03660540 0.00391258
+v -0.00811013 0.03613288 0.00391258
+v -0.00850034 0.03580516 0.00391258
+f 1 2 3
+f 1 3 5
+f 1 5 7
+f 1 7 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 5
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 5 11 13
+f 5 13 17
+f 5 17 14
+f 5 14 9
+f 5 9 8
+f 5 8 7
+f 6 12 13
+f 6 13 11
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 12 15 14
+f 12 14 17
+f 12 17 16
+f 13 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_395.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_395.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c861d0caa7b63ed8d0d40ac3eda0a3ea1121d80
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_395.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03870775 -0.01326465
+v 0.00023052 0.03795889 -0.01527988
+v 0.00020435 0.03869795 -0.01326465
+v 0.00023052 0.00530306 -0.01326465
+v -0.00048549 0.03821723 -0.01369475
+v -0.00065526 0.03829898 -0.01326465
+v 0.00023052 0.03794254 -0.01531791
+v 0.00020435 0.03793600 -0.01530491
+v -0.00083011 0.03743239 -0.01532376
+v -0.00083011 0.00530306 -0.01326465
+v 0.00023052 0.00530306 -0.01658543
+v -0.00083011 0.03821396 -0.01326465
+v 0.00023052 0.03734410 -0.01658543
+v 0.00016781 0.03732121 -0.01658543
+v -0.00083011 0.03737680 -0.01544274
+v -0.00083011 0.00530306 -0.01658543
+v -0.00081983 0.03684703 -0.01658543
+v -0.00083011 0.03684703 -0.01657535
+v -0.00083011 0.03684049 -0.01658543
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 10
+f 1 10 4
+f 1 4 11
+f 1 11 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 16
+f 4 16 11
+f 5 9 6
+f 6 9 12
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 18
+f 9 18 19
+f 9 19 16
+f 9 16 10
+f 9 10 12
+f 11 16 19
+f 11 19 17
+f 11 17 14
+f 11 14 13
+f 14 17 18
+f 14 18 15
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_396.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_396.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5daf26ebfda7175643d20e076f4febf541b282c9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_396.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02309077 0.00583846 -0.01784038
+v -0.02309077 0.00839868 -0.01784038
+v -0.02181543 0.00583846 -0.01784038
+v -0.02309077 0.00583846 0.00635237
+v -0.02309077 0.00950035 -0.01760357
+v -0.02294546 0.00950035 -0.01784038
+v -0.02181543 0.01159825 -0.01784038
+v -0.02181543 0.00583846 0.00635237
+v -0.02309077 0.01159825 0.00635237
+v -0.02261839 0.01134059 -0.01784038
+v -0.02309077 0.00995590 -0.01745437
+v -0.02239693 0.01159825 -0.01784038
+v -0.02181543 0.01159825 0.00635237
+v -0.02309077 0.01159825 -0.01663263
+v -0.02272562 0.01157344 -0.01752542
+v -0.02270340 0.01159825 -0.01755383
+v -0.02309077 0.01033703 -0.01726492
+v -0.02272288 0.01159825 -0.01751594
+f 1 2 6
+f 1 6 10
+f 1 10 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 10 6
+f 5 11 10
+f 7 12 16
+f 7 16 18
+f 7 18 14
+f 7 14 9
+f 7 9 13
+f 10 11 15
+f 10 15 16
+f 10 16 12
+f 11 17 15
+f 14 18 15
+f 14 15 17
+f 15 18 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_397.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_397.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58277363f0edf142f861dfad73901756680aaf64
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_397.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01799965 0.01477905 0.00635079
+v -0.01875131 0.01477905 0.00635079
+v -0.01799965 -0.01061551 0.00635079
+v -0.01799965 0.01477905 -0.00981594
+v -0.01875131 0.01477905 -0.00981594
+v -0.01875131 -0.01061551 0.00635079
+v -0.01799965 -0.01061551 -0.00981594
+v -0.01875131 -0.01061551 -0.00981594
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_398.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_398.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abdcbbcd99392ddf93bc11988b70cc302a94897d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_398.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01512946 0.02569164 -0.00716964
+v -0.01512946 0.03066778 -0.00716964
+v -0.01399461 0.02569164 -0.00716964
+v -0.01512946 0.02569164 -0.00011003
+v -0.01512946 0.03078947 -0.00672530
+v -0.01399461 0.03186963 -0.00716964
+v -0.01399461 0.02569164 -0.00011003
+v -0.01512946 0.03091367 -0.00011003
+v -0.01512946 0.03091806 -0.00458310
+v -0.01493837 0.03098957 -0.00672530
+v -0.01399461 0.03197313 -0.00672530
+v -0.01399461 0.03209482 -0.00011003
+v -0.01499770 0.03105167 -0.00011003
+v -0.01512946 0.03091806 -0.00029938
+v -0.01499981 0.03105355 -0.00458310
+v -0.01399461 0.03209106 -0.00472269
+v -0.01399461 0.03209921 -0.00029938
+v -0.01499981 0.03105355 -0.00029938
+v -0.01399461 0.03209921 -0.00458310
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 16
+f 3 16 19
+f 3 19 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 13
+f 4 13 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 8 13 14
+f 9 15 10
+f 9 14 18
+f 9 18 15
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 18 17
+f 15 17 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_399.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_399.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f1cdac27b721f1de5d5a054d89af2e65f357b6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_399.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00941054 0.02450239 0.01308228
+v 0.00865833 0.02446507 0.01308228
+v 0.00946182 0.02437944 0.01308228
+v 0.01086886 0.02247797 0.01198245
+v 0.01004762 0.02449581 0.01191746
+v 0.00981391 0.02557828 0.01149490
+v 0.00865833 0.02600424 0.01308202
+v 0.00865833 0.00539770 0.01308228
+v 0.01025796 0.02244942 0.01308228
+v 0.01026402 0.02243405 0.01308228
+v 0.01086886 0.02088390 0.01308228
+v 0.01086886 0.02424330 0.01051904
+v 0.01001667 0.02588129 0.01051904
+v 0.00932095 0.02696376 0.01051904
+v 0.00865833 0.02665197 0.01245370
+v 0.00869858 0.02657073 0.01247804
+v 0.00865833 0.02654658 0.01257816
+v 0.01075460 0.02449581 0.01051904
+v 0.00865833 0.00539770 0.01051904
+v 0.01086886 0.00539770 0.01308228
+v 0.01086886 0.00539770 0.01051904
+v 0.00865833 0.02782886 0.01051904
+v 0.00865833 0.02660586 0.01251292
+f 1 2 8
+f 1 8 20
+f 1 20 11
+f 1 11 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 17
+f 2 17 23
+f 2 23 15
+f 2 15 22
+f 2 22 19
+f 2 19 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 20
+f 4 20 21
+f 4 21 12
+f 4 12 6
+f 4 6 5
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 12 18
+f 6 18 13
+f 8 19 21
+f 8 21 20
+f 12 21 19
+f 12 19 22
+f 12 22 14
+f 12 14 13
+f 12 13 18
+f 14 22 15
+f 15 23 16
+f 16 23 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_4.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e358e661c9e9d36b343638fdb5ea62a4692718
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00088282 0.00539666 0.01700485
+v 0.00088282 0.00539666 0.00803460
+v 0.00023052 0.00539666 0.01592737
+v 0.00023052 0.00394253 0.01578159
+v 0.00023052 0.00074429 0.01531179
+v 0.00023052 -0.00114378 0.01498336
+v 0.00088282 0.00076723 0.01602572
+v 0.00023052 0.00539666 0.00803460
+v 0.00088282 -0.00525790 0.00803460
+v 0.00023052 -0.00323318 0.01430455
+v 0.00023052 -0.00476137 0.01376713
+v 0.00023052 -0.00525790 0.01357394
+v 0.00088282 -0.00217440 0.01486657
+v 0.00023052 -0.00525790 0.00803460
+v 0.00088282 -0.00525790 0.01308306
+v 0.00088282 -0.00328742 0.01442486
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 16
+f 1 16 15
+f 1 15 9
+f 1 9 2
+f 2 9 14
+f 2 14 8
+f 3 8 14
+f 3 14 12
+f 3 12 11
+f 3 11 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 9 15 12
+f 9 12 14
+f 12 15 16
+f 12 16 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_40.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18488ced0c6fca50aad018301378826891d9a0de
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.01159234 0.00794982 0.00635237
+v -0.01159234 0.00795398 -0.01008955
+v -0.01187771 0.00795814 -0.01309286
+v -0.01191796 0.00795814 -0.01265187
+v -0.01205006 0.00795814 -0.01121187
+v -0.01209377 0.00795814 -0.01073953
+v -0.01266334 0.00794982 0.00635237
+v -0.01159234 -0.03123817 0.00635237
+v -0.01159234 0.00795398 -0.01499892
+v -0.01266334 0.00795814 -0.01309286
+v -0.01266334 0.00795814 -0.01073953
+v -0.01266334 -0.03026856 0.00635237
+v -0.01166573 -0.03118407 0.00635237
+v -0.01159234 -0.03288192 0.00554982
+v -0.01266334 0.00795398 -0.01499892
+v -0.01159234 -0.03104674 -0.01499892
+v -0.01266334 -0.03126730 0.00593228
+v -0.01266334 -0.03129227 0.00591974
+v -0.01266334 -0.03144624 0.00583823
+v -0.01207364 -0.03266553 0.00542651
+v -0.01159234 -0.03387234 0.00421431
+v -0.01266334 -0.03010210 -0.01499892
+v -0.01213382 -0.03057651 -0.01499892
+v -0.01159234 -0.03328558 -0.01008955
+v -0.01266334 -0.03310664 0.00384230
+v -0.01256574 -0.03323148 0.00375661
+v -0.01159234 -0.03426767 0.00335533
+v -0.01266334 -0.03026024 -0.01466244
+v -0.01233919 -0.03039340 -0.01499892
+v -0.01266334 -0.03098016 -0.01309286
+v -0.01266334 -0.03205380 -0.01073953
+v -0.01159234 -0.03383489 -0.00886900
+v -0.01266334 -0.03296099 -0.00873106
+v -0.01266334 -0.03316074 0.00371063
+v -0.01163050 -0.03442165 0.00294360
+v -0.01159234 -0.03443829 0.00297286
+v -0.01159234 -0.03435090 -0.00751468
+v -0.01266334 -0.03298596 -0.00867045
+v -0.01266334 -0.03357688 0.00184009
+v -0.01166416 -0.03445078 0.00184009
+v -0.01159234 -0.03450903 0.00184009
+v -0.01159234 -0.03435923 -0.00747916
+v -0.01266334 -0.03348533 -0.00686679
+v -0.01266334 -0.03347701 -0.00690023
+v -0.01266334 -0.03362265 -0.00029796
+v -0.01169005 -0.03447574 -0.00029796
+v -0.01159234 -0.03455481 -0.00029796
+v -0.01159234 -0.03450487 -0.00611648
+v -0.01166479 -0.03445078 -0.00606423
+v -0.01236289 -0.03375582 -0.00686679
+v -0.01266334 -0.03350198 -0.00675393
+v -0.01266334 -0.03362265 -0.00458243
+v -0.01169005 -0.03447574 -0.00458243
+v -0.01159559 -0.03455481 -0.00433582
+v -0.01159234 -0.03455481 -0.00459080
+v -0.01159234 -0.03451320 -0.00596810
+v -0.01266334 -0.03361849 -0.00471410
+v -0.01266334 -0.03358104 -0.00539753
+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 12
+f 1 12 13
+f 1 13 8
+f 1 8 14
+f 1 14 21
+f 1 21 27
+f 1 27 36
+f 1 36 41
+f 1 41 47
+f 1 47 55
+f 1 55 56
+f 1 56 48
+f 1 48 42
+f 1 42 37
+f 1 37 32
+f 1 32 24
+f 1 24 16
+f 1 16 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 3 9 15
+f 3 15 10
+f 7 11 10
+f 7 10 15
+f 7 15 22
+f 7 22 28
+f 7 28 30
+f 7 30 31
+f 7 31 33
+f 7 33 38
+f 7 38 44
+f 7 44 43
+f 7 43 51
+f 7 51 58
+f 7 58 57
+f 7 57 52
+f 7 52 45
+f 7 45 39
+f 7 39 34
+f 7 34 25
+f 7 25 19
+f 7 19 18
+f 7 18 17
+f 7 17 12
+f 8 13 14
+f 9 16 23
+f 9 23 29
+f 9 29 22
+f 9 22 15
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 16 24 23
+f 19 25 20
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 22 29 28
+f 23 30 28
+f 23 28 29
+f 23 24 31
+f 23 31 30
+f 24 32 33
+f 24 33 31
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 32 37 38
+f 32 38 33
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 39 45 46
+f 39 46 40
+f 40 46 41
+f 41 46 47
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 45 52 53
+f 45 53 46
+f 46 53 54
+f 46 54 47
+f 47 54 55
+f 48 56 49
+f 49 56 53
+f 49 53 57
+f 49 57 58
+f 49 58 51
+f 49 51 50
+f 52 57 53
+f 53 56 55
+f 53 55 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_400.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_400.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e056328998823c834669ea356ee9a6b1508d88
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_400.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.02181543 -0.01637387 -0.01589577
+v -0.02181543 -0.01637387 0.00634988
+v -0.02200943 -0.01637387 -0.01549692
+v -0.02228295 -0.01500371 -0.01624476
+v -0.02181543 -0.01549321 -0.01673085
+v -0.02181543 -0.00581579 0.00635237
+v -0.02297954 -0.01637387 0.00634988
+v -0.02205749 -0.01632907 -0.01543709
+v -0.02206910 -0.01637387 -0.01535982
+v -0.02240903 -0.01637387 -0.01445743
+v -0.02254061 -0.01569644 -0.01481639
+v -0.02309077 -0.01626024 -0.01272494
+v -0.02309077 -0.01492504 -0.01403116
+v -0.02309077 -0.01424324 -0.01468925
+v -0.02309077 -0.01416020 -0.01476902
+v -0.02283685 -0.01419954 -0.01543709
+v -0.02309077 -0.01346966 -0.01538973
+v -0.02309077 -0.01272121 -0.01603287
+v -0.02251465 -0.01357674 -0.01682308
+v -0.02208745 -0.01250815 -0.01825145
+v -0.02181543 -0.01535554 -0.01682059
+v -0.02181543 -0.00521156 0.00635237
+v -0.02309077 -0.00581579 0.00635237
+v -0.02309077 -0.01637387 0.00624767
+v -0.02309077 -0.01627772 0.00634988
+v -0.02283086 -0.01637387 -0.01331074
+v -0.02286482 -0.01632907 -0.01326837
+v -0.02308928 -0.01637387 -0.01259781
+v -0.02309077 -0.01637387 -0.01255543
+v -0.02309077 -0.01383351 -0.01506317
+v -0.02309077 -0.01137181 -0.01696766
+v -0.02267569 -0.01226558 -0.01733410
+v -0.02181543 -0.01425745 -0.01752854
+v -0.02181543 -0.01431973 -0.01749115
+v -0.02232177 -0.01226558 -0.01797475
+v -0.02238444 -0.01107899 -0.01855308
+v -0.02181543 -0.01281299 -0.01834867
+v -0.02309077 -0.00521156 0.00635237
+v -0.02181543 -0.00521156 -0.01911396
+v -0.02309077 -0.01048897 -0.01745376
+v -0.02272737 -0.01184492 -0.01749614
+v -0.02250429 -0.00977985 -0.01862786
+v -0.02181543 -0.00977985 -0.01887963
+v -0.02181543 -0.01149091 -0.01869267
+v -0.02309077 -0.01005410 -0.01767063
+v -0.02309077 -0.00868176 -0.01801464
+v -0.02309077 -0.00521156 -0.01850073
+v -0.02181543 -0.00690186 -0.01905413
+v -0.02237108 -0.00521156 -0.01891703
+v -0.02309077 -0.00699911 -0.01826641
+v -0.02295720 -0.00521156 -0.01864780
+v -0.02265472 -0.00763829 -0.01870514
+v -0.02181543 -0.00763829 -0.01901923
+v -0.02281526 -0.00521156 -0.01875499
+f 1 2 7
+f 1 7 24
+f 1 24 29
+f 1 29 28
+f 1 28 26
+f 1 26 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 21
+f 1 21 34
+f 1 34 33
+f 1 33 37
+f 1 37 44
+f 1 44 43
+f 1 43 53
+f 1 53 48
+f 1 48 39
+f 1 39 22
+f 1 22 6
+f 1 6 2
+f 2 6 23
+f 2 23 7
+f 3 8 4
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 6 22 38
+f 6 38 23
+f 7 23 25
+f 7 25 24
+f 10 26 27
+f 10 27 11
+f 11 27 12
+f 12 27 26
+f 12 26 28
+f 12 28 29
+f 12 29 24
+f 12 24 25
+f 12 25 23
+f 12 23 38
+f 12 38 47
+f 12 47 50
+f 12 50 46
+f 12 46 45
+f 12 45 40
+f 12 40 31
+f 12 31 18
+f 12 18 17
+f 12 17 30
+f 12 30 15
+f 12 15 14
+f 12 14 13
+f 15 30 16
+f 16 30 17
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 33 34
+f 20 34 21
+f 20 32 35
+f 20 35 36
+f 20 36 37
+f 20 37 33
+f 22 39 49
+f 22 49 54
+f 22 54 51
+f 22 51 47
+f 22 47 38
+f 31 40 41
+f 31 41 32
+f 32 41 35
+f 35 41 36
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 36 41 45
+f 36 45 46
+f 36 46 42
+f 39 48 49
+f 40 45 41
+f 42 46 50
+f 42 50 47
+f 42 47 51
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 48 53 52
+f 48 52 54
+f 48 54 49
+f 51 54 52
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_401.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_401.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abfe3adb7d8b23e6979a525aed53a5d68d61774a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_401.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02069365 0.00086996 0.00635237
+v -0.02069365 0.00086996 -0.00688329
+v -0.02130386 0.00086996 0.00635237
+v -0.02069365 -0.02010416 0.00635237
+v -0.02130386 0.00086996 -0.00688329
+v -0.02069365 -0.02010416 -0.00688329
+v -0.02130386 -0.01926445 0.00635237
+v -0.02071001 -0.02010416 0.00635237
+v -0.02130386 -0.02010416 -0.00688329
+v -0.02081353 -0.01996660 0.00635237
+v -0.02130386 -0.02010416 0.00598702
+v -0.02096196 -0.02010416 0.00619949
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 8 12
+f 4 12 11
+f 4 11 9
+f 4 9 6
+f 7 11 10
+f 8 10 12
+f 10 11 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_402.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_402.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61804e3ab816a80822172266c7f820b00f91ea4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_402.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00147309 0.02610048 -0.00293675
+v 0.00147309 0.02610048 -0.00664588
+v 0.00023052 0.02610048 -0.00293675
+v 0.00147309 -0.01854846 -0.00293675
+v 0.00023052 0.02610048 -0.00664588
+v 0.00147309 -0.01854846 -0.00664588
+v 0.00023052 -0.01854846 -0.00293675
+v 0.00023052 -0.01854846 -0.00664588
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_403.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_403.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371d606414b8f8ec13b787c9d2e8031280b16903
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_403.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.04017930 0.00301364
+v -0.00083021 0.04040890 0.00200763
+v -0.00141148 0.03992216 0.00301364
+v -0.00083021 0.01702886 0.00301364
+v -0.00083021 0.04044334 0.00184304
+v -0.00183008 0.03996807 0.00184304
+v -0.00183008 0.03972240 0.00301364
+v -0.00183008 0.01702886 0.00301364
+v -0.00083021 0.01702886 -0.00556514
+v -0.00083021 0.04048237 -0.00020760
+v -0.00183008 0.04000940 -0.00029997
+v -0.00183008 0.01702886 -0.00556514
+v -0.00083021 0.04043646 -0.00556514
+v -0.00083021 0.04048237 -0.00459440
+v -0.00183008 0.04000940 -0.00458265
+v -0.00183008 0.03996348 -0.00556514
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 6
+f 6 11 15
+f 6 15 16
+f 6 16 12
+f 6 12 8
+f 6 8 7
+f 9 12 16
+f 9 16 13
+f 10 14 15
+f 10 15 11
+f 13 16 14
+f 14 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_404.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_404.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6108d9193caa0b5e98d23764958d34128de2c2b6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_404.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.02685512 0.00137650
+v -0.00716753 -0.02685512 -0.00716684
+v -0.00805384 -0.02685512 0.00137650
+v -0.00716753 -0.03760216 0.00137650
+v -0.00805384 -0.02685512 -0.00716684
+v -0.00716753 -0.03744069 -0.00716684
+v -0.00805384 -0.03707236 0.00137650
+v -0.00805384 -0.03710402 -0.00018482
+v -0.00716753 -0.03761272 0.00085551
+v -0.00805384 -0.03690877 -0.00716684
+v -0.00716753 -0.03753040 -0.00674285
+v -0.00771254 -0.03711457 -0.00716684
+v -0.00805384 -0.03710613 -0.00029938
+v -0.00716753 -0.03763594 -0.00029938
+v -0.00805384 -0.03700270 -0.00672529
+v -0.00716753 -0.03763594 -0.00458277
+v -0.00805384 -0.03710613 -0.00458277
+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 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 17
+f 3 17 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 15
+f 11 16 15
+f 11 15 12
+f 13 17 16
+f 13 16 14
+f 15 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_405.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_405.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ead69efdebf553f418cf343ebdff7c1bbc9ba2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_405.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00314296 0.01523684 -0.00293675
+v 0.00314296 0.01523684 -0.00398940
+v 0.00147342 0.01523684 -0.00293675
+v 0.00314296 -0.04231748 -0.00293675
+v 0.00314296 0.01517487 -0.00538949
+v 0.00147342 0.01523684 -0.00398940
+v 0.00147342 -0.04174279 -0.00293675
+v 0.00231031 -0.04205267 -0.00293675
+v 0.00261052 -0.04215409 -0.00398940
+v 0.00314296 -0.04232312 -0.00398940
+v 0.00147342 0.01517487 -0.00538949
+v 0.00314296 -0.04228368 -0.00538949
+v 0.00147342 -0.04174279 -0.00458319
+v 0.00177543 -0.04185547 -0.00398940
+v 0.00231031 -0.04205267 -0.00458319
+v 0.00314296 -0.04232312 -0.00458319
+v 0.00147342 -0.04170898 -0.00538949
+v 0.00282837 -0.04218789 -0.00538949
+v 0.00147342 -0.04171461 -0.00530881
+v 0.00148045 -0.04171461 -0.00538949
+v 0.00231031 -0.04201887 -0.00538949
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 17
+f 3 17 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 5 12 18
+f 5 18 21
+f 5 21 20
+f 5 20 17
+f 5 17 11
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 16 10
+f 9 15 16
+f 12 16 18
+f 13 15 14
+f 13 19 20
+f 13 20 15
+f 15 20 21
+f 15 21 18
+f 15 18 16
+f 17 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_406.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_406.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca400f3284e89156ab0b3386eecc9b05a312714c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_406.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01266643 0.03040726 -0.01342411
+v -0.01266345 0.03039408 -0.01342411
+v -0.01266345 0.02951502 -0.01529452
+v -0.01344330 0.02963369 -0.01342411
+v -0.01266345 -0.01449507 -0.01342411
+v -0.01305307 0.02911505 -0.01529452
+v -0.01344330 0.02952381 -0.01365075
+v -0.01266345 0.02844257 -0.01709100
+v -0.01344330 0.02797227 -0.01665356
+v -0.01344330 -0.01449507 -0.01342411
+v -0.01266345 -0.01449507 -0.01757312
+v -0.01344330 0.02870628 -0.01529452
+v -0.01266345 0.02823159 -0.01736313
+v -0.01344330 0.02724704 -0.01757312
+v -0.01344330 -0.01449507 -0.01757312
+v -0.01266345 0.02797227 -0.01757312
+v -0.01290475 0.02780964 -0.01757312
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 16
+f 2 16 13
+f 2 13 8
+f 2 8 3
+f 3 6 7
+f 3 7 4
+f 3 8 9
+f 3 9 6
+f 4 7 12
+f 4 12 9
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 5 10 15
+f 5 15 11
+f 6 9 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 11 15 14
+f 11 14 17
+f 11 17 16
+f 13 16 17
+f 13 17 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_407.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_407.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f223bed445cd36f832b42fd50f3c8766c7f0805
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_407.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.01136787 -0.00919086
+v -0.00716753 0.01136787 -0.01041263
+v -0.00805384 0.01136787 -0.00919086
+v -0.00716753 -0.03686842 -0.00919086
+v -0.00805384 0.01136787 -0.01041263
+v -0.00716753 -0.03638209 -0.01041263
+v -0.00805384 -0.03633016 -0.00919086
+v -0.00786931 -0.03644348 -0.00919086
+v -0.00716753 -0.03664651 -0.00975612
+v -0.00805384 -0.03582966 -0.01041263
+v -0.00716753 -0.03657568 -0.00993553
+v -0.00805384 -0.03627822 -0.00932290
+v -0.00782862 -0.03597131 -0.01041263
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 12 8
+f 8 12 11
+f 8 11 9
+f 10 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_408.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_408.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ece159c5da92ba5efe72d766e9f2216bcce0938
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_408.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 0.02878732 -0.01363689
+v 0.00880497 0.02878732 -0.01634340
+v 0.00732702 0.02878732 -0.01363689
+v 0.00880497 -0.01127183 -0.01363689
+v 0.00732702 0.02878732 -0.01634340
+v 0.00880497 -0.01127183 -0.01634340
+v 0.00732702 -0.01127183 -0.01363689
+v 0.00732702 -0.01127183 -0.01634340
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_409.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_409.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4289ee1022ad87d6bda773b2bd67bfaa0fc0c8b7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_409.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02395935 0.00422099 -0.01775544
+v -0.02411942 0.00422099 -0.01749977
+v -0.02395935 0.00521640 -0.01755698
+v -0.02395935 0.00422099 0.00050798
+v -0.02429851 0.00422099 -0.01721370
+v -0.02455649 0.00521640 -0.01660224
+v -0.02447978 0.00634226 -0.01639842
+v -0.02395935 0.00535468 -0.01751586
+v -0.02395935 0.00729850 0.00050798
+v -0.02485488 0.00422099 0.00050798
+v -0.02460032 0.00422099 -0.01671667
+v -0.02485488 0.00422099 -0.01599614
+v -0.02485488 0.00521640 -0.01575656
+v -0.02485488 0.00620578 -0.01527204
+v -0.02485488 0.00721897 -0.01476785
+v -0.02469403 0.00717709 -0.01525237
+v -0.02461697 0.00729850 -0.01539183
+v -0.02426230 0.00729850 -0.01615526
+v -0.02395935 0.00729850 -0.01680606
+v -0.02395935 0.00695324 -0.01701525
+v -0.02485488 0.00729850 0.00050798
+v -0.02485479 0.00729850 -0.01471600
+v -0.02470218 0.00729850 -0.01515046
+v -0.02485488 0.00729850 -0.00699942
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 21
+f 4 21 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 9 19 18
+f 9 18 17
+f 9 17 23
+f 9 23 22
+f 9 22 24
+f 9 24 21
+f 10 21 24
+f 10 24 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 15 22 23
+f 15 23 16
+f 15 24 22
+f 16 23 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_41.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c88b97c8e9b7ad0c5d7f0f6303b200acb937ca2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03294357 -0.00743591
+v -0.01266345 0.03261663 -0.00870037
+v -0.01344330 0.03220053 -0.00813176
+v -0.01269238 0.03291979 -0.00743591
+v -0.01266345 -0.02778395 -0.00743591
+v -0.01266345 0.03256908 -0.00881958
+v -0.01270513 0.03258691 -0.00869596
+v -0.01266345 0.03198653 -0.01008326
+v -0.01344330 0.03168337 -0.00925134
+v -0.01344330 0.03227780 -0.00743591
+v -0.01344330 -0.02778395 -0.00743591
+v -0.01266345 -0.02778395 -0.01008300
+v -0.01323429 0.03147531 -0.01008326
+v -0.01266345 -0.01458154 -0.01008326
+v -0.01344330 0.03165959 -0.00929903
+v -0.01344330 -0.02778395 -0.01008300
+v -0.01344047 0.03126132 -0.01008326
+v -0.01344330 -0.01458154 -0.01008326
+v -0.01344330 0.03119593 -0.01008326
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 15
+f 3 15 19
+f 3 19 18
+f 3 18 16
+f 3 16 11
+f 3 11 10
+f 3 10 4
+f 3 7 6
+f 3 6 8
+f 5 11 16
+f 5 16 12
+f 8 13 9
+f 8 14 18
+f 8 18 19
+f 8 19 17
+f 8 17 13
+f 9 13 15
+f 12 16 18
+f 12 18 14
+f 13 17 15
+f 15 17 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_410.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_410.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c329e502e24a1a6407fe772c47835b52090f3127
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_410.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01781040 -0.01407486 0.00285823
+v 0.01781096 -0.01407486 -0.00028714
+v 0.01211064 -0.01407486 0.00285823
+v 0.01781040 -0.03120048 0.00285823
+v 0.01781096 -0.01407486 -0.00029849
+v 0.01781040 -0.03548556 0.00184286
+v 0.01211064 -0.01407486 -0.00293675
+v 0.01211064 -0.04384369 0.00285823
+v 0.01780872 -0.03649867 0.00285823
+v 0.01781040 -0.01407486 -0.00293675
+v 0.01781040 -0.03548556 -0.00293675
+v 0.01780649 -0.03976770 -0.00293675
+v 0.01211064 -0.04407340 -0.00293675
+v 0.01211064 -0.04403512 0.00184286
+v 0.01302191 -0.04411758 0.00184286
+v 0.01302191 -0.04392320 0.00285823
+v 0.01780370 -0.03864268 0.00285823
+v 0.01779701 -0.03976770 0.00285823
+v 0.01776129 -0.04141400 -0.00293675
+v 0.01252582 -0.04411169 -0.00293675
+v 0.01211064 -0.04407340 -0.00029849
+v 0.01211064 -0.04405279 0.00093187
+v 0.01302191 -0.04415586 -0.00029849
+v 0.01516364 -0.04412053 0.00184286
+v 0.01516364 -0.04392909 0.00285823
+v 0.01403641 -0.04392615 0.00285823
+v 0.01763183 -0.04191172 0.00285823
+v 0.01771888 -0.04191172 0.00184286
+v 0.01773953 -0.04191172 -0.00029849
+v 0.01774622 -0.04191172 -0.00244097
+v 0.01774622 -0.04191172 -0.00293675
+v 0.01302191 -0.04415586 -0.00293675
+v 0.01466811 -0.04415881 -0.00293675
+v 0.01516364 -0.04415881 -0.00029849
+v 0.01694321 -0.04355212 0.00184286
+v 0.01591587 -0.04375533 0.00285823
+v 0.01685281 -0.04345493 0.00285823
+v 0.01695828 -0.04356979 -0.00029849
+v 0.01695828 -0.04356979 -0.00293675
+v 0.01516364 -0.04415881 -0.00293675
+v 0.01654255 -0.04370821 -0.00293675
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 25
+f 1 25 36
+f 1 36 37
+f 1 37 27
+f 1 27 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 5
+f 3 7 13
+f 3 13 21
+f 3 21 22
+f 3 22 14
+f 3 14 8
+f 4 9 6
+f 5 11 10
+f 6 9 12
+f 6 12 11
+f 7 10 11
+f 7 11 12
+f 7 12 19
+f 7 19 31
+f 7 31 39
+f 7 39 41
+f 7 41 40
+f 7 40 33
+f 7 33 32
+f 7 32 20
+f 7 20 13
+f 8 14 15
+f 8 15 16
+f 9 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 14 22 15
+f 15 23 34
+f 15 34 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 15 22 23
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 20 32 23
+f 20 23 21
+f 21 23 22
+f 23 32 33
+f 23 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 27 37 35
+f 27 35 28
+f 28 35 38
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 33 40 34
+f 34 40 41
+f 34 41 38
+f 34 38 35
+f 35 37 36
+f 38 41 39
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_411.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_411.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51820a9199a9a75e0bb8bf07bfba654c3269339
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_411.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03170864 -0.01768369
+v 0.00023052 0.03170864 -0.01953975
+v -0.00083011 0.03170864 -0.01768369
+v 0.00023052 0.02637852 -0.01768369
+v 0.00023052 0.03092229 -0.01960405
+v 0.00016812 0.03170864 -0.01953975
+v -0.00083011 0.03170864 -0.01946418
+v -0.00083011 0.02637852 -0.01768369
+v 0.00023052 0.02637852 -0.01960405
+v 0.00016812 0.03092229 -0.01960405
+v -0.00083011 0.03092229 -0.01958337
+v -0.00083011 0.02637852 -0.01960405
+v -0.00083011 0.02878085 -0.01960405
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 11
+f 3 11 13
+f 3 13 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 9 12
+f 5 12 13
+f 5 13 10
+f 6 10 11
+f 6 11 7
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_412.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_412.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991d2d37f7f6feb586bb01591a08aed5849748f6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_412.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00415443 0.01181954 -0.00986834
+v -0.00415443 0.01181954 -0.01655988
+v -0.00478794 0.01181954 -0.00986834
+v -0.00415443 -0.01279128 -0.00986834
+v -0.00516773 0.01181954 -0.01655988
+v -0.00415443 -0.01279128 -0.01655988
+v -0.00516773 0.01181954 -0.01026007
+v -0.00516773 0.01181473 -0.00986834
+v -0.00509106 -0.01279128 -0.00986834
+v -0.00516773 -0.01278647 -0.01655988
+v -0.00497908 -0.01279128 -0.01655988
+v -0.00516773 -0.01278647 -0.00986834
+v -0.00501191 -0.01279128 -0.01460057
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 8
+f 4 9 13
+f 4 13 11
+f 4 11 6
+f 5 10 12
+f 5 12 8
+f 5 8 7
+f 9 12 10
+f 9 10 13
+f 10 11 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_413.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_413.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d81e7d910544eec0b2822bc2cf57fa3f342b672
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_413.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.00001016 -0.01063912
+v 0.00023052 -0.00001016 -0.01227320
+v -0.00083011 -0.00001016 -0.01063912
+v 0.00023052 -0.04005139 -0.01063912
+v -0.00083011 -0.00001016 -0.01227320
+v 0.00023052 -0.03945171 -0.01227320
+v -0.00083011 -0.03963592 -0.01063912
+v -0.00083011 -0.03913423 -0.01203469
+v -0.00083011 -0.03904409 -0.01227320
+v -0.00060087 -0.03913423 -0.01227320
+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 10
+f 2 10 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 10
+f 8 9 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_414.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_414.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806adc16e65c1f92b72a00e0fcb7fb33bea2fdc1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_414.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02181538 0.01895082 -0.01182340
+v -0.02181538 0.01925153 -0.01182340
+v -0.02130387 0.01895082 -0.01182340
+v -0.02181538 0.01895082 0.00320326
+v -0.02181538 0.01980489 -0.01111724
+v -0.02134818 0.02016254 -0.01182340
+v -0.02130387 0.02016254 -0.01182340
+v -0.02130387 0.01895082 0.00320326
+v -0.02181538 0.02016254 0.00320326
+v -0.02181538 0.02000690 -0.01085095
+v -0.02146521 0.02016254 -0.01152770
+v -0.02130387 0.02016254 0.00320326
+v -0.02181538 0.02016254 -0.01063763
+v -0.02173301 0.02016254 -0.01084801
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 6
+f 6 10 11
+f 6 11 14
+f 6 14 13
+f 6 13 9
+f 6 9 12
+f 6 12 7
+f 10 13 14
+f 10 14 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_415.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_415.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f01f7bd1a6205bd56b073853b8f5571a051be2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_415.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.03719793 -0.00717091
+v 0.00023052 -0.03719793 -0.00834754
+v -0.00083011 -0.03719793 -0.00717091
+v 0.00023052 -0.04109359 -0.00717091
+v -0.00083011 -0.03719793 -0.00834754
+v 0.00023052 -0.04085678 -0.00834754
+v -0.00083011 -0.04073705 -0.00717091
+v -0.00070800 -0.04078967 -0.00717091
+v 0.00023052 -0.04096584 -0.00798036
+v -0.00083011 -0.04042436 -0.00834754
+v -0.00083011 -0.04071912 -0.00725522
+v -0.00076750 -0.04076564 -0.00717091
+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 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 7
+f 4 8 9
+f 6 9 10
+f 7 11 12
+f 8 12 9
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_416.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_416.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6ea9508b5a2579b43f2d45812346706b6e383b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_416.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01680305 -0.02944341 -0.00727997
+v -0.01682339 -0.02941835 -0.00727997
+v -0.01680305 -0.02943899 -0.00729906
+v -0.01680305 -0.02191546 -0.00727997
+v -0.01723697 -0.02885827 -0.00727997
+v -0.01723697 -0.02859297 -0.00822884
+v -0.01680305 -0.02895407 -0.00862535
+v -0.01723697 -0.02191546 -0.00727997
+v -0.01680305 -0.02191546 -0.01810450
+v -0.01723697 -0.02830703 -0.00884269
+v -0.01680305 -0.02886343 -0.00882043
+v -0.01723697 -0.02191546 -0.01810980
+v -0.01680305 -0.02211886 -0.01810980
+v -0.01680912 -0.02191546 -0.01810980
+v -0.01723697 -0.02699968 -0.01122494
+v -0.01680305 -0.02834314 -0.00976824
+v -0.01723697 -0.02251092 -0.01810980
+v -0.01680305 -0.02320512 -0.01810980
+v -0.01723697 -0.02596795 -0.01310147
+v -0.01680305 -0.02691714 -0.01236464
+v -0.01680305 -0.02696431 -0.01227876
+v -0.01680305 -0.02326850 -0.01807800
+v -0.01723697 -0.02295161 -0.01780871
+v -0.01723697 -0.02475272 -0.01531090
+v -0.01680305 -0.02530101 -0.01530348
+v -0.01680305 -0.02387943 -0.01737933
+v -0.01723697 -0.02320660 -0.01751716
+v -0.01723697 -0.02473061 -0.01535013
+v -0.01680305 -0.02509393 -0.01567985
+v -0.01680305 -0.02428991 -0.01685242
+v -0.01723697 -0.02397671 -0.01652906
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 20
+f 1 20 25
+f 1 25 29
+f 1 29 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 14
+f 4 14 12
+f 4 12 8
+f 5 8 12
+f 5 12 17
+f 5 17 23
+f 5 23 27
+f 5 27 31
+f 5 31 28
+f 5 28 24
+f 5 24 19
+f 5 19 15
+f 5 15 10
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 14 13
+f 12 13 18
+f 12 18 17
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 18 22
+f 17 22 23
+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 30 31
+f 26 31 27
+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_417.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_417.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420a518b36a22978020eccd6effd4b82d78f1f22
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_417.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 -0.01308298 -0.00011025
+v -0.01399461 -0.01308298 -0.00232499
+v -0.01512946 -0.01308298 -0.00011025
+v -0.01399461 -0.03246175 -0.00011025
+v -0.01512946 -0.01308298 -0.00232499
+v -0.01399461 -0.03246744 -0.00232499
+v -0.01512946 -0.03143512 -0.00011025
+v -0.01408604 -0.03238015 -0.00011025
+v -0.01399461 -0.03246744 -0.00029909
+v -0.01512946 -0.03144081 -0.00232499
+v -0.01404516 -0.03242190 -0.00232499
+v -0.01512946 -0.03144081 -0.00029909
+v -0.01512079 -0.03144461 -0.00011025
+v -0.01505569 -0.03150533 -0.00011025
+v -0.01505813 -0.03150723 -0.00029909
+v -0.01505813 -0.03150723 -0.00232499
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 11
+f 10 16 15
+f 10 15 12
+f 11 15 16
+f 12 15 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_418.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_418.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27bda2ef893decae374fdafdfa48f133506bf5c0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_418.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00732681 0.02878732 -0.01671706
+v 0.00732681 0.02878732 -0.01851476
+v 0.00664957 0.02878732 -0.01671706
+v 0.00732681 -0.01241618 -0.01671706
+v 0.00732681 0.02878197 -0.01960368
+v 0.00664957 0.02878197 -0.01960368
+v 0.00664957 0.02878732 -0.01798910
+v 0.00664957 -0.01241618 -0.01671706
+v 0.00732681 -0.02586536 -0.01671734
+v 0.00664957 -0.00977342 -0.01960424
+v 0.00732681 -0.01241618 -0.01960396
+v 0.00676552 -0.01241618 -0.01960424
+v 0.00664957 -0.02586536 -0.01671734
+v 0.00732681 -0.02586536 -0.01960396
+v 0.00664957 -0.01241618 -0.01960424
+v 0.00664957 -0.02586536 -0.01960396
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 10
+f 3 10 15
+f 3 15 16
+f 3 16 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 9 13 16
+f 9 16 14
+f 10 12 15
+f 11 14 12
+f 12 14 16
+f 12 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_419.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_419.obj
new file mode 100644
index 0000000000000000000000000000000000000000..537b0bd2d4f737c38a3876706715a99a7d165dd6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_419.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.03823611 -0.01321457
+v -0.00083021 0.03780682 -0.01434046
+v -0.00183008 0.03775425 -0.01321457
+v -0.00083021 -0.00651135 -0.01321457
+v -0.00183008 0.03732496 -0.01434046
+v -0.00083021 -0.00651573 -0.01434046
+v -0.00183008 -0.00651573 -0.01321457
+v -0.00083873 -0.00651573 -0.01321457
+v -0.00083021 -0.00651573 -0.01323904
+v -0.00183008 -0.00651573 -0.01434046
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_42.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988c47ce5ae1decd4ad3af8186ea4f2bbceaa29d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00183017 0.03234279 -0.01172759
+v -0.00183017 0.03234279 -0.01330747
+v -0.00295333 0.03234279 -0.01172759
+v -0.00183017 -0.03884645 -0.01172759
+v -0.00295333 0.03234279 -0.01330747
+v -0.00183017 -0.03823323 -0.01330747
+v -0.00295333 -0.03833079 -0.01172759
+v -0.00251785 -0.03855377 -0.01172759
+v -0.00183017 -0.03870011 -0.01211085
+v -0.00295333 -0.03766182 -0.01330747
+v -0.00183017 -0.03826807 -0.01322071
+v -0.00196903 -0.03817748 -0.01330747
+v -0.00274257 -0.03844228 -0.01172759
+v -0.00262142 -0.03850500 -0.01172759
+v -0.00209062 -0.03811476 -0.01330747
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 7
+f 4 8 9
+f 6 11 12
+f 7 10 13
+f 8 14 12
+f 8 12 9
+f 9 12 11
+f 10 15 13
+f 12 14 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_420.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_420.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af5e8e1b72efc3ec773e0133beab4dda886393e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_420.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02130396 0.01895071 -0.00466810
+v -0.02181533 0.01895071 -0.00466810
+v -0.02130396 -0.00042675 -0.00466810
+v -0.02130392 -0.00043070 -0.00466880
+v -0.02130396 0.01895071 -0.01182417
+v -0.02181533 0.01895071 -0.01182417
+v -0.02181538 -0.00043070 -0.00466880
+v -0.02181533 -0.00042675 -0.00466810
+v -0.02130392 -0.02142460 -0.00466880
+v -0.02130392 -0.00043070 -0.01182487
+v -0.02181538 -0.00043070 -0.01182487
+v -0.02181538 -0.02142460 -0.00466880
+v -0.02130392 -0.02142460 -0.01062554
+v -0.02130392 -0.02055512 -0.01182487
+v -0.02181538 -0.01960660 -0.01182487
+v -0.02181538 -0.02142460 -0.00930992
+v -0.02135403 -0.02046422 -0.01182487
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 2 7 12
+f 2 12 8
+f 3 8 12
+f 3 12 9
+f 4 9 13
+f 4 13 14
+f 4 14 10
+f 5 10 11
+f 5 11 6
+f 7 11 15
+f 7 15 16
+f 7 16 12
+f 9 12 16
+f 9 16 13
+f 10 14 17
+f 10 17 15
+f 10 15 11
+f 13 16 15
+f 13 15 17
+f 13 17 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_421.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_421.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbef1f3072d3875dc735ed7dde994ce9644f0a59
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_421.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.03170864 -0.01658575
+v 0.00023052 0.03170864 -0.01768369
+v -0.00083011 0.03170864 -0.01658575
+v 0.00023052 -0.03777312 -0.01658575
+v -0.00083011 0.03170864 -0.01768369
+v 0.00023052 -0.03724262 -0.01768369
+v -0.00083011 -0.03736505 -0.01658575
+v -0.00083011 -0.03702499 -0.01733440
+v 0.00023052 -0.03740586 -0.01739093
+v -0.00083011 -0.03680734 -0.01768369
+v 0.00023052 -0.03729023 -0.01761792
+v -0.00005719 -0.03716101 -0.01768369
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 10 12
+f 8 12 9
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_422.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_422.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91936af3869cc2f065c349a07933798af3bde7c1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_422.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01093701 0.02878732 -0.01518616
+v 0.01093701 0.02878732 -0.01752449
+v 0.01032557 0.02878732 -0.01518616
+v 0.01093701 -0.00836568 -0.01518616
+v 0.01093701 0.02878369 -0.01777261
+v 0.01067478 0.02878732 -0.01777261
+v 0.01032557 0.02878732 -0.01777261
+v 0.01032557 -0.00836568 -0.01518616
+v 0.01093701 -0.00836568 -0.01777261
+v 0.01032557 -0.00836568 -0.01777261
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 5 9 10
+f 5 10 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_423.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_423.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a3776c7cad853d5d7cdfcdda8ad002f2f9a66f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_423.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00880497 -0.01127183 -0.01363689
+v 0.00880497 -0.01127183 -0.01634340
+v 0.00732702 -0.01127183 -0.01363689
+v 0.00880497 -0.04138236 -0.01363689
+v 0.00732702 -0.01127183 -0.01634340
+v 0.00880497 -0.04035078 -0.01634340
+v 0.00732702 -0.04111415 -0.01363689
+v 0.00732702 -0.04087541 -0.01432199
+v 0.00880497 -0.04100804 -0.01471011
+v 0.00732702 -0.04009141 -0.01634340
+v 0.00880497 -0.04063373 -0.01577725
+v 0.00799141 -0.04022698 -0.01634340
+v 0.00732702 -0.04063667 -0.01500577
+v 0.00880497 -0.04064552 -0.01574757
+v 0.00732702 -0.04051583 -0.01534780
+v 0.00873697 -0.04062783 -0.01575949
+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 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 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 9
+f 9 13 14
+f 10 12 15
+f 11 14 16
+f 11 16 12
+f 12 16 15
+f 13 15 14
+f 14 15 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_424.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_424.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d73400d6ee668b35704939f003be84bf02af007
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_424.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01062676 0.01969368 -0.01726775
+v -0.01062676 0.01969368 -0.01960403
+v -0.01159234 0.01969368 -0.01726775
+v -0.01062676 -0.03064379 -0.01726775
+v -0.01159234 0.01811201 -0.01960403
+v -0.01159234 0.01969368 -0.01960288
+v -0.01062676 -0.02254821 -0.01960426
+v -0.01159234 -0.01615748 -0.01960426
+v -0.01159234 -0.02978643 -0.01726775
+v -0.01157495 -0.02980614 -0.01726775
+v -0.01159234 -0.02969282 -0.01740681
+v -0.01159234 -0.02943659 -0.01777046
+v -0.01062676 -0.03048611 -0.01748960
+v -0.01062676 -0.02468666 -0.01953999
+v -0.01159234 -0.02158245 -0.01960426
+v -0.01159234 -0.02885517 -0.01835595
+v -0.01113724 -0.02968296 -0.01798476
+v -0.01062676 -0.02991454 -0.01820592
+v -0.01159234 -0.02372091 -0.01952787
+v -0.01062676 -0.02477042 -0.01952992
+v -0.01159234 -0.02842649 -0.01866426
+v -0.01062676 -0.02892415 -0.01877838
+v -0.01062676 -0.02683004 -0.01928155
+v -0.01159234 -0.02586429 -0.01926805
+v -0.01062676 -0.02885517 -0.01879760
+v -0.01159234 -0.02794854 -0.01879256
+v -0.01062676 -0.02691381 -0.01926393
+v -0.01159234 -0.02662802 -0.01910429
+v -0.01159234 -0.02790913 -0.01880263
+v -0.01159234 -0.02689410 -0.01904689
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 13
+f 1 13 18
+f 1 18 22
+f 1 22 25
+f 1 25 27
+f 1 27 23
+f 1 23 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 8
+f 3 8 15
+f 3 15 19
+f 3 19 24
+f 3 24 28
+f 3 28 30
+f 3 30 29
+f 3 29 26
+f 3 26 21
+f 3 21 16
+f 3 16 12
+f 3 12 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 7 14 15
+f 7 15 8
+f 9 11 10
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 15
+f 14 20 19
+f 16 21 18
+f 16 18 17
+f 18 21 22
+f 19 20 23
+f 19 23 24
+f 21 25 22
+f 21 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 29
+f 25 29 30
+f 25 30 27
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_425.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_425.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53613ef6a6eb73fdad71a3e11ea41fea2352fbbc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_425.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00666349 0.02878733 -0.00293675
+v 0.00666349 0.02878733 -0.00542628
+v 0.00520518 0.02878733 -0.00293675
+v 0.00666349 -0.01617808 -0.00293675
+v 0.00520518 0.02878733 -0.00542628
+v 0.00666349 -0.01617808 -0.00542628
+v 0.00520518 -0.01617808 -0.00293675
+v 0.00520518 -0.01617808 -0.00542628
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_426.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_426.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9251ab210da095b3d67c04f3c718e5c43df10c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_426.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00716741 -0.03763181 -0.00068559
+v -0.00597001 -0.03834892 -0.00068559
+v -0.00716741 -0.03763181 -0.00029879
+v -0.00716741 0.03723934 -0.00068559
+v -0.00597001 -0.03834892 -0.00029879
+v -0.00597001 0.03796393 -0.00068559
+v -0.00716741 -0.03761687 0.00032041
+v -0.00716741 0.03723934 -0.00029879
+v -0.00625857 0.03779959 -0.00068559
+v -0.00597001 -0.03833398 0.00032041
+v -0.00597001 0.03796393 -0.00029879
+v -0.00716741 0.03722440 0.00032041
+v -0.00625857 0.03779212 0.00032041
+v -0.00625857 0.03779959 -0.00029879
+v -0.00597001 0.03794152 0.00032041
+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 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 14
+f 4 14 9
+f 6 9 14
+f 6 14 11
+f 7 10 15
+f 7 15 13
+f 7 13 12
+f 8 12 13
+f 8 13 14
+f 11 14 13
+f 11 13 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_427.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_427.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2bbb68bb18e0f600ffd11ac284d3e880547530
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_427.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.00008992 -0.00921689
+v -0.00083021 0.00008992 -0.01321457
+v -0.00183008 0.00008992 -0.00921689
+v -0.00083021 -0.00651573 -0.00921689
+v -0.00183008 0.00008992 -0.01321457
+v -0.00083021 -0.00651444 -0.01321457
+v -0.00183008 -0.00651573 -0.00921689
+v -0.00083021 -0.00651573 -0.01303142
+v -0.00183008 -0.00651573 -0.01321457
+v -0.00083873 -0.00651573 -0.01321457
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 6 8 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_428.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_428.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285143a6562c5a22517daaabe27491a35ad721ca
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_428.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00850034 -0.03134347 -0.01841762
+v -0.00914476 -0.03134347 -0.01803184
+v -0.00950790 -0.03043533 -0.01862435
+v -0.00850034 -0.03098454 -0.01873341
+v -0.00850034 -0.03134347 -0.00297510
+v -0.00950790 -0.03068831 -0.01839809
+v -0.00950790 -0.03134347 -0.01763467
+v -0.00950790 -0.02992936 -0.01877898
+v -0.00850034 -0.03089481 -0.01875945
+v -0.00950790 -0.03134347 -0.00297510
+v -0.00850034 -0.02029976 -0.00297510
+v -0.00950790 -0.02903094 -0.01900199
+v -0.00850034 -0.02905581 -0.01921848
+v -0.00950790 -0.02029976 -0.00297510
+v -0.00850034 -0.02029976 -0.01960263
+v -0.00950790 -0.02800063 -0.01924940
+v -0.00850034 -0.02895851 -0.01924127
+v -0.00950790 -0.02029976 -0.01960263
+v -0.00850034 -0.02467508 -0.01960426
+v -0.00950790 -0.02263283 -0.01960426
+v -0.00950790 -0.02795090 -0.01926080
+v -0.00950790 -0.02691626 -0.01940242
+v -0.00850034 -0.02691626 -0.01951961
+v -0.00950790 -0.02366855 -0.01960426
+v -0.00850034 -0.02477563 -0.01960100
+v -0.00950790 -0.02477563 -0.01957007
+v -0.00950790 -0.02581026 -0.01953589
+v -0.00850034 -0.02681679 -0.01953100
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 23
+f 1 23 28
+f 1 28 25
+f 1 25 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 7
+f 3 7 10
+f 3 10 14
+f 3 14 18
+f 3 18 20
+f 3 20 24
+f 3 24 26
+f 3 26 27
+f 3 27 22
+f 3 22 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 5 11 14
+f 5 14 10
+f 8 12 13
+f 8 13 9
+f 11 15 18
+f 11 18 14
+f 12 16 13
+f 13 16 17
+f 15 19 20
+f 15 20 18
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 19 24 20
+f 19 25 26
+f 19 26 24
+f 22 27 23
+f 23 27 28
+f 25 28 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_429.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_429.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5ea77b226e822e113cdb670f49dbd5ed322303
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_429.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00252048 0.02878732 0.00063490
+v 0.00252048 0.02878732 -0.00293675
+v 0.00174202 0.02878732 0.00063490
+v 0.00252048 -0.04209973 0.00063490
+v 0.00174202 0.02878732 -0.00293675
+v 0.00252048 -0.04212750 -0.00293675
+v 0.00174202 -0.04182207 0.00063490
+v 0.00243986 -0.04207891 0.00063490
+v 0.00252048 -0.04212750 -0.00029892
+v 0.00174202 -0.04183595 -0.00293675
+v 0.00231032 -0.04205114 -0.00293675
+v 0.00174202 -0.04183595 -0.00014229
+v 0.00196955 -0.04191231 0.00063490
+v 0.00231032 -0.04203725 0.00063490
+v 0.00231032 -0.04205114 -0.00029892
+v 0.00182927 -0.04187066 -0.00293675
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 12
+f 3 12 7
+f 4 8 9
+f 6 9 15
+f 6 15 11
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 10 16 12
+f 11 15 16
+f 12 16 15
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_43.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bddfb4f351da75906fae3bfa8ddc2e95344c56b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00083011 0.03830993 -0.01227320
+v -0.00083011 0.03858986 -0.01227320
+v 0.00023052 0.03830993 -0.01227320
+v -0.00083011 0.03830993 -0.01011485
+v -0.00046130 0.03876026 -0.01227320
+v -0.00083011 0.03874991 -0.01184327
+v 0.00023052 0.03907154 -0.01227320
+v 0.00023052 0.03830993 -0.01011485
+v -0.00083011 0.03938768 -0.01011485
+v 0.00019054 0.03905693 -0.01227320
+v -0.00077238 0.03941415 -0.01011485
+v 0.00013676 0.03982995 -0.01011485
+v 0.00020674 0.03906286 -0.01227320
+v 0.00017175 0.03984273 -0.01011485
+v 0.00023052 0.03986403 -0.01011485
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 8
+f 4 8 15
+f 4 15 14
+f 4 14 12
+f 4 12 11
+f 4 11 9
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 6 9 11
+f 7 13 14
+f 7 14 15
+f 10 12 13
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_430.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_430.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b54a486085de3dd51d52318f1cbbe4f715d6cb7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_430.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 -0.03710643 -0.00039464
+v -0.00815161 -0.03704778 -0.00229984
+v -0.00805502 -0.03710553 -0.00229984
+v -0.00805384 -0.03708136 -0.00229984
+v -0.00805384 -0.03710643 -0.00029856
+v -0.00815161 -0.03704778 -0.00029856
+v -0.00822228 -0.03700525 -0.00229984
+v -0.00805384 -0.03253269 -0.00229984
+v -0.00805384 -0.03706300 0.00184319
+v -0.00811774 -0.03702495 0.00184319
+v -0.00850034 -0.03683736 -0.00029856
+v -0.00850034 -0.03679483 0.00184319
+v -0.00850034 -0.03682348 0.00042144
+v -0.00850034 -0.03683736 -0.00229984
+v -0.00850034 -0.03253269 -0.00229984
+v -0.00805384 -0.03253269 0.00391258
+v -0.00805384 -0.03705092 0.00190339
+v -0.00805384 -0.03660500 0.00391258
+v -0.00848216 -0.03634354 0.00391258
+v -0.00848727 -0.03634041 0.00391258
+v -0.00850034 -0.03633235 0.00391258
+v -0.00850034 -0.03253269 0.00391258
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 18
+f 1 18 17
+f 1 17 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 14
+f 2 14 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 11 14
+f 8 15 22
+f 8 22 16
+f 9 17 10
+f 10 17 12
+f 11 13 12
+f 11 12 21
+f 11 21 22
+f 11 22 15
+f 11 15 14
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_431.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_431.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e198861e8b0d0b766371a85e94112266ba8c0e48
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_431.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.01702760 0.00107512
+v -0.00083021 0.01702760 -0.00500385
+v -0.00183008 0.01702760 0.00107512
+v -0.00083021 0.00718623 0.00107512
+v -0.00183008 0.01702760 -0.00500385
+v -0.00083021 0.00718623 -0.00500385
+v -0.00183008 0.00718526 0.00107512
+v -0.00183008 0.00718623 -0.00500385
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_432.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_432.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64d632ae7e9356f2287e7538f3dfba052d72447
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_432.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03551742 -0.01150246
+v -0.00716753 0.03505574 -0.01257457
+v -0.00771349 0.03468501 -0.01257457
+v -0.00793637 0.03453111 -0.01257457
+v -0.00805384 0.03459407 -0.01222825
+v -0.00805384 0.03481791 -0.01167677
+v -0.00805384 0.03488786 -0.01150246
+v -0.00716753 -0.03594453 -0.01150246
+v -0.00716753 -0.03551084 -0.01257457
+v -0.00805384 0.03444717 -0.01257457
+v -0.00805384 -0.03538492 -0.01150246
+v -0.00805384 -0.03495822 -0.01257457
+v -0.00789846 -0.03505615 -0.01257457
+v -0.00766257 -0.03520305 -0.01257457
+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 8
+f 1 8 9
+f 1 9 2
+f 2 9 14
+f 2 14 13
+f 2 13 12
+f 2 12 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
+f 5 10 12
+f 5 12 11
+f 5 11 7
+f 5 7 6
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 8 14 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_433.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_433.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a3b6631b972749c6010f954517a8333da4ab3dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_433.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 0.03234279 -0.00398607
+v -0.00351176 0.03234279 -0.00398607
+v -0.00295333 -0.00082592 -0.00398607
+v -0.00295333 0.03234279 -0.00541523
+v -0.00351176 0.03234279 -0.00541523
+v -0.00351176 -0.00082592 -0.00398607
+v -0.00295333 -0.00167162 -0.00462881
+v -0.00295333 -0.00167162 -0.00541523
+v -0.00351176 -0.00167162 -0.00541523
+v -0.00351176 -0.00167162 -0.00462881
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_434.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_434.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c913505a8eb575b8c826c06057f6e6de0c905bb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_434.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.01490288 0.00165818
+v -0.01634805 0.01490288 -0.00138292
+v -0.01680296 0.01490288 0.00165818
+v -0.01634805 0.00558914 0.00165818
+v -0.01680296 0.01490288 -0.00138292
+v -0.01634805 0.00553487 -0.00138292
+v -0.01680296 0.00550727 0.00165818
+v -0.01634841 0.00550727 0.00165818
+v -0.01680296 0.00550727 -0.00138292
+v -0.01634818 0.00550727 -0.00138292
+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 6
+f 6 8 10
+f 7 9 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_435.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_435.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57de9e4b908df341776b7e86e000bb06130c36dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_435.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 -0.02101886 -0.00334341
+v -0.00295333 -0.02101886 -0.00334341
+v -0.00351176 -0.02101886 0.00329745
+v -0.00351176 -0.01443920 -0.00334341
+v -0.00295333 -0.01443920 -0.00334341
+v -0.00295333 -0.02101886 0.00329745
+v -0.00351176 -0.01443920 0.00329745
+v -0.00295333 -0.01443920 0.00329745
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_436.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_436.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2bd69d3ce977684646053de59711374fcb092b6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_436.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 -0.00276819 -0.01095227
+v -0.01399461 -0.00276819 -0.01328780
+v -0.01512946 -0.00276819 -0.01095227
+v -0.01399461 -0.03078265 -0.01095227
+v -0.01512946 -0.00276819 -0.01328780
+v -0.01399461 -0.02963092 -0.01328780
+v -0.01512946 -0.02965834 -0.01095227
+v -0.01423469 -0.03056875 -0.01095227
+v -0.01399461 -0.03034664 -0.01191986
+v -0.01512946 -0.02840789 -0.01328780
+v -0.01399461 -0.03009709 -0.01242447
+v -0.01429801 -0.02933750 -0.01328780
+v -0.01512946 -0.02955414 -0.01116513
+v -0.01399461 -0.03019033 -0.01224499
+v -0.01427657 -0.03052762 -0.01095227
+v -0.01512735 -0.02842983 -0.01328780
+v -0.01512946 -0.02844080 -0.01326242
+v -0.01459797 -0.02902489 -0.01328780
+v -0.01512946 -0.02931556 -0.01162424
+v -0.01469507 -0.02892342 -0.01328780
+v -0.01511335 -0.02844628 -0.01328780
+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 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 20
+f 2 20 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 15 9
+f 9 15 14
+f 10 16 17
+f 11 14 12
+f 12 14 18
+f 13 19 20
+f 13 20 14
+f 14 20 18
+f 16 21 19
+f 16 19 17
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_437.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_437.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3764899d2a12f452e9728bf3def73dc5eb1461
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_437.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03677240 -0.00828370
+v -0.00716753 0.03671448 -0.00861438
+v -0.00729611 0.03671448 -0.00828370
+v -0.00716753 -0.03717255 -0.00828370
+v -0.00716753 0.03649006 -0.00919086
+v -0.00736143 0.03637422 -0.00919086
+v -0.00766048 0.03651178 -0.00836486
+v -0.00767246 0.03652626 -0.00828370
+v -0.00760149 -0.03694088 -0.00828370
+v -0.00716753 -0.03705672 -0.00871472
+v -0.00716753 -0.03686125 -0.00919086
+v -0.00741514 0.03633803 -0.00919086
+v -0.00805384 0.03608464 -0.00870664
+v -0.00803779 0.03620047 -0.00828370
+v -0.00779886 -0.03682505 -0.00828370
+v -0.00776208 -0.03681057 -0.00844460
+v -0.00716753 -0.03692640 -0.00904221
+v -0.00786931 -0.03644135 -0.00919086
+v -0.00803831 0.03588917 -0.00919086
+v -0.00805384 0.03618599 -0.00828370
+v -0.00805384 0.03587470 -0.00919086
+v -0.00789065 -0.03676713 -0.00828370
+v -0.00805384 -0.03652823 -0.00869954
+v -0.00805384 -0.03632552 -0.00919086
+v -0.00805384 -0.03665130 -0.00828370
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 25
+f 1 25 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 5 11 18
+f 5 18 24
+f 5 24 21
+f 5 21 19
+f 5 19 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 17 18
+f 12 19 13
+f 13 20 14
+f 13 19 21
+f 13 21 24
+f 13 24 23
+f 13 23 25
+f 13 25 20
+f 15 22 16
+f 16 22 23
+f 16 23 18
+f 16 18 17
+f 18 23 24
+f 22 25 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_438.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_438.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2834713369cc37fa711f03618f924faed5c640
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_438.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 0.00947588 -0.00986834
+v -0.00415443 0.00947588 -0.00986834
+v -0.00516773 0.00947588 -0.00043750
+v -0.00516773 0.01181541 -0.00986834
+v -0.00415443 0.01181954 -0.00986834
+v -0.00415443 0.00947588 -0.00043750
+v -0.00516773 0.01181954 -0.00043750
+v -0.00516773 0.01181954 -0.00960432
+v -0.00478800 0.01181954 -0.00986834
+v -0.00415443 0.01181954 -0.00043750
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 5 9 8
+f 5 8 7
+f 5 7 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_439.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_439.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35406bf74ab4e29a2ea6ed0637ce730341e9a7de
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_439.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03796157 -0.00068594
+v -0.00597001 0.03796157 -0.00418167
+v -0.00625857 0.03780397 -0.00068594
+v -0.00597001 0.01393303 -0.00068594
+v -0.00625857 0.03780397 -0.00418167
+v -0.00597001 0.01393303 -0.00418167
+v -0.00658008 0.03760638 -0.00418167
+v -0.00660669 0.03758991 -0.00068594
+v -0.00716741 0.01393303 -0.00068594
+v -0.00716741 0.01393303 -0.00418167
+v -0.00716741 0.03724413 -0.00418167
+v -0.00716741 0.03724413 -0.00068594
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 5
+f 3 7 8
+f 3 5 7
+f 4 9 10
+f 4 10 6
+f 7 11 12
+f 7 12 8
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_44.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895a43f99912be47a86429c576ef2e59fe9bd4cf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.01443856 -0.00334347
+v -0.00351176 -0.01443856 -0.00334347
+v -0.00295333 -0.03417755 -0.00334347
+v -0.00295333 -0.01443856 -0.00462867
+v -0.00351176 -0.01443856 -0.00462867
+v -0.00351176 -0.03417755 -0.00334347
+v -0.00295333 -0.03417755 -0.00462867
+v -0.00351176 -0.03417755 -0.00462867
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_440.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_440.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f6eac935e7cc718a8b4a5c7fa087c59ec8bf287
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_440.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.01082115 -0.01339927
+v -0.00351176 0.01082115 -0.01546625
+v -0.00415443 0.01082115 -0.01339927
+v -0.00351176 -0.03733906 -0.01339927
+v -0.00415443 0.01082115 -0.01546625
+v -0.00351176 -0.03651408 -0.01546625
+v -0.00415443 -0.03699021 -0.01339927
+v -0.00404799 -0.03705621 -0.01339927
+v -0.00351176 -0.03680164 -0.01483904
+v -0.00415443 -0.03616523 -0.01546625
+v -0.00351176 -0.03651879 -0.01546221
+v -0.00370866 -0.03641037 -0.01546625
+v -0.00415443 -0.03616994 -0.01546059
+v -0.00351176 -0.03677807 -0.01489771
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 10 12 13
+f 11 14 12
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_441.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_441.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985aec9aff97ea44656e5b0341c28dbcf431b01e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_441.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.03145300 0.00000023
+v -0.00516783 0.03145300 -0.00182791
+v -0.00597001 0.03145300 0.00000023
+v -0.00516783 -0.03215148 0.00000023
+v -0.00597001 0.03145300 -0.00182791
+v -0.00516783 -0.03215148 -0.00182791
+v -0.00597001 -0.03215148 0.00000023
+v -0.00597001 -0.03215148 -0.00182791
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_442.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_442.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc6d4408c578602311464da872bb156743cf1a0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_442.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 -0.02763510 -0.00087330
+v -0.00351176 -0.02763510 -0.01105270
+v -0.00415443 -0.02763510 -0.00087330
+v -0.00351176 -0.03970975 -0.00087330
+v -0.00415443 -0.02763510 -0.01105270
+v -0.00351176 -0.03827474 -0.01105270
+v -0.00415443 -0.03940005 -0.00087330
+v -0.00411618 -0.03942133 -0.00087330
+v -0.00351176 -0.03970975 -0.00458396
+v -0.00415443 -0.03792958 -0.01105270
+v -0.00351176 -0.03853597 -0.01048574
+v -0.00384203 -0.03810925 -0.01105270
+v -0.00415443 -0.03940005 -0.00458396
+v -0.00411618 -0.03942133 -0.00458396
+v -0.00415443 -0.03937878 -0.00503434
+v -0.00351176 -0.03959509 -0.00669636
+v -0.00410008 -0.03796268 -0.01105270
+v -0.00415443 -0.03796386 -0.01096800
+v -0.00351176 -0.03873928 -0.00997358
+v -0.00402113 -0.03800996 -0.01105270
+v -0.00415443 -0.03939887 -0.00463378
+v -0.00415443 -0.03929130 -0.00662562
+v -0.00351176 -0.03951707 -0.00707201
+v -0.00415443 -0.03928421 -0.00675216
+v -0.00415443 -0.03858562 -0.00940263
+v -0.00415443 -0.03879011 -0.00886756
+v -0.00351176 -0.03896269 -0.00938868
+v -0.00351176 -0.03918610 -0.00865632
+v -0.00415443 -0.03893432 -0.00842814
+v -0.00368583 -0.03906080 -0.00886756
+v -0.00351176 -0.03914118 -0.00886756
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 23
+f 1 23 28
+f 1 28 31
+f 1 31 27
+f 1 27 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 25
+f 3 25 26
+f 3 26 29
+f 3 29 24
+f 3 24 22
+f 3 22 15
+f 3 15 21
+f 3 21 13
+f 3 13 7
+f 4 8 14
+f 4 14 9
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 14 21 15
+f 15 22 16
+f 16 22 24
+f 16 24 23
+f 17 20 18
+f 18 20 25
+f 19 26 25
+f 19 25 20
+f 19 27 26
+f 23 24 29
+f 23 29 28
+f 26 27 30
+f 26 30 29
+f 27 31 30
+f 28 29 30
+f 28 30 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_443.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_443.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88de826ab7278d16b5923b47e5f083ce156839a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_443.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 -0.01710325 -0.01025328
+v -0.00516783 -0.01710325 -0.01409548
+v -0.00597001 -0.01710325 -0.01025328
+v -0.00516783 -0.03764198 -0.01025328
+v -0.00597001 -0.01710325 -0.01409548
+v -0.00516783 -0.03610987 -0.01409548
+v -0.00597001 -0.03716345 -0.01025328
+v -0.00597001 -0.03686185 -0.01101051
+v -0.00516783 -0.03628681 -0.01365348
+v -0.00597001 -0.03562933 -0.01409548
+v -0.00597001 -0.03598119 -0.01321486
+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 10
+f 8 11 9
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_444.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_444.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd1113780f3ed8b87d9000ea603c86d17d06e34
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_444.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 0.03234279 -0.00862876
+v -0.00295333 0.03234279 -0.01330778
+v -0.00351176 0.03234279 -0.00862876
+v -0.00295333 -0.03944927 -0.00862876
+v -0.00351176 0.03234279 -0.01330778
+v -0.00295333 -0.03766431 -0.01330778
+v -0.00351176 -0.03918926 -0.00862876
+v -0.00341135 -0.03923845 -0.00862876
+v -0.00351176 -0.03914007 -0.00886830
+v -0.00295333 -0.03939305 -0.00886830
+v -0.00351176 -0.03720753 -0.01330778
+v -0.00350816 -0.03736916 -0.01330778
+v -0.00295333 -0.03824056 -0.01193834
+v -0.00295333 -0.03928062 -0.00919990
+v -0.00351176 -0.03895735 -0.00938998
+v -0.00323386 -0.03880275 -0.01022218
+v -0.00295333 -0.03903466 -0.00992035
+v -0.00351176 -0.03743241 -0.01313511
+v -0.00351176 -0.03771350 -0.01248337
+v -0.00295333 -0.03841624 -0.01150048
+v -0.00351176 -0.03879572 -0.00981317
+v -0.00351176 -0.03853571 -0.01048691
+v -0.00295333 -0.03885897 -0.01038569
+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 14
+f 1 14 17
+f 1 17 23
+f 1 23 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 19
+f 3 19 22
+f 3 22 21
+f 3 21 15
+f 3 15 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 13 12
+f 7 9 8
+f 9 14 10
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 11 12 18
+f 12 13 19
+f 12 19 18
+f 13 20 16
+f 13 16 19
+f 15 21 16
+f 16 21 22
+f 16 22 19
+f 16 20 23
+f 16 23 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_445.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_445.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29fc930027e53b6634824aa7da1d15acfa5e04b7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_445.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.03234083 0.00490966
+v -0.00351176 0.03234083 -0.00087330
+v -0.00415443 0.03234083 0.00490966
+v -0.00351176 -0.03885614 0.00490966
+v -0.00415443 0.03234083 -0.00087330
+v -0.00351176 -0.03970952 -0.00087330
+v -0.00415443 -0.03824255 0.00490966
+v -0.00351176 -0.03889845 0.00484909
+v -0.00415443 -0.03939920 -0.00087330
+v -0.00351176 -0.03970952 -0.00029874
+v -0.00411618 -0.03942035 -0.00087330
+v -0.00415443 -0.03894782 0.00387715
+v -0.00405623 -0.03903951 0.00379111
+v -0.00351176 -0.03927930 0.00384205
+v -0.00415443 -0.03939920 -0.00029874
+v -0.00351176 -0.03966014 0.00181100
+v -0.00411618 -0.03937804 0.00184383
+v -0.00411618 -0.03942035 -0.00029874
+v -0.00415443 -0.03901130 0.00371978
+v -0.00415443 -0.03935688 0.00184383
+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 16
+f 1 16 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 15
+f 3 15 20
+f 3 20 19
+f 3 19 12
+f 3 12 7
+f 4 7 8
+f 6 10 18
+f 6 18 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 11 18
+f 9 18 15
+f 10 16 17
+f 10 17 18
+f 12 19 13
+f 13 19 14
+f 14 19 16
+f 15 18 17
+f 15 17 20
+f 16 19 17
+f 17 19 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_446.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_446.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b068234dad09e5f6eaf252dba5f6e951b9d2a28
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_446.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01093701 -0.00836568 -0.01518616
+v 0.01093701 -0.00836568 -0.01777261
+v 0.01032557 -0.00836568 -0.01518616
+v 0.01093701 -0.04122676 -0.01518616
+v 0.01032557 -0.00836568 -0.01777261
+v 0.01093701 -0.03888827 -0.01777261
+v 0.01032557 -0.04111739 -0.01518616
+v 0.01091391 -0.04122354 -0.01518616
+v 0.01093701 -0.04114956 -0.01540820
+v 0.01032557 -0.03980823 -0.01777261
+v 0.01093701 -0.03986934 -0.01777109
+v 0.01090475 -0.03986291 -0.01777261
+v 0.01032557 -0.04108844 -0.01527022
+v 0.01032557 -0.04077321 -0.01617178
+v 0.01093701 -0.04085363 -0.01625456
+v 0.01032557 -0.03988864 -0.01767564
+v 0.01093701 -0.04024569 -0.01731157
+v 0.01093701 -0.04082790 -0.01632647
+v 0.01032557 -0.04012024 -0.01734297
+v 0.01091720 -0.04024569 -0.01730803
+v 0.01093701 -0.04026177 -0.01728651
+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 18
+f 1 18 21
+f 1 21 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 16
+f 3 16 19
+f 3 19 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 12 11
+f 10 11 16
+f 11 17 16
+f 14 18 15
+f 14 19 18
+f 16 17 20
+f 16 20 19
+f 17 21 20
+f 18 20 21
+f 18 19 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_447.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_447.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a6d95b75b5e9c3a4e15243636e17dbb7d9bb2b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_447.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.03234279 -0.01546639
+v -0.00351176 0.03234279 -0.01789031
+v -0.00415443 0.03234279 -0.01546639
+v -0.00351176 -0.03427905 -0.01546639
+v -0.00351176 0.03232957 -0.01896149
+v -0.00415443 0.03234279 -0.01789031
+v -0.00415443 -0.03427905 -0.01546639
+v -0.00351176 -0.03521143 -0.01789031
+v -0.00415160 0.03232957 -0.01896149
+v -0.00351176 -0.03351861 -0.01896149
+v -0.00415443 0.03232957 -0.01871311
+v -0.00415443 -0.03486758 -0.01789031
+v -0.00415443 -0.03443776 -0.01849073
+v -0.00351176 -0.03460968 -0.01861458
+v -0.00415443 0.03182701 -0.01896149
+v -0.00351176 -0.03394842 -0.01883661
+v -0.00366677 -0.03343264 -0.01896149
+v -0.00351176 -0.03458323 -0.01862552
+v -0.00415443 -0.03345909 -0.01887288
+v -0.00415443 -0.03309540 -0.01896149
+v -0.00367740 -0.03342603 -0.01896149
+v -0.00415443 -0.03344587 -0.01887630
+v -0.00414858 -0.03310201 -0.01896149
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 22
+f 3 22 19
+f 3 19 13
+f 3 13 12
+f 3 12 7
+f 4 7 8
+f 5 10 17
+f 5 17 21
+f 5 21 23
+f 5 23 20
+f 5 20 15
+f 5 15 9
+f 6 9 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 11
+f 10 16 17
+f 13 18 14
+f 13 19 18
+f 16 19 17
+f 16 18 19
+f 17 19 21
+f 19 22 21
+f 20 23 22
+f 21 22 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_448.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_448.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907088790f4d6266db69c4e2129c6148d3af8abf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_448.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00174202 -0.04171219 0.00224698
+v 0.00196833 -0.04180228 0.00224698
+v 0.00174202 -0.04164290 0.00258384
+v 0.00174202 0.02878732 0.00224698
+v 0.00227725 -0.04192008 0.00224698
+v 0.00174202 -0.04162211 0.00268376
+v 0.00174202 0.02878732 0.00285823
+v 0.00252048 0.02878732 0.00224698
+v 0.00252048 -0.04200323 0.00224698
+v 0.00222718 -0.04176763 0.00285823
+v 0.00174202 -0.04158053 0.00285823
+v 0.00252048 0.02878732 0.00285823
+v 0.00252048 -0.04186464 0.00285823
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 11 10
+f 7 10 13
+f 7 13 12
+f 8 12 13
+f 8 13 9
+f 9 13 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_449.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_449.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cf6989044934baca85a86b168bb2e86d039abc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_449.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 0.03234012 -0.00087442
+v -0.00351176 0.03234012 -0.01227219
+v -0.00415443 0.03234012 -0.00087442
+v -0.00351176 -0.01408201 -0.00087442
+v -0.00415443 0.03234012 -0.01227219
+v -0.00351176 -0.01408201 -0.01227219
+v -0.00415443 -0.01408201 -0.00087442
+v -0.00415443 -0.01408201 -0.01227219
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_45.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6762de491732871de9298228930a1de31349f252
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v 0.01516318 -0.02477619 0.02095208
+v 0.01692046 -0.02477619 0.02058807
+v 0.01516318 -0.02263333 0.02072741
+v 0.01302196 -0.02263333 0.02068528
+v 0.01190422 -0.02263333 0.02038608
+v 0.01305896 -0.02466701 0.02038932
+v 0.01523720 -0.02688808 0.02044441
+v 0.01600048 -0.02814772 0.02016573
+v 0.01643647 -0.02814772 0.02016573
+v 0.01673774 -0.02691579 0.02041633
+v 0.01770803 -0.02477619 0.01898082
+v 0.01736166 -0.02263333 0.01898082
+v 0.01657756 -0.02263333 0.02031479
+v 0.01752588 -0.02691579 0.01898082
+v 0.01242232 -0.01844865 0.02019058
+v 0.01190422 -0.01844865 0.02022082
+v 0.01190422 -0.02041063 0.02036988
+v 0.01190422 -0.02393045 0.02014737
+v 0.01379738 -0.02615641 0.02021974
+v 0.01457280 -0.02758390 0.01968939
+v 0.01533550 -0.02892502 0.01885877
+v 0.01609936 -0.03021725 0.01802814
+v 0.01638096 -0.03021725 0.01802814
+v 0.01675913 -0.02893968 0.01883716
+v 0.01781037 -0.02477619 0.01683783
+v 0.01780633 -0.02263333 0.01683783
+v 0.01769877 -0.01844865 0.01479636
+v 0.01781037 -0.02691579 0.01683783
+v 0.01687305 -0.01845028 0.01684215
+v 0.01664464 -0.02069906 0.01884904
+v 0.01624681 -0.02155131 0.02005880
+v 0.01750969 -0.02905864 0.01683783
+v 0.01779129 -0.03119987 0.01255507
+v 0.01349669 -0.01844865 0.01968291
+v 0.01190422 -0.01844865 0.00991845
+v 0.01190422 -0.02503203 0.01935131
+v 0.01236912 -0.02530905 0.01965051
+v 0.01307631 -0.02685712 0.01895598
+v 0.01378350 -0.02827483 0.01826145
+v 0.01476189 -0.03177021 0.01521222
+v 0.01618956 -0.03229818 0.01579441
+v 0.01627977 -0.03229818 0.01579441
+v 0.01665158 -0.03103854 0.01664124
+v 0.01741428 -0.03119987 0.01469699
+v 0.01781095 -0.01844865 0.01265337
+v 0.01781037 -0.02049048 0.01469699
+v 0.01771150 -0.01844865 0.01469699
+v 0.01689907 -0.01844865 0.01677518
+v 0.01781037 -0.03119987 0.01041316
+v 0.01687305 -0.01844865 0.01683891
+v 0.01686726 -0.01844865 0.01684539
+v 0.01512444 -0.01844865 0.01852608
+v 0.01512097 -0.01845028 0.01853148
+v 0.01638617 -0.01923247 0.01804758
+v 0.01759354 -0.03334272 0.01041316
+v 0.01762765 -0.03334272 0.00991845
+v 0.01511982 -0.01844865 0.01853040
+v 0.01781037 -0.01844865 0.00991845
+v 0.01190422 -0.03243832 0.00991845
+v 0.01190422 -0.02590221 0.01862330
+v 0.01190422 -0.02622974 0.01832086
+v 0.01190422 -0.03028895 0.01380479
+v 0.01320642 -0.03101247 0.01449284
+v 0.01395871 -0.03238455 0.01378319
+v 0.01535054 -0.03269742 0.01457709
+v 0.01590044 -0.03458933 0.01190267
+v 0.01653130 -0.03458933 0.01190267
+v 0.01664290 -0.03271860 0.01469699
+v 0.01702744 -0.03347145 0.01259180
+v 0.01781095 -0.01844865 0.01255507
+v 0.01781037 -0.03119987 0.00991845
+v 0.01680597 -0.03484191 0.01041316
+v 0.01684066 -0.03499019 0.00991845
+v 0.01269872 -0.03328569 0.00991845
+v 0.01190422 -0.03231774 0.01021117
+v 0.01190422 -0.03105321 0.01255507
+v 0.01250674 -0.03170991 0.01255507
+v 0.01357765 -0.03271046 0.01255507
+v 0.01517706 -0.03382181 0.01259180
+v 0.01485672 -0.03485494 0.00991845
+v 0.01517475 -0.03496575 0.00991845
+v 0.01637344 -0.03509449 0.00991845
+v 0.01310869 -0.03365397 0.00991845
+v 0.01211180 -0.03211078 0.01113901
+v 0.01190422 -0.03194131 0.01098887
+v 0.01447276 -0.03417053 0.01083873
+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 12
+f 2 12 13
+f 2 13 3
+f 2 10 14
+f 2 14 11
+f 3 13 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 5
+f 5 18 6
+f 5 17 16
+f 5 16 35
+f 5 35 59
+f 5 59 75
+f 5 75 85
+f 5 85 76
+f 5 76 62
+f 5 62 61
+f 5 61 60
+f 5 60 36
+f 5 36 18
+f 6 19 7
+f 6 18 19
+f 7 19 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 19 20
+f 9 14 10
+f 9 23 24
+f 9 24 14
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 11 14 28
+f 11 28 25
+f 12 27 29
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 15
+f 14 24 32
+f 14 32 33
+f 14 33 28
+f 15 34 57
+f 15 57 52
+f 15 52 51
+f 15 51 50
+f 15 50 48
+f 15 48 27
+f 15 27 47
+f 15 47 45
+f 15 45 70
+f 15 70 58
+f 15 58 35
+f 15 35 16
+f 15 31 34
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 39 21
+f 20 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 41 42
+f 22 42 23
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 32
+f 25 45 46
+f 25 46 26
+f 25 28 45
+f 26 46 47
+f 26 47 27
+f 27 48 29
+f 28 33 49
+f 28 49 45
+f 29 48 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 31
+f 29 31 30
+f 31 54 53
+f 31 53 34
+f 32 44 33
+f 33 44 55
+f 33 55 56
+f 33 56 49
+f 34 53 57
+f 35 58 71
+f 35 71 56
+f 35 56 73
+f 35 73 82
+f 35 82 81
+f 35 81 80
+f 35 80 83
+f 35 83 74
+f 35 74 59
+f 36 60 37
+f 37 60 38
+f 38 60 61
+f 38 61 39
+f 39 62 63
+f 39 63 64
+f 39 64 40
+f 39 61 62
+f 40 64 41
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 42
+f 42 67 68
+f 42 68 43
+f 43 68 44
+f 44 68 69
+f 44 69 55
+f 45 47 46
+f 45 49 71
+f 45 71 70
+f 49 56 71
+f 52 57 53
+f 55 69 72
+f 55 72 73
+f 55 73 56
+f 58 70 71
+f 59 74 75
+f 62 76 77
+f 62 77 64
+f 62 64 63
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 79 66
+f 66 79 80
+f 66 80 81
+f 66 81 82
+f 66 82 67
+f 67 82 73
+f 67 73 72
+f 67 72 69
+f 67 69 68
+f 74 83 78
+f 74 78 84
+f 74 84 75
+f 75 84 85
+f 76 85 84
+f 76 84 77
+f 77 84 78
+f 78 83 79
+f 79 83 86
+f 79 86 80
+f 80 86 83
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_450.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_450.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92507b2e64de3e39a0242ba0c3afef0a04363223
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_450.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.01891289 -0.01921212
+v -0.01680296 0.01891289 -0.01914957
+v -0.01634805 0.02025290 -0.01905197
+v -0.01634805 0.01891289 0.00635237
+v -0.01680296 0.02026489 -0.01894187
+v -0.01680296 0.01891289 0.00635237
+v -0.01634805 0.02082396 -0.01895438
+v -0.01634805 0.02231623 0.00635237
+v -0.01680296 0.02104951 -0.01880674
+v -0.01680296 0.02231623 0.00635237
+v -0.01634805 0.02231623 -0.01869663
+v -0.01638577 0.02231623 -0.01867411
+v -0.01636840 0.02231623 -0.01869163
+v -0.01680296 0.02231623 -0.01823369
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 8 11 13
+f 8 13 12
+f 8 12 14
+f 8 14 10
+f 9 12 13
+f 9 13 11
+f 9 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_451.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_451.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b766754bc1f40fc21ac73930f431be3fd1e51c69
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_451.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01344335 0.01043338 -0.01960423
+v -0.01399461 0.01043338 -0.01960212
+v -0.01399461 0.01548912 -0.01960212
+v -0.01344335 0.01548912 -0.01960212
+v -0.01344335 0.01043338 0.00196690
+v -0.01399461 0.01043338 0.00196690
+v -0.01399461 0.01548912 0.00196690
+v -0.01344335 0.01548912 0.00196690
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_452.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_452.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f3862fbc3779a3cdd0f1f0b9608c46f92ed27b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_452.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.02569163 -0.00011025
+v -0.01399461 0.02569163 -0.00232499
+v -0.01512946 0.02569163 -0.00011025
+v -0.01399461 -0.01308108 -0.00011025
+v -0.01512946 0.02569163 -0.00232499
+v -0.01399461 -0.01308108 -0.00232499
+v -0.01512946 -0.01308108 -0.00011025
+v -0.01512946 -0.01308108 -0.00232499
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_453.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_453.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6bde109ceceb2df75541082602d075640a8063e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_453.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00174202 0.02878732 -0.00057518
+v 0.00174202 0.02878732 -0.00186564
+v 0.00066976 0.02878732 -0.00057518
+v 0.00174202 -0.00484860 -0.00057518
+v 0.00066976 0.02878732 -0.00186564
+v 0.00174202 -0.00484860 -0.00186564
+v 0.00066976 -0.00484860 -0.00057518
+v 0.00066976 -0.00484860 -0.00186564
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_454.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_454.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2500afa1eb06cdf8b83df93555f26374672f2a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_454.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 0.00088990 -0.01117369
+v -0.00516783 0.00088990 -0.01409623
+v -0.00597001 0.00088990 -0.01117369
+v -0.00516783 -0.01710325 -0.01117369
+v -0.00597001 0.00088990 -0.01409623
+v -0.00516783 -0.01710325 -0.01409623
+v -0.00597001 -0.01710325 -0.01117369
+v -0.00597001 -0.01710325 -0.01409623
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_455.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_455.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01664f005a0c8e098e5413b2c3dc5bf661b8b13a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_455.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01388007 -0.04409503 -0.00607196
+v 0.01388007 -0.04407007 -0.00671456
+v 0.01516356 -0.04410002 -0.00607196
+v 0.01388007 0.00689344 -0.00607196
+v 0.01517282 -0.04407007 -0.00671456
+v 0.01388007 0.00689344 -0.00671456
+v 0.01521301 -0.04405510 -0.00671456
+v 0.01521301 -0.04408005 -0.00607196
+v 0.01521301 0.00689344 -0.00607196
+v 0.01521301 0.00689344 -0.00671456
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_456.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_456.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d55ec9c0a2621eb4b71697dca3af83e2f703c35
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_456.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00622959 0.02426099 -0.00293675
+v 0.00622959 0.02607976 -0.00293675
+v 0.01780984 0.02426099 -0.00293675
+v 0.00622959 0.02426099 0.00285823
+v 0.00622959 0.02607976 0.00285823
+v 0.01780984 0.02607976 -0.00293675
+v 0.01780984 0.02426099 0.00285823
+v 0.01780984 0.02607976 0.00285823
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_457.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_457.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd93e33e6de16cb79a09c7aa119ff628aa55fe4f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_457.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01781097 0.00878627 -0.00293675
+v 0.01155351 0.00878627 -0.00293675
+v 0.01781097 0.00735850 -0.00293675
+v 0.01781097 0.00878627 -0.01106200
+v 0.01155351 0.00689344 -0.00293675
+v 0.01155351 0.00878627 -0.01106200
+v 0.01781035 0.00689344 -0.00293675
+v 0.01781035 0.00689344 -0.01106200
+v 0.01155351 0.00689344 -0.01106200
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 7 8
+f 3 8 4
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_458.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_458.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84624953d81821d20bc2ecb9ce358a59fb138308
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_458.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01093707 0.02429972 -0.01777261
+v 0.01525265 0.02429972 -0.01777261
+v 0.01093707 0.02429972 -0.01518616
+v 0.01093707 0.02878689 -0.01777261
+v 0.01525265 0.02429972 -0.01518616
+v 0.01525265 0.02878732 -0.01777261
+v 0.01093707 0.02878732 -0.01518616
+v 0.01093707 0.02878732 -0.01752449
+v 0.01235265 0.02878732 -0.01777261
+v 0.01525265 0.02878732 -0.01518616
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_459.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_459.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08097f94610f1b066fd69021098988a58f02acf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_459.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.01374691 0.00842031 -0.01960423
+v -0.01344335 0.00842031 -0.01960423
+v -0.01399461 0.00842031 -0.01960169
+v -0.01399461 0.01043318 -0.01960169
+v -0.01344335 0.01043318 -0.01960423
+v -0.01344335 0.00842031 0.00635237
+v -0.01399461 0.00842031 0.00635237
+v -0.01399461 0.01043318 0.00635237
+v -0.01344335 0.01043318 0.00635237
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 9 8
+f 6 8 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_46.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471a086b0870a7a0bacf1eddd8814b9757a1934c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.01603365 -0.00767099 0.02162059
+v -0.01603365 -0.00975345 0.02161067
+v -0.01603365 -0.00606311 0.02063840
+v -0.01696952 -0.00608766 0.02058135
+v -0.01715118 -0.00609789 0.02056399
+v -0.01902703 -0.00619812 0.02037673
+v -0.01696952 -0.00764030 0.02143581
+v -0.01696952 -0.00978209 0.02136760
+v -0.01696952 -0.01140223 0.02051439
+v -0.01603365 -0.00994983 0.02150650
+v -0.01902703 -0.00429159 0.01811347
+v -0.01902703 -0.00512826 0.01918372
+v -0.01603365 -0.00370449 0.01751200
+v -0.01715148 -0.00764030 0.02138249
+v -0.01902703 -0.00764030 0.02081822
+v -0.01715148 -0.00977800 0.02129320
+v -0.01715148 -0.00994983 0.02121879
+v -0.01715148 -0.01135928 0.02047718
+v -0.01696952 -0.01247415 0.01946647
+v -0.01603365 -0.01261325 0.01962397
+v -0.01603365 -0.01154338 0.02063592
+v -0.01603365 -0.01063716 0.02114066
+v -0.01603365 -0.00174477 0.01478370
+v -0.01902703 -0.00426295 0.01806635
+v -0.01902703 -0.00971049 0.02052059
+v -0.01834813 -0.01106266 0.02022667
+v -0.01715148 -0.01256620 0.01926681
+v -0.01809672 -0.01516621 0.01580309
+v -0.01715148 -0.01664112 0.01456047
+v -0.01645617 -0.01748392 0.01389699
+v -0.01603365 -0.01731004 0.01424547
+v -0.01603365 -0.00079968 0.01260105
+v -0.01902703 -0.00258143 0.01456667
+v -0.01902703 -0.00353061 0.01674932
+v -0.01902703 -0.00357561 0.01683737
+v -0.01902703 -0.00981073 0.02047718
+v -0.01902703 -0.01184000 0.01892577
+v -0.01902703 -0.01186250 0.01890592
+v -0.01824880 -0.01310830 0.01806015
+v -0.01893092 -0.01567149 0.01463736
+v -0.01788400 -0.01720981 0.01352991
+v -0.01715118 -0.01794624 0.01277467
+v -0.01708995 -0.01800556 0.01271142
+v -0.01603365 -0.01841674 0.01258616
+v -0.01603365 -0.01754325 0.01396768
+v -0.01603365 0.00048907 0.00895379
+v -0.01902703 -0.00057057 0.00895255
+v -0.01902703 -0.01369335 0.01682249
+v -0.01902703 -0.01551806 0.01474525
+v -0.01902703 -0.01565103 0.01458899
+v -0.01866838 -0.01763939 0.01210251
+v -0.01709317 -0.02011462 0.00895379
+v -0.01902703 -0.01695615 0.01285652
+v -0.01902703 -0.01720572 0.01246339
+v -0.01603365 -0.01927795 0.01106699
+v -0.01715148 -0.00025963 0.00895255
+v -0.01603365 -0.02040919 0.00895379
+v -0.01902703 -0.01881359 0.00895255
+v -0.01902703 -0.01783373 0.01116992
+v -0.01715148 -0.02006552 0.00895255
+v -0.01643683 -0.02032532 0.00895379
+f 1 2 10
+f 1 10 22
+f 1 22 21
+f 1 21 20
+f 1 20 31
+f 1 31 45
+f 1 45 44
+f 1 44 55
+f 1 55 57
+f 1 57 46
+f 1 46 32
+f 1 32 23
+f 1 23 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 7 8
+f 3 11 12
+f 3 12 4
+f 3 13 11
+f 4 12 5
+f 5 12 6
+f 6 14 7
+f 6 12 11
+f 6 11 24
+f 6 24 35
+f 6 35 34
+f 6 34 33
+f 6 33 47
+f 6 47 58
+f 6 58 59
+f 6 59 54
+f 6 54 53
+f 6 53 50
+f 6 50 49
+f 6 49 48
+f 6 48 38
+f 6 38 37
+f 6 37 36
+f 6 36 25
+f 6 25 15
+f 6 15 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 13 23
+f 11 23 24
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 19 26 27
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 25 36 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 26 36 37
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 32 46 47
+f 32 47 33
+f 38 48 39
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 41 51 52
+f 41 52 42
+f 41 50 53
+f 41 53 54
+f 41 54 51
+f 42 52 43
+f 43 52 55
+f 43 55 44
+f 46 56 47
+f 46 57 60
+f 46 60 56
+f 47 56 60
+f 47 60 58
+f 51 54 59
+f 51 59 52
+f 52 60 61
+f 52 61 55
+f 52 59 58
+f 52 58 60
+f 55 61 57
+f 57 61 60
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_460.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_460.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8bbbe07dd36b41d96a25d9cfdce56a890b5cf7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_460.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03145368 -0.00800871
+v -0.00597001 0.03752117 -0.00800871
+v -0.00516783 0.03145368 -0.00800871
+v -0.00597001 0.03145368 0.00000023
+v -0.00597001 0.03785928 -0.00672537
+v -0.00516783 0.03829738 -0.00672537
+v -0.00516783 0.03828650 -0.00676613
+v -0.00517827 0.03794363 -0.00800871
+v -0.00516783 0.03794907 -0.00800871
+v -0.00516783 0.03145368 0.00000023
+v -0.00597001 0.03795792 0.00000023
+v -0.00597001 0.03796336 -0.00458280
+v -0.00516783 0.03840283 -0.00458280
+v -0.00516783 0.03839670 0.00000023
+v -0.00516783 0.03840283 -0.00029925
+v -0.00597001 0.03796336 -0.00029925
+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 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 7
+f 3 7 6
+f 3 6 13
+f 3 13 15
+f 3 15 14
+f 3 14 10
+f 4 10 14
+f 4 14 11
+f 5 12 13
+f 5 13 6
+f 7 9 8
+f 11 14 15
+f 11 15 16
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_461.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_461.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53349f6cd876006dc3c5304f57400f51ccf8ccb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_461.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.03780733 -0.01434057
+v -0.00083021 0.03742987 -0.01532412
+v -0.00183008 0.03694395 -0.01534248
+v -0.00183008 0.03732574 -0.01434057
+v -0.00083021 -0.00651573 -0.01434057
+v -0.00083021 0.03693527 -0.01637871
+v -0.00162452 0.03662289 -0.01637871
+v -0.00183008 0.03672268 -0.01589112
+v -0.00183008 -0.00651573 -0.01434057
+v -0.00083021 -0.00651573 -0.01637871
+v -0.00183008 0.03648406 -0.01637871
+v -0.00183008 -0.00651573 -0.01637871
+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 8
+f 2 8 3
+f 3 8 11
+f 3 11 12
+f 3 12 9
+f 3 9 4
+f 5 9 12
+f 5 12 10
+f 6 10 12
+f 6 12 11
+f 6 11 7
+f 7 11 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_462.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_462.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c8caa645967ebcc8917207850d17cc79cbe966
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_462.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00850034 -0.01920884 0.00635237
+v -0.00850034 -0.01920884 0.00106834
+v -0.00950790 -0.01920884 0.00635237
+v -0.00850034 -0.03134229 0.00635237
+v -0.00950790 -0.01920884 0.00106834
+v -0.00850034 -0.01921003 -0.00214333
+v -0.00950790 -0.03134229 0.00635237
+v -0.00850034 -0.03134229 -0.00214333
+v -0.00950790 -0.01921003 -0.00214333
+v -0.00950790 -0.03134229 -0.00214333
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 6 8 10
+f 6 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_463.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_463.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25792082ecd9860999b67f2bf67e0ceec0bb97e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_463.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03198693 -0.01008382
+v -0.01266345 0.03177281 -0.01056018
+v -0.01267421 0.03198063 -0.01008382
+v -0.01266345 -0.03234836 -0.01008382
+v -0.01266345 0.03156500 -0.01101014
+v -0.01323429 0.03147053 -0.01008382
+v -0.01310078 -0.03196421 -0.01008382
+v -0.01277520 -0.03174380 -0.01121056
+v -0.01266345 -0.03213424 -0.01056018
+v -0.01266345 0.03089746 -0.01240516
+v -0.01276490 0.03100452 -0.01198715
+v -0.01344047 0.03125642 -0.01008382
+v -0.01270940 0.03067075 -0.01278144
+v -0.01344330 0.03012287 -0.01241070
+v -0.01344330 0.03102341 -0.01056018
+v -0.01344330 -0.03166193 -0.01008382
+v -0.01344330 -0.03144782 -0.01056018
+v -0.01344330 -0.03054098 -0.01255594
+v -0.01266345 -0.03112035 -0.01278144
+v -0.01266345 0.03071483 -0.01278144
+v -0.01344330 0.03111158 -0.01036029
+v -0.01344330 0.03119344 -0.01008382
+v -0.01344330 0.02993394 -0.01278144
+v -0.01344330 -0.03049060 -0.01263119
+v -0.01304398 -0.03078028 -0.01278144
+v -0.01344330 -0.03038984 -0.01278144
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 22
+f 1 22 16
+f 1 16 7
+f 1 7 4
+f 1 4 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 13
+f 12 15 21
+f 12 21 22
+f 13 20 19
+f 13 19 25
+f 13 25 26
+f 13 26 23
+f 13 23 14
+f 14 23 26
+f 14 26 24
+f 14 24 18
+f 14 18 17
+f 14 17 16
+f 14 16 22
+f 14 22 21
+f 14 21 15
+f 18 24 25
+f 18 25 19
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_464.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_464.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400d11ff76ab2b5f43a58d521d0aa82ecea32c95
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_464.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01680296 0.00550636 -0.01960422
+v -0.01680296 0.01164242 -0.01960244
+v -0.01634805 0.00735860 -0.01960422
+v -0.01634805 0.00550636 -0.01960422
+v -0.01680296 0.00550636 -0.00138292
+v -0.01680296 0.01313257 -0.01957925
+v -0.01634805 0.01306090 -0.01958104
+v -0.01634805 0.01164242 -0.01960244
+v -0.01634805 0.00550636 -0.00295606
+v -0.01634818 0.00550636 -0.00138292
+v -0.01680296 0.01313257 -0.00138292
+v -0.01634805 0.01313257 -0.01957925
+v -0.01634805 0.00553472 -0.00138292
+v -0.01634805 0.01313257 -0.00138292
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 12
+f 3 12 14
+f 3 14 13
+f 3 13 9
+f 3 9 4
+f 5 10 13
+f 5 13 14
+f 5 14 11
+f 6 12 7
+f 6 11 14
+f 6 14 12
+f 9 13 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_465.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_465.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc44369e935be77ab8bec5d0f8c9d1de9d8cfde
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_465.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00950790 0.02333112 0.00635206
+v -0.01062676 0.02333112 0.00635206
+v -0.00950790 -0.01707310 0.00635206
+v -0.00950790 0.02333112 0.00313366
+v -0.01062676 0.02333112 0.00313366
+v -0.01062676 -0.01707310 0.00635206
+v -0.00950790 -0.01707310 0.00313366
+v -0.01062676 -0.01707310 0.00313366
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_466.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_466.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e088f545f99ac137d223b549c75b828a4d087a7c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_466.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 -0.02360301 0.00489788
+v -0.00716753 -0.02360301 0.00137685
+v -0.00805384 -0.02360301 0.00489788
+v -0.00716753 -0.03670484 0.00489788
+v -0.00805384 -0.02360301 0.00137685
+v -0.00716753 -0.03760104 0.00137685
+v -0.00805384 -0.03598404 0.00489788
+v -0.00741462 -0.03660618 0.00489788
+v -0.00716753 -0.03714883 0.00392058
+v -0.00805384 -0.03707209 0.00137685
+v -0.00716753 -0.03759282 0.00184361
+v -0.00763489 -0.03732286 0.00137685
+v -0.00805384 -0.03658836 0.00398539
+v -0.00772460 -0.03678980 0.00398539
+v -0.00716753 -0.03741193 0.00274231
+v -0.00805384 -0.03706387 0.00177707
+v -0.00805384 -0.03706250 0.00184361
+v -0.00805384 -0.03705016 0.00190393
+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 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 16
+f 3 16 17
+f 3 17 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 13
+f 9 13 15
+f 10 12 16
+f 11 15 17
+f 11 17 12
+f 12 17 16
+f 13 18 15
+f 15 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_467.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_467.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177c616f7c95b4c197c234f6d493593c25b08dce
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_467.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00716753 0.03649414 -0.00919086
+v -0.00716753 0.03628262 -0.00972621
+v -0.00723616 0.03621622 -0.00979307
+v -0.00736143 0.03637608 -0.00919086
+v -0.00716753 0.01137033 -0.00919086
+v -0.00716753 0.03616949 -0.01000705
+v -0.00805384 0.03588172 -0.00919086
+v -0.00741514 0.03634165 -0.00919086
+v -0.00805384 0.03535785 -0.01041263
+v -0.00805384 0.01137033 -0.00919086
+v -0.00716753 0.01137033 -0.01041263
+v -0.00716753 0.03598748 -0.01041263
+v -0.00805384 0.01137033 -0.01041263
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 5 10 13
+f 5 13 11
+f 6 12 9
+f 7 9 13
+f 7 13 10
+f 9 12 11
+f 9 11 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_468.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_468.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81b09fc43020b89dadbc28f64f6c962fc8ad653
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_468.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01266345 0.03284566 0.00337816
+v -0.01266345 0.03319604 0.00184359
+v -0.01344330 0.03245343 0.00266338
+v -0.01343490 0.03229445 0.00337816
+v -0.01266345 0.02254110 0.00337816
+v -0.01266345 0.03319709 0.00180096
+v -0.01268513 0.03317826 0.00184359
+v -0.01344330 0.03253397 0.00184359
+v -0.01344330 0.03228922 0.00337215
+v -0.01344330 0.03228608 0.00337816
+v -0.01344330 0.02254110 0.00337816
+v -0.01266345 0.02254110 0.00045495
+v -0.01266345 0.03322638 0.00045495
+v -0.01268513 0.03320860 0.00045495
+v -0.01344330 0.03255175 0.00103381
+v -0.01344330 0.02254110 0.00045495
+v -0.01344330 0.03256430 0.00045495
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 15
+f 3 15 17
+f 3 17 16
+f 3 16 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 3 7 8
+f 4 9 10
+f 5 11 16
+f 5 16 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 12 16 17
+f 12 17 14
+f 12 14 13
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_469.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_469.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a78bc3b36abc4788fb97545f29f4317327b4fa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_469.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.02181543 0.00149422 -0.01916640
+v -0.02201155 0.00149422 -0.01910644
+v -0.02181543 0.00160606 -0.01916640
+v -0.02181543 0.00149422 0.00634738
+v -0.02181543 0.00307407 -0.01915391
+v -0.02297842 0.00149422 -0.01880166
+v -0.02181543 0.00388207 0.00634987
+v -0.02309077 0.00149422 0.00634738
+v -0.02292998 0.00307407 -0.01878918
+v -0.02181543 0.00521569 -0.01910644
+v -0.02306094 0.00149422 -0.01873421
+v -0.02309077 0.00307407 -0.01865927
+v -0.02309077 0.00388207 0.00634987
+v -0.02181543 0.00583827 0.00634987
+v -0.02309077 0.00149422 -0.01870923
+v -0.02288666 0.00388207 -0.01877918
+v -0.02181543 0.00583827 -0.01906897
+v -0.02281513 0.00521569 -0.01875670
+v -0.02276308 0.00583827 -0.01873921
+v -0.02309077 0.00521569 -0.01847690
+v -0.02309077 0.00583827 0.00634987
+v -0.02307467 0.00583827 -0.01833201
+v -0.02309077 0.00583827 -0.01830953
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 17
+f 1 17 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 13
+f 4 13 8
+f 5 6 9
+f 5 9 10
+f 6 11 12
+f 6 12 9
+f 7 14 21
+f 7 21 13
+f 8 13 21
+f 8 21 23
+f 8 23 20
+f 8 20 12
+f 8 12 15
+f 9 16 10
+f 9 12 16
+f 10 16 18
+f 10 18 19
+f 10 19 17
+f 11 15 12
+f 12 20 18
+f 12 18 16
+f 14 17 19
+f 14 19 22
+f 14 22 23
+f 14 23 21
+f 18 20 19
+f 19 20 22
+f 20 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_47.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7487b2b86415a821a9d5147005f699137384b8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.00525894 0.01357469
+v 0.00147917 -0.00525894 0.01308311
+v 0.00023052 -0.00525894 0.01149606
+v 0.00023052 -0.00617416 0.01329289
+v 0.00147917 -0.00760819 0.01246193
+v 0.00147917 -0.00576564 0.01296144
+v 0.00147917 -0.00549505 0.01303469
+v 0.00147917 -0.00529094 0.01307660
+v 0.00147917 -0.00525894 0.01149606
+v 0.00023052 -0.00843270 0.01149606
+v 0.00023052 -0.00777750 0.01263610
+v 0.00023052 -0.00807481 0.01249082
+v 0.00023052 -0.00843270 0.01231482
+v 0.00147917 -0.00818882 0.01149606
+v 0.00083615 -0.00843270 0.01149606
+v 0.00071270 -0.00843270 0.01166311
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 13
+f 1 13 12
+f 1 12 11
+f 1 11 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 14
+f 2 14 9
+f 3 9 14
+f 3 14 15
+f 3 15 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 10 15 16
+f 10 16 13
+f 13 16 14
+f 14 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_470.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_470.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67fd377705bcc5d8450c8ed437bf2f92985bc21b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_470.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.01393127 -0.00068594
+v -0.00597001 0.01393127 -0.00418167
+v -0.00716741 0.01393127 -0.00068594
+v -0.00597001 -0.03834915 -0.00068594
+v -0.00716741 0.01393127 -0.00418167
+v -0.00597001 -0.03834915 -0.00418167
+v -0.00716741 -0.03763270 -0.00068594
+v -0.00716741 -0.03763270 -0.00418167
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_48.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eabca12382bf8332e4a9858451e352f92d53fc41
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.01190376 0.02358236 0.00928959
+v 0.01190376 0.02358236 0.00803385
+v 0.01312555 0.02358236 0.00896886
+v 0.01190376 0.02727146 0.00803385
+v 0.01312555 0.02358236 0.00803385
+v 0.01312555 0.02558111 0.00803385
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
+f 3 6 4
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_49.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9493898313102671298d10462c48f81d981857
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 -0.02820620 -0.00716964
+v -0.01399461 0.03186993 -0.00717001
+v -0.01512946 -0.02820620 -0.00716964
+v -0.01399461 -0.03228160 -0.00716964
+v -0.01399461 0.03172550 -0.00802490
+v -0.01512946 0.03066426 -0.00717001
+v -0.01512946 -0.03121408 -0.00716964
+v -0.01455537 -0.03177296 -0.00716964
+v -0.01399461 -0.03219369 -0.00774203
+v -0.01399461 0.03027494 -0.01095204
+v -0.01466490 0.03075218 -0.00859100
+v -0.01512946 0.03041936 -0.00827074
+v -0.01512946 -0.03121408 -0.00717667
+v -0.01512946 -0.03086243 -0.00850770
+v -0.01399461 -0.03209950 -0.00806748
+v -0.01399461 -0.02820620 -0.01095204
+v -0.01512901 0.02908811 -0.01095204
+v -0.01512946 0.03026238 -0.00859100
+v -0.01512946 -0.03012773 -0.01005532
+v -0.01424811 -0.03055473 -0.01095167
+v -0.01423478 -0.03056729 -0.01095167
+v -0.01419468 -0.03060497 -0.01095167
+v -0.01467989 -0.03121408 -0.00864654
+v -0.01399461 -0.03078080 -0.01095167
+v -0.01512946 -0.02820620 -0.01095204
+v -0.01512946 0.02902531 -0.01095204
+v -0.01512946 0.03010539 -0.00889719
+v -0.01512946 -0.02965676 -0.01095167
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 18
+f 3 18 27
+f 3 27 26
+f 3 26 25
+f 3 25 28
+f 3 28 19
+f 3 19 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 25
+f 10 25 26
+f 10 26 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 22
+f 15 22 24
+f 16 24 25
+f 17 26 27
+f 17 27 18
+f 19 28 20
+f 20 28 25
+f 20 25 21
+f 21 25 22
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_5.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e39436cd6e502a0df4e65fa417c8ff6bdb7cb75
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01699778 0.00277188 0.00757483
+v -0.01516635 0.00277188 0.00854176
+v -0.01525572 0.01805426 0.00854176
+v -0.01525572 0.01806673 0.00854176
+v -0.01693876 0.01806673 0.00757483
+v 0.00023052 0.00277188 0.00757483
+v 0.00023052 0.00277188 0.00854176
+v -0.01515623 0.02020539 0.00854176
+v -0.01674819 0.02020539 0.00757483
+v 0.00023052 0.03462108 0.00757483
+v 0.00023052 0.03279417 0.00854176
+v -0.01669254 0.02053273 0.00757483
+v -0.01471945 0.02247187 0.00854176
+v 0.00018667 0.03461796 0.00757483
+v 0.00016643 0.03279729 0.00854176
+v -0.01592017 0.02237522 0.00757483
+v -0.01389311 0.02442659 0.00854176
+v -0.01503987 0.02445777 0.00757483
+v -0.00047271 0.03454625 0.00757483
+v -0.00197530 0.03264141 0.00854176
+v -0.01262999 0.02659643 0.00854176
+v -0.01389142 0.02611943 0.00757483
+v -0.00387587 0.03353304 0.00757483
+v -0.00411197 0.03208025 0.00854176
+v -0.01323541 0.02705159 0.00757483
+v -0.01054054 0.02876626 0.00854176
+v -0.01212913 0.02823939 0.00757483
+v -0.01319663 0.02710459 0.00757483
+v -0.00427724 0.03338651 0.00757483
+v -0.00800082 0.03062746 0.00854176
+v -0.00848144 0.03123850 0.00757483
+v -0.01105995 0.02932431 0.00757483
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 12
+f 1 12 16
+f 1 16 18
+f 1 18 22
+f 1 22 25
+f 1 25 28
+f 1 28 27
+f 1 27 32
+f 1 32 31
+f 1 31 29
+f 1 29 23
+f 1 23 19
+f 1 19 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 20
+f 2 20 24
+f 2 24 30
+f 2 30 26
+f 2 26 21
+f 2 21 17
+f 2 17 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 8 13 12
+f 10 14 15
+f 10 15 11
+f 12 13 16
+f 13 17 18
+f 13 18 16
+f 14 19 20
+f 14 20 15
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 21 26 27
+f 21 27 28
+f 21 28 25
+f 23 29 24
+f 24 29 30
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_50.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3633407b79bf07cb9e3af7b9210a4f82b68b205a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00088289 -0.00525894 0.00803452
+v 0.00161541 -0.00525894 0.00803452
+v 0.00088289 -0.00525894 0.01308305
+v 0.00088289 -0.00054781 0.00803452
+v 0.00161541 -0.00054781 0.00803452
+v 0.00161541 -0.00525894 0.01311004
+v 0.00161541 -0.00329028 0.01457935
+v 0.00088289 -0.00328751 0.01442457
+v 0.00088289 -0.00054781 0.01542554
+v 0.00161541 -0.00054781 0.01614313
+v 0.00161541 -0.00121048 0.01576528
+v 0.00088289 -0.00217475 0.01486671
+v 0.00088289 -0.00214985 0.01487623
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 10
+f 8 10 12
+f 9 13 10
+f 10 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_51.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38762e6bf6759b165a425d200fc593587c11cd1f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01302685 -0.03732301 0.00750194
+v 0.01323149 -0.03743994 0.00750194
+v 0.01302685 -0.03591341 0.00803357
+v 0.01302685 0.02755765 0.00750194
+v 0.01483447 -0.03784269 0.00750194
+v 0.01422943 -0.03659548 0.00803357
+v 0.01302685 -0.00232331 0.00803367
+v 0.01302685 0.02551146 0.00803367
+v 0.01528310 0.02707046 0.00803367
+v 0.01518242 0.02851254 0.00750194
+v 0.01516415 -0.03784918 0.00750194
+v 0.01516415 -0.03671241 0.00803357
+v 0.01770092 -0.00232331 0.00803367
+v 0.01559124 0.02701850 0.00803367
+v 0.01623094 0.02833066 0.00750194
+v 0.01655078 -0.03742695 0.00750194
+v 0.01686033 -0.03597837 0.00803357
+v 0.01773511 -0.00121252 0.00803367
+v 0.01774354 -0.03333455 0.00803357
+v 0.01781003 -0.03119092 0.00803357
+v 0.01667863 0.02672618 0.00803367
+v 0.01650536 0.02825920 0.00750194
+v 0.01705982 -0.03584196 0.00750194
+v 0.01779458 0.00093111 0.00803367
+v 0.01716987 -0.03549768 0.00750194
+v 0.01775337 -0.03333455 0.00750194
+v 0.01781003 -0.03119092 0.00750194
+v 0.01781050 -0.01560735 0.00750194
+v 0.01781050 -0.01406783 0.00803357
+v 0.01781050 0.00307475 0.00803367
+v 0.01746865 0.02472545 0.00803367
+v 0.01686969 0.02718739 0.00750194
+v 0.01781097 0.01866482 0.00750194
+v 0.01781097 0.02021083 0.00803367
+v 0.01778756 0.02258182 0.00803367
+v 0.01748082 0.02525812 0.00750194
+v 0.01781097 0.02097734 0.00750194
+v 0.01781097 0.02044468 0.00803367
+v 0.01778475 0.02312098 0.00750194
+v 0.01779084 0.02234797 0.00803367
+v 0.01779599 0.02234797 0.00750194
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 32
+f 1 32 36
+f 1 36 39
+f 1 39 41
+f 1 41 37
+f 1 37 33
+f 1 33 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 23
+f 1 23 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 18
+f 7 18 24
+f 7 24 30
+f 7 30 34
+f 7 34 38
+f 7 38 40
+f 7 40 35
+f 7 35 31
+f 7 31 21
+f 7 21 14
+f 7 14 9
+f 7 9 8
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 13 20 18
+f 14 21 22
+f 14 22 15
+f 16 23 19
+f 16 19 17
+f 18 20 24
+f 19 23 25
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 24
+f 21 31 22
+f 22 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 35 40 41
+f 35 41 39
+f 37 41 40
+f 37 40 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_52.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbbf2d0632a9282ca58b64e4026e128cb41d6d7f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00364701 -0.01769571 0.00922743
+v 0.00374157 -0.01798564 0.00922743
+v 0.00364701 -0.01633087 0.01040254
+v 0.00364701 -0.00525894 0.00922743
+v 0.00431944 -0.01971153 0.00922743
+v 0.00364701 -0.01545015 0.01115655
+v 0.00364701 -0.00525894 0.01115655
+v 0.01190283 -0.00525894 0.00922743
+v 0.00493125 -0.02150853 0.00922743
+v 0.00371975 -0.01566623 0.01115655
+v 0.01190283 -0.00525894 0.01115655
+v 0.01190283 -0.03320133 0.00922743
+v 0.00530949 -0.02246857 0.00922743
+v 0.00395979 -0.01629258 0.01115655
+v 0.01190283 -0.03183376 0.01115655
+v 0.01096450 -0.03227959 0.00922743
+v 0.00689519 -0.02607898 0.00922743
+v 0.00732031 -0.02449806 0.01115655
+v 0.00716675 -0.02413155 0.01115655
+v 0.00651776 -0.02256977 0.01115655
+v 0.01115524 -0.03095030 0.01115655
+v 0.00986130 -0.03107611 0.00922743
+v 0.00727666 -0.02687491 0.00922743
+v 0.00779230 -0.02556203 0.01115655
+v 0.01011346 -0.02965110 0.01115655
+v 0.00912907 -0.03008325 0.00922743
+v 0.00947417 -0.02868285 0.01115655
+v 0.00849382 -0.02692141 0.01115655
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 22
+f 1 22 26
+f 1 26 23
+f 1 23 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 11
+f 4 11 8
+f 5 9 10
+f 5 10 6
+f 6 10 14
+f 6 14 20
+f 6 20 19
+f 6 19 18
+f 6 18 24
+f 6 24 28
+f 6 28 27
+f 6 27 25
+f 6 25 21
+f 6 21 15
+f 6 15 11
+f 6 11 7
+f 8 11 15
+f 8 15 12
+f 9 13 14
+f 9 14 10
+f 12 15 16
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 18
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 23 26 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_53.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb5f79dd7043fd4678304f18d47bd846ee464c1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00121492 -0.00334381 0.01534538
+v -0.00121492 -0.00335031 0.01534120
+v -0.00121492 -0.00120738 0.01531891
+v -0.00281289 -0.00335031 0.01830758
+v -0.00121492 -0.00335031 0.00757483
+v -0.00121492 -0.00120738 0.00757483
+v -0.00283362 -0.00120738 0.01829922
+v -0.00346949 -0.00120738 0.01937068
+v -0.00350128 -0.00335031 0.01937904
+v -0.01533671 -0.00335031 0.00757483
+v -0.01533671 -0.00120738 0.00757483
+v -0.00454079 -0.00120738 0.02066368
+v -0.00454217 -0.00121052 0.02066786
+v -0.00457258 -0.00335031 0.02062467
+v -0.01533671 -0.00335031 0.01726955
+v -0.01533671 -0.00120738 0.01466683
+v -0.00625901 -0.00120738 0.02161811
+v -0.00625901 -0.00121052 0.02161811
+v -0.00625901 -0.00335031 0.02158606
+v -0.01170812 -0.00335031 0.02011054
+v -0.01035483 -0.00120738 0.02076958
+v -0.01142474 -0.00120738 0.01985416
+v -0.01428614 -0.00120738 0.01630956
+v -0.01533671 -0.00322320 0.01712744
+v -0.01533671 -0.00125436 0.01478248
+v -0.01528141 -0.00120738 0.01479084
+v -0.00839884 -0.00120738 0.02171982
+v -0.00839884 -0.00335031 0.02180899
+v -0.01071699 -0.00335031 0.02082113
+v -0.01067138 -0.00335031 0.02084203
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 9
+f 2 9 14
+f 2 14 19
+f 2 19 28
+f 2 28 30
+f 2 30 29
+f 2 29 20
+f 2 20 15
+f 2 15 10
+f 2 10 5
+f 3 6 11
+f 3 11 16
+f 3 16 26
+f 3 26 23
+f 3 23 22
+f 3 22 21
+f 3 21 27
+f 3 27 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 15 24
+f 10 24 25
+f 10 25 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 16 25 26
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 20 29 21
+f 21 29 27
+f 23 26 25
+f 23 25 24
+f 27 29 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_54.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50124beba5ff5bcb2282a7e05d329bb2842c21b4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00666363 0.00878627 -0.01106200
+v 0.01780989 0.00878627 -0.01106200
+v 0.00666363 0.00878627 -0.00293675
+v 0.00666363 0.02878732 -0.01106200
+v 0.01780989 0.00878627 -0.00293675
+v 0.01780989 0.02878732 -0.01106200
+v 0.01781098 0.02515753 -0.00738830
+v 0.01781098 0.02448992 -0.00672657
+v 0.00666363 0.02878732 -0.00293675
+v 0.01781098 0.02448992 -0.00293675
+v 0.01780989 0.02878732 -0.00293675
+v 0.01781098 0.02515753 -0.00293675
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 11
+f 3 11 9
+f 4 9 11
+f 4 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_55.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1784e70c89787e23ffcb5630b80bf8442e2d23
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00928190 -0.04310767 0.00433862
+v 0.01054256 -0.04333433 0.00433862
+v 0.00928190 -0.04291642 0.00488382
+v 0.00928190 0.02878690 0.00433862
+v 0.01078050 -0.04336975 0.00433862
+v 0.01128393 -0.04310058 0.00523923
+v 0.00985546 -0.04296600 0.00503208
+v 0.00928190 -0.04230726 0.00542054
+v 0.00928190 0.02878690 0.00542054
+v 0.01752462 0.02878690 0.00433862
+v 0.01302214 -0.04356807 0.00433862
+v 0.01302214 -0.04316433 0.00533539
+v 0.01159701 -0.04288809 0.00542054
+v 0.01111445 -0.04281726 0.00542054
+v 0.01741525 0.02878690 0.00542054
+v 0.01770912 0.02877982 0.00433862
+v 0.01516276 -0.04357516 0.00433862
+v 0.01516276 -0.04316433 0.00534016
+v 0.01516276 -0.04305809 0.00542054
+v 0.01302214 -0.04304392 0.00542054
+v 0.01760810 0.02732776 0.00542054
+v 0.01775587 0.02841857 0.00433862
+v 0.01552593 -0.04354683 0.00433862
+v 0.01646182 -0.04310058 0.00524558
+v 0.01660792 -0.04258351 0.00542054
+v 0.01778843 0.02518863 0.00542054
+v 0.01780430 0.02627944 0.00433862
+v 0.01666970 -0.04327767 0.00433862
+v 0.01723324 -0.04224352 0.00433862
+v 0.01737768 -0.04191061 0.00433862
+v 0.01689929 -0.04191061 0.00542054
+v 0.01781014 0.02304950 0.00542054
+v 0.01781098 0.02412615 0.00433862
+v 0.01766654 -0.03975731 0.00433862
+v 0.01725579 -0.03972898 0.00542054
+v 0.01781014 -0.02476216 0.00542054
+v 0.01781098 0.02395615 0.00433862
+v 0.01772248 -0.03762526 0.00433862
+v 0.01778676 -0.03333284 0.00542054
+v 0.01764984 -0.03547905 0.00542054
+v 0.01746534 -0.03762526 0.00542054
+v 0.01781014 -0.02849501 0.00504490
+v 0.01780764 -0.03119371 0.00542054
+v 0.01781014 -0.02958582 0.00433862
+v 0.01776589 -0.03547905 0.00433862
+v 0.01779929 -0.03333284 0.00433862
+v 0.01780764 -0.03119371 0.00433862
+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 22
+f 1 22 27
+f 1 27 33
+f 1 33 37
+f 1 37 44
+f 1 44 47
+f 1 47 46
+f 1 46 45
+f 1 45 38
+f 1 38 34
+f 1 34 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 8 14 13
+f 8 13 20
+f 8 20 19
+f 8 19 25
+f 8 25 31
+f 8 31 35
+f 8 35 41
+f 8 41 40
+f 8 40 39
+f 8 39 43
+f 8 43 36
+f 8 36 32
+f 8 32 26
+f 8 26 21
+f 8 21 15
+f 8 15 9
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 21 16
+f 16 21 22
+f 17 23 18
+f 18 24 19
+f 18 23 24
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 26 32 27
+f 27 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 37
+f 32 37 33
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 36 43 42
+f 37 42 44
+f 38 45 39
+f 39 45 46
+f 39 46 43
+f 42 43 44
+f 43 46 47
+f 43 47 44
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_56.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239a4473518cabd63a5fe620554240aad0aca5d1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01190263 -0.00525894 0.01745503
+v 0.01190263 -0.00054781 0.01686776
+v 0.01141118 -0.00054781 0.01737881
+v 0.01181502 -0.00525894 0.01754499
+v 0.01190263 -0.00525894 0.00803372
+v 0.01190263 -0.00054781 0.00803372
+v 0.01033966 -0.00054781 0.01845339
+v 0.01169719 -0.00525894 0.01766370
+v 0.00161542 -0.00525894 0.00803372
+v 0.00161542 -0.00054781 0.00803372
+v 0.00921577 -0.00054781 0.01952422
+v 0.01062667 -0.00525894 0.01865706
+v 0.00161542 -0.00525894 0.01311048
+v 0.00161542 -0.00054781 0.01614304
+v 0.00814525 -0.00054781 0.02037888
+v 0.00918959 -0.00525894 0.01972914
+v 0.00164764 -0.00525894 0.01320419
+v 0.00161542 -0.00329028 0.01457991
+v 0.00296791 -0.00525894 0.01693773
+v 0.00311494 -0.00525894 0.01730384
+v 0.00331132 -0.00478211 0.01801481
+v 0.00190847 -0.00054781 0.01682902
+v 0.00659537 -0.00054781 0.02079872
+v 0.00811806 -0.00525894 0.02023394
+v 0.00407065 -0.00525894 0.01867330
+v 0.00369501 -0.00054781 0.01976287
+v 0.00319752 -0.00054781 0.01915186
+v 0.00290044 -0.00054781 0.01874202
+v 0.00293568 -0.00121048 0.01858583
+v 0.00540905 -0.00054781 0.02059255
+v 0.00617945 -0.00525894 0.02018896
+v 0.00654703 -0.00525894 0.02025268
+v 0.00441104 -0.00525894 0.01903191
+v 0.00471518 -0.00054781 0.02044635
+v 0.00476553 -0.00525894 0.01936053
+v 0.00542919 -0.00477565 0.02011024
+v 0.00487731 -0.00121048 0.02041137
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 24
+f 1 24 32
+f 1 32 31
+f 1 31 35
+f 1 35 33
+f 1 33 25
+f 1 25 20
+f 1 20 19
+f 1 19 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 22
+f 2 22 28
+f 2 28 27
+f 2 27 26
+f 2 26 34
+f 2 34 30
+f 2 30 23
+f 2 23 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 18
+f 9 18 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 18 19
+f 15 23 24
+f 15 24 16
+f 17 19 18
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 28
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 25 33 26
+f 26 33 35
+f 26 35 36
+f 26 36 34
+f 30 34 37
+f 30 37 36
+f 30 36 31
+f 31 36 35
+f 34 36 37
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_57.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23c35a9c376a62395b422cfc4a81657dd32319d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 0.04007078 -0.00793214
+v -0.00083021 0.03979717 -0.00901520
+v -0.00183008 0.03932291 -0.00906210
+v -0.00183008 0.03960564 -0.00793214
+v -0.00083021 -0.00651573 -0.00793214
+v -0.00083021 0.03974245 -0.00916357
+v -0.00139656 0.03946428 -0.00921650
+v -0.00183008 0.03926363 -0.00921650
+v -0.00183008 -0.00651573 -0.00793214
+v -0.00083021 -0.00651573 -0.00921650
+v -0.00083021 0.03971965 -0.00921650
+v -0.00108578 0.03960564 -0.00921650
+v -0.00183008 -0.00651573 -0.00921650
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 9
+f 3 9 4
+f 5 9 13
+f 5 13 10
+f 6 11 12
+f 6 12 7
+f 7 12 11
+f 7 11 10
+f 7 10 13
+f 7 13 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_58.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2f234c8b7bf9af13978532981bcabab71f54b2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.00188317 0.02021060 0.02509009
+v 0.00016783 0.02021060 0.02499353
+v -0.00188317 0.02235712 0.02490480
+v -0.00188317 0.01861829 0.02462817
+v 0.00023031 0.01810023 0.02457859
+v 0.00023031 0.01956203 0.02486696
+v 0.00023031 0.02021060 0.02498179
+v 0.00023031 0.02027486 0.02497396
+v 0.00023031 0.02243543 0.02466471
+v 0.00018501 0.02245350 0.02466862
+v -0.00188317 0.02242740 0.02488392
+v -0.00188317 0.01755808 0.02394443
+v 0.00023031 0.01322891 0.02182145
+v 0.00023031 0.01430718 0.02250258
+v 0.00023031 0.01643764 0.02371478
+v 0.00023031 0.02250169 0.02464383
+v -0.00051756 0.02355387 0.02441157
+v -0.00188317 0.02361411 0.02444811
+v -0.00188317 0.01392166 0.02145217
+v -0.00188317 0.01233335 0.02033001
+v 0.00023031 0.01169080 0.02073320
+v 0.00023031 0.02428878 0.02366128
+v 0.00018501 0.02435906 0.02362083
+v 0.00016783 0.02575862 0.02242559
+v -0.00188317 0.02473656 0.02359082
+v -0.00188317 0.02467632 0.02364040
+v -0.00188317 0.01101010 0.01937355
+v 0.00022680 0.01101010 0.02020343
+v 0.00023031 0.01100810 0.01889598
+v 0.00023031 0.02440926 0.02356472
+v 0.00023031 0.02575058 0.02241515
+v -0.00188317 0.02587708 0.02256391
+v 0.00023031 0.02998940 0.01598356
+v 0.00016783 0.02999342 0.01598878
+v -0.00188317 0.01100810 0.01931092
+v -0.00046749 0.01100810 0.01962930
+v -0.00043915 0.01100810 0.01963061
+v 0.00022824 0.01100810 0.01963061
+v 0.00023031 0.01100810 0.01176107
+v -0.00188317 0.02679272 0.02112335
+v 0.00023031 0.03063596 0.01469959
+v 0.00016783 0.03064601 0.01469698
+v -0.00188317 0.03000948 0.01592353
+v -0.00188317 0.02998137 0.01597834
+v -0.00188317 0.01100810 0.01176107
+v 0.00023031 0.03151545 0.01176107
+v 0.00023031 0.03066006 0.01463565
+v -0.00188317 0.03060986 0.01469698
+v 0.00023031 0.03137690 0.01255572
+v 0.00016783 0.03138293 0.01255572
+v -0.00188317 0.03141706 0.01176107
+v 0.00016783 0.03152148 0.01176107
+v 0.00023031 0.03138895 0.01249309
+v -0.00188317 0.03063998 0.01460694
+v -0.00188317 0.03130663 0.01252180
+v -0.00188317 0.03130060 0.01255572
+v -0.00118040 0.03146526 0.01176107
+f 1 2 3
+f 1 3 11
+f 1 11 18
+f 1 18 26
+f 1 26 25
+f 1 25 32
+f 1 32 40
+f 1 40 44
+f 1 44 43
+f 1 43 48
+f 1 48 54
+f 1 54 56
+f 1 56 55
+f 1 55 51
+f 1 51 45
+f 1 45 35
+f 1 35 27
+f 1 27 20
+f 1 20 19
+f 1 19 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 7
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 14
+f 5 14 13
+f 5 13 21
+f 5 21 29
+f 5 29 39
+f 5 39 46
+f 5 46 53
+f 5 53 49
+f 5 49 47
+f 5 47 41
+f 5 41 33
+f 5 33 31
+f 5 31 30
+f 5 30 22
+f 5 22 16
+f 5 16 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 32 25
+f 24 31 33
+f 24 33 34
+f 24 34 32
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 37
+f 29 37 36
+f 29 36 35
+f 29 35 45
+f 29 45 39
+f 32 34 40
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 40
+f 39 45 51
+f 39 51 57
+f 39 57 52
+f 39 52 46
+f 41 47 42
+f 42 48 43
+f 42 47 49
+f 42 49 50
+f 42 50 48
+f 46 52 53
+f 48 50 54
+f 49 53 50
+f 50 53 52
+f 50 52 55
+f 50 55 56
+f 50 56 54
+f 51 55 57
+f 52 57 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_59.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81d0c872524c2584ae18e48aa523330d46e615a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.01629830 -0.01947373
+v -0.01680296 0.01629830 -0.01944381
+v -0.01634805 0.01806934 -0.01935867
+v -0.01634805 0.01629830 0.00403414
+v -0.01680296 0.01806934 -0.01929654
+v -0.01680296 0.01629830 0.00403414
+v -0.01680296 0.01891289 -0.01914927
+v -0.01652568 0.01891289 -0.01918609
+v -0.01634805 0.01891289 -0.01920910
+v -0.01634805 0.01801201 0.00403414
+v -0.01680296 0.01801201 0.00403414
+v -0.01680296 0.01891289 0.00403184
+v -0.01634805 0.01891289 0.00403184
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 12
+f 2 12 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 7 12 13
+f 7 13 9
+f 7 9 8
+f 10 13 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_6.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5087c15ae6eaed47beebd62ca6d5ac8444ebbc96
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00022878 -0.02479314 0.00735648
+v 0.00022878 -0.02685711 0.00735648
+v 0.00022878 -0.02479314 0.00635237
+v -0.01054190 -0.02479314 0.00735963
+v 0.00022878 -0.03334310 0.00735628
+v 0.00022878 -0.03857453 0.00635237
+v -0.01748933 -0.02479314 0.00635237
+v -0.01268250 -0.02479314 0.00735588
+v -0.01054190 -0.02691781 0.00735628
+v -0.00197427 -0.03334310 0.00735559
+v 0.00016634 -0.03334310 0.00735628
+v 0.00022878 -0.03554872 0.00729357
+v 0.00022878 -0.03753715 0.00692748
+v 0.00010909 -0.03751286 0.00692236
+v 0.00017328 -0.03855834 0.00635237
+v -0.01688739 -0.02562412 0.00635237
+v -0.01681280 -0.02479314 0.00669775
+v -0.01464097 -0.02479314 0.00726784
+v -0.01263220 -0.02685711 0.00729061
+v -0.01046210 -0.02899527 0.00728844
+v -0.00840129 -0.02906003 0.00735046
+v -0.00625895 -0.03120359 0.00733538
+v -0.00411661 -0.03334445 0.00729268
+v -0.00340192 -0.03461791 0.00725029
+v -0.00197427 -0.03492278 0.00727671
+v 0.00022878 -0.03576186 0.00728223
+v 0.00022878 -0.03737122 0.00698023
+v -0.00064376 -0.03631495 0.00717052
+v -0.00197427 -0.03599254 0.00707725
+v -0.00411661 -0.03539358 0.00691398
+v -0.00197427 -0.03762618 0.00648912
+v 0.00013858 -0.03854755 0.00635237
+v -0.01585698 -0.02688274 0.00635237
+v -0.01473464 -0.02685711 0.00687493
+v -0.01637912 -0.02479314 0.00686152
+v -0.01492719 -0.02479314 0.00721223
+v -0.01538688 -0.02522077 0.00707311
+v -0.01395923 -0.02610436 0.00724684
+v -0.01188628 -0.02823714 0.00725127
+v -0.00969363 -0.03032404 0.00724329
+v -0.00825905 -0.03110376 0.00727168
+v -0.00698925 -0.03116582 0.00731221
+v -0.00745068 -0.03236238 0.00722327
+v -0.00605773 -0.03547722 0.00635237
+v -0.00825905 -0.03318257 0.00677979
+v -0.00197427 -0.03784202 0.00635237
+v -0.00237672 -0.03763697 0.00635237
+v -0.01484392 -0.02811572 0.00635237
+v -0.01392627 -0.02908701 0.00635237
+v -0.01263220 -0.02899527 0.00690796
+v -0.01331393 -0.02753296 0.00710939
+v -0.01112128 -0.02966573 0.00709549
+v -0.00887660 -0.03175128 0.00707370
+v -0.00625895 -0.03534097 0.00635237
+v -0.01046210 -0.03110376 0.00685639
+v -0.00927557 -0.03326621 0.00635237
+v -0.00823823 -0.03398928 0.00635237
+v -0.01269465 -0.03025524 0.00635237
+v -0.01166598 -0.03119684 0.00635237
+f 1 2 5
+f 1 5 12
+f 1 12 26
+f 1 26 27
+f 1 27 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 35
+f 1 35 36
+f 1 36 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 15
+f 3 15 32
+f 3 32 46
+f 3 46 47
+f 3 47 44
+f 3 44 54
+f 3 54 57
+f 3 57 56
+f 3 56 59
+f 3 59 58
+f 3 58 49
+f 3 49 48
+f 3 48 33
+f 3 33 16
+f 3 16 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 8 18 19
+f 8 19 9
+f 9 20 21
+f 9 21 10
+f 9 19 20
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 12
+f 10 12 11
+f 10 21 22
+f 12 25 26
+f 13 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 14 27 28
+f 16 33 17
+f 17 33 34
+f 17 34 35
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 39 20
+f 19 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 22
+f 20 22 21
+f 22 42 24
+f 22 24 23
+f 24 30 29
+f 24 29 28
+f 24 28 26
+f 24 26 25
+f 24 42 41
+f 24 41 43
+f 24 43 30
+f 26 28 27
+f 30 44 31
+f 30 43 45
+f 30 45 44
+f 31 46 32
+f 31 44 47
+f 31 47 46
+f 33 48 34
+f 34 37 35
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 37
+f 35 37 36
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 40 53 43
+f 40 43 41
+f 40 52 53
+f 43 53 45
+f 44 45 54
+f 45 53 55
+f 45 55 56
+f 45 56 57
+f 45 57 54
+f 49 58 50
+f 50 59 55
+f 50 55 53
+f 50 53 52
+f 50 52 51
+f 50 58 59
+f 55 59 56
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_60.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af1c4147a4b5d293d18414064ddec2cd38920677
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00199552 -0.01838619 0.00803384
+v 0.00199552 -0.01631332 0.00884608
+v 0.00199552 -0.00525894 0.00803384
+v 0.00381207 -0.02328890 0.00803384
+v 0.00199552 -0.01529435 0.00922731
+v 0.00199552 -0.00525894 0.00922731
+v 0.01190364 -0.00525894 0.00803384
+v 0.00582260 -0.02773743 0.00803384
+v 0.00689527 -0.02608087 0.00922731
+v 0.01190364 -0.00525894 0.00922731
+v 0.01190364 -0.03500123 0.00803384
+v 0.00827247 -0.03166774 0.00803384
+v 0.00912886 -0.03008397 0.00922731
+v 0.00727545 -0.02687567 0.00922731
+v 0.01190364 -0.03319911 0.00922731
+v 0.01159134 -0.03482073 0.00803384
+v 0.01027524 -0.03394441 0.00803384
+v 0.00986111 -0.03107383 0.00922731
+v 0.01096481 -0.03227912 0.00922731
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 7
+f 4 8 5
+f 5 8 9
+f 5 9 14
+f 5 14 13
+f 5 13 18
+f 5 18 19
+f 5 19 15
+f 5 15 10
+f 5 10 6
+f 7 10 15
+f 7 15 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 17
+f 15 17 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_61.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf44c39c82f3a853efbf3898676ecb1695c3eeb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v 0.00023146 0.01008055 0.01948920
+v 0.00067678 0.00949275 0.01948920
+v 0.00067678 0.00949275 0.01948973
+v 0.00023146 0.01168990 0.02073436
+v 0.00023146 0.01281060 0.01948920
+v 0.00986703 0.00949275 0.01948920
+v 0.00232500 0.00949275 0.02116447
+v 0.00023146 0.01323020 0.02182308
+v 0.00952172 0.01281060 0.01948920
+v 0.00023146 0.02757626 0.01948973
+v 0.00986797 0.00950161 0.01948920
+v 0.00966890 0.00949275 0.01981124
+v 0.00233915 0.00949275 0.02117630
+v 0.00023146 0.01430664 0.02250265
+v 0.00040506 0.02753199 0.01948973
+v 0.00193630 0.02701148 0.01948973
+v 0.00239293 0.02682735 0.01948973
+v 0.00383926 0.02580933 0.01948973
+v 0.00417607 0.02551013 0.01948973
+v 0.00499028 0.02449565 0.01948973
+v 0.00560636 0.02370071 0.01948973
+v 0.00645736 0.02227372 0.01948973
+v 0.00663001 0.02190546 0.01948973
+v 0.00816691 0.01813969 0.01948973
+v 0.00890376 0.01590537 0.01948973
+v 0.00937360 0.01378612 0.01948973
+v 0.00971513 0.01164387 0.01948920
+v 0.00023146 0.02660073 0.02106608
+v 0.00130984 0.02560396 0.02224028
+v 0.00966796 0.00950161 0.01981339
+v 0.00880092 0.01164387 0.02112361
+v 0.00876790 0.00949275 0.02112415
+v 0.00876978 0.00950161 0.02112361
+v 0.00436854 0.00949275 0.02249727
+v 0.00324488 0.01026999 0.02228491
+v 0.00023146 0.01643828 0.02371502
+v 0.00273824 0.02513302 0.02156394
+v 0.00364019 0.02370425 0.02244190
+v 0.00557428 0.02136902 0.02225910
+v 0.00758951 0.01671624 0.02200641
+v 0.00776405 0.01528748 0.02230319
+v 0.00787727 0.01378612 0.02241018
+v 0.00023146 0.02575091 0.02241555
+v 0.00213914 0.02444962 0.02275588
+v 0.00023146 0.02440890 0.02356556
+v 0.00023146 0.02429028 0.02366126
+v 0.00091170 0.02323508 0.02426395
+v 0.00793293 0.01164387 0.02243545
+v 0.00790274 0.01281060 0.02242201
+v 0.00783764 0.00950161 0.02233222
+v 0.00783670 0.00949275 0.02233114
+v 0.00442798 0.00949275 0.02252308
+v 0.00023146 0.01810074 0.02457954
+v 0.00240237 0.02245431 0.02396449
+v 0.00439401 0.02219051 0.02276179
+v 0.00317695 0.02077945 0.02425481
+v 0.00584506 0.02020936 0.02253921
+v 0.00628565 0.01807064 0.02288168
+v 0.00676304 0.01597265 0.02288276
+v 0.00659416 0.01378612 0.02312040
+v 0.00023146 0.02250211 0.02464406
+v 0.00174949 0.02180809 0.02450857
+v 0.00659416 0.01281060 0.02306072
+v 0.00659322 0.01164387 0.02298921
+v 0.00659322 0.00950161 0.02268007
+v 0.00659228 0.00949275 0.02267900
+v 0.00658662 0.00949275 0.02267900
+v 0.00037487 0.01806356 0.02457632
+v 0.00023146 0.01956137 0.02486664
+v 0.00240237 0.02012438 0.02457417
+v 0.00345716 0.01935246 0.02436556
+v 0.00428457 0.02012438 0.02370696
+v 0.00452327 0.01807064 0.02395266
+v 0.00345150 0.01807064 0.02436126
+v 0.00424966 0.01612845 0.02402631
+v 0.00023146 0.02243483 0.02466449
+v 0.00023146 0.02027310 0.02497417
+v 0.00023146 0.02020759 0.02498169
+v 0.00340055 0.01697296 0.02434029
+v 0.00231085 0.01697296 0.02434191
+v 0.00122587 0.01699066 0.02433976
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 36
+f 1 36 53
+f 1 53 69
+f 1 69 78
+f 1 78 77
+f 1 77 76
+f 1 76 61
+f 1 61 46
+f 1 46 45
+f 1 45 43
+f 1 43 28
+f 1 28 10
+f 1 10 5
+f 1 5 9
+f 1 9 27
+f 1 27 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 32
+f 2 32 51
+f 2 51 66
+f 2 66 67
+f 2 67 52
+f 2 52 34
+f 2 34 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 10 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 10 28 29
+f 10 29 15
+f 11 30 12
+f 11 27 31
+f 11 31 30
+f 12 30 33
+f 12 33 32
+f 13 34 35
+f 13 35 14
+f 14 35 36
+f 15 29 16
+f 16 29 17
+f 17 29 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 19 38 20
+f 20 38 39
+f 20 39 21
+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 42 31
+f 27 41 42
+f 28 43 29
+f 29 44 38
+f 29 38 37
+f 29 43 45
+f 29 45 46
+f 29 46 47
+f 29 47 44
+f 30 31 48
+f 30 48 33
+f 31 42 49
+f 31 49 48
+f 32 33 50
+f 32 50 51
+f 33 48 50
+f 34 52 53
+f 34 53 35
+f 35 53 36
+f 38 47 54
+f 38 54 55
+f 38 55 39
+f 38 44 47
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 42 60 49
+f 42 59 60
+f 46 61 47
+f 47 61 62
+f 47 62 54
+f 48 49 60
+f 48 60 63
+f 48 63 64
+f 48 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 52 67 53
+f 53 68 69
+f 53 67 68
+f 54 62 56
+f 54 56 55
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 56 62 70
+f 57 72 58
+f 58 72 71
+f 58 71 73
+f 58 73 59
+f 59 73 60
+f 60 73 74
+f 60 74 75
+f 60 75 63
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 70
+f 63 75 64
+f 64 66 65
+f 64 75 79
+f 64 79 66
+f 66 79 80
+f 66 80 67
+f 67 80 81
+f 67 81 68
+f 68 81 80
+f 68 80 79
+f 68 79 69
+f 69 79 78
+f 70 78 74
+f 70 74 71
+f 71 74 73
+f 74 79 75
+f 74 78 79
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_62.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426dd04f8607c4be5521c590256328e7a2ea1f8d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00344958 0.00727594 0.01176107
+v -0.00344958 0.01100810 0.01176107
+v -0.00210184 0.00727594 0.01176107
+v -0.00344958 0.00727594 0.01870490
+v -0.00210184 0.01100810 0.01176107
+v -0.00344958 0.01100810 0.01987756
+v -0.00210184 0.00727594 0.01690459
+v -0.00344958 0.00743012 0.01883440
+v -0.00211820 0.00727594 0.01693796
+v -0.00210184 0.01100810 0.01942947
+v -0.00222189 0.01100810 0.01950972
+v -0.00210184 0.00839833 0.01773006
+v -0.00210184 0.00948491 0.01845384
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 7
+f 4 9 8
+f 6 8 11
+f 7 12 9
+f 8 12 13
+f 8 13 10
+f 8 10 11
+f 8 9 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_63.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2593e6d5b7dfe2be23839a7f34d29998c9607c6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01663721 0.02301193 0.01201187
+v 0.01593691 0.02301193 0.01201187
+v 0.01680128 0.02266072 0.01201187
+v 0.01650576 0.02362504 0.01167232
+v 0.01606213 0.02362504 0.01167232
+v 0.01426750 0.02634536 0.00803431
+v 0.01426750 0.02024696 0.01201187
+v 0.01697228 0.02225000 0.01201187
+v 0.01687550 0.02331848 0.01114432
+v 0.01677665 0.02440185 0.01026237
+v 0.01667884 0.02672931 0.00803431
+v 0.01637048 0.02564594 0.00944817
+v 0.01528309 0.02707456 0.00803431
+v 0.01426750 -0.00333117 0.00803431
+v 0.01426750 -0.00332819 0.01201187
+v 0.01751892 0.02074995 0.01201187
+v 0.01729451 0.02230655 0.01114432
+v 0.01756713 0.02235119 0.01041189
+v 0.01746932 0.02473222 0.00803431
+v 0.01559179 0.02702098 0.00803431
+v 0.01767743 -0.00333117 0.00803431
+v 0.01426750 -0.00333117 0.01009571
+v 0.01538299 -0.00332819 0.01201187
+v 0.01777767 0.01860702 0.01201187
+v 0.01778808 0.02235119 0.00827028
+v 0.01778739 0.02258632 0.00803431
+v 0.01766148 -0.00333117 0.00827028
+v 0.01779467 0.00093682 0.00803431
+v 0.01779259 0.00093682 0.00827028
+v 0.01779536 0.00307975 0.01041189
+v 0.01777039 0.00307975 0.01114471
+v 0.01774056 0.00307975 0.01201187
+v 0.01678567 -0.00333117 0.01009571
+v 0.01687377 -0.00333117 0.00999914
+v 0.01719773 0.00085051 0.01201187
+v 0.01781097 0.01646410 0.01201187
+v 0.01779120 0.02235119 0.00803431
+v 0.01781028 0.00307677 0.00803431
+v 0.01781028 0.00307677 0.00827028
+v 0.01779779 0.00307677 0.01009571
+v 0.01780507 0.00521970 0.01114471
+v 0.01779779 0.00521970 0.01201187
+v 0.01781097 0.01806832 0.01041189
+v 0.01781097 0.01432117 0.01201187
+v 0.01781097 0.02021124 0.00827028
+v 0.01781097 0.02044339 0.00803431
+v 0.01781097 0.02021124 0.00803431
+v 0.01781097 0.01592539 0.01009571
+v 0.01781097 0.01494024 0.01114471
+v 0.01781028 0.00521672 0.01009571
+v 0.01780993 0.00521970 0.01041189
+v 0.01780993 0.00736262 0.01201187
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 35
+f 1 35 32
+f 1 32 42
+f 1 42 52
+f 1 52 44
+f 1 44 36
+f 1 36 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 20
+f 6 20 11
+f 6 11 19
+f 6 19 26
+f 6 26 37
+f 6 37 46
+f 6 46 47
+f 6 47 38
+f 6 38 28
+f 6 28 21
+f 6 21 14
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+f 6 22 15
+f 6 15 7
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 20 12
+f 11 18 19
+f 12 20 13
+f 14 21 27
+f 14 27 34
+f 14 34 33
+f 14 33 22
+f 15 22 33
+f 15 33 23
+f 16 18 17
+f 16 24 18
+f 18 25 26
+f 18 26 19
+f 18 24 25
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 27
+f 23 33 34
+f 23 34 35
+f 24 36 25
+f 25 37 26
+f 25 36 37
+f 27 35 34
+f 27 32 35
+f 28 38 39
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 30 41 42
+f 30 42 31
+f 30 40 41
+f 31 42 32
+f 36 43 37
+f 36 44 49
+f 36 49 48
+f 36 48 47
+f 36 47 46
+f 36 46 45
+f 36 45 43
+f 37 43 45
+f 37 45 46
+f 38 47 48
+f 38 48 49
+f 38 49 44
+f 38 44 39
+f 39 44 50
+f 39 50 51
+f 39 51 41
+f 39 41 40
+f 41 52 42
+f 41 51 52
+f 44 52 50
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_64.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5dc9e0f8540ea9ddc4e2f4e8f52ccc369952b3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.03853119 -0.01113048
+v -0.00295333 -0.03844731 -0.01141290
+v -0.00265781 -0.03852420 -0.01164968
+v -0.00212525 -0.03894362 -0.01113048
+v -0.00295333 0.03234279 -0.01113048
+v -0.00295333 -0.03841935 -0.01150069
+v -0.00183017 -0.03884575 -0.01172753
+v -0.00183017 -0.03906944 -0.01113048
+v -0.00274257 -0.03844731 -0.01172753
+v -0.00262153 -0.03851022 -0.01172753
+v -0.00183017 0.03234279 -0.01113048
+v -0.00295333 0.03234279 -0.01172753
+v -0.00295333 -0.03832848 -0.01172753
+v -0.00183017 0.03234279 -0.01172753
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 11 14
+f 5 14 12
+f 6 13 9
+f 7 10 9
+f 7 9 13
+f 7 13 12
+f 7 12 14
+f 7 14 11
+f 7 11 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_65.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ecf9f651995ffd4e8961af4d16e3ecc6a73ba6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.01875151 0.02002436 -0.01768951
+v -0.01875151 0.01992100 -0.01781172
+v -0.01882258 0.01996870 -0.01768951
+v -0.01875151 -0.02058736 -0.01768951
+v -0.01875151 0.01806851 -0.01875024
+v -0.02000983 0.01736885 -0.01828557
+v -0.01941436 0.01904643 -0.01768951
+v -0.02000983 -0.01832541 -0.01768951
+v -0.02000983 -0.01804714 -0.01800478
+v -0.02000983 -0.01742699 -0.01854818
+v -0.01875151 -0.01965714 -0.01825221
+v -0.01875151 0.01798105 -0.01877460
+v -0.02000983 0.01678846 -0.01854743
+v -0.02000983 0.01800093 -0.01768951
+v -0.01987224 0.01827125 -0.01768951
+v -0.02000983 -0.01620260 -0.01872624
+v -0.01911182 -0.01620260 -0.01903365
+v -0.01875151 -0.01851225 -0.01874893
+v -0.01875151 -0.01882630 -0.01868838
+v -0.01875151 0.01605700 -0.01903477
+v -0.01930399 0.01609676 -0.01890094
+v -0.02000983 0.01569525 -0.01870975
+v -0.02000983 -0.01499410 -0.01887470
+v -0.01875151 -0.01656435 -0.01907620
+v -0.02000983 -0.01318534 -0.01908838
+v -0.01911182 -0.01405991 -0.01927826
+v -0.01875151 0.01378313 -0.01930394
+v -0.01911182 0.01378313 -0.01925033
+v -0.02000983 0.01378313 -0.01895886
+v -0.01875151 -0.01442166 -0.01931238
+v -0.02000983 -0.01316149 -0.01909101
+v -0.02000983 -0.01102277 -0.01927264
+v -0.01911182 -0.01192119 -0.01940685
+v -0.01875151 0.01164044 -0.01944115
+v -0.01911182 0.01164044 -0.01940816
+v -0.02000983 0.01161261 -0.01916936
+v -0.01875151 -0.01227897 -0.01943646
+v -0.02000983 -0.00888008 -0.01939391
+v -0.01911182 -0.00977850 -0.01951125
+v -0.01875151 0.00949775 -0.01951856
+v -0.01911182 0.00949775 -0.01950132
+v -0.02000983 0.00735506 -0.01941603
+v -0.02000983 0.00949775 -0.01931575
+v -0.01875151 -0.01013628 -0.01952681
+v -0.02000983 -0.00763581 -0.01943402
+v -0.01911182 -0.00763581 -0.01958023
+v -0.01875151 0.00735506 -0.01957404
+v -0.01911182 0.00735506 -0.01956786
+v -0.02000983 0.00521237 -0.01947582
+v -0.01875151 -0.00799359 -0.01958435
+v -0.02000983 -0.00673740 -0.01946214
+v -0.02000983 -0.00459471 -0.01949494
+v -0.01911182 -0.00549312 -0.01960122
+v -0.01875151 0.00521237 -0.01960085
+v -0.01911182 0.00521237 -0.01960028
+v -0.02000983 0.00307366 -0.01949419
+v -0.01875151 -0.00585488 -0.01960160
+v -0.02000983 -0.00245202 -0.01950525
+v -0.01911182 -0.00335044 -0.01960403
+v -0.01875151 0.00307366 -0.01960403
+v -0.01911182 0.00307366 -0.01960403
+v -0.02000983 -0.00120775 -0.01950525
+v -0.02000983 0.00093097 -0.01950075
+v -0.01875151 -0.00371219 -0.01960422
+v -0.01875151 -0.00335044 -0.01960422
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 24
+f 1 24 30
+f 1 30 37
+f 1 37 44
+f 1 44 50
+f 1 50 57
+f 1 57 64
+f 1 64 65
+f 1 65 60
+f 1 60 54
+f 1 54 47
+f 1 47 40
+f 1 40 34
+f 1 34 27
+f 1 27 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 22
+f 6 22 29
+f 6 29 36
+f 6 36 43
+f 6 43 42
+f 6 42 49
+f 6 49 56
+f 6 56 63
+f 6 63 62
+f 6 62 58
+f 6 58 52
+f 6 52 51
+f 6 51 45
+f 6 45 38
+f 6 38 32
+f 6 32 31
+f 6 31 25
+f 6 25 23
+f 6 23 16
+f 6 16 10
+f 6 10 9
+f 6 9 8
+f 6 8 14
+f 6 14 15
+f 6 15 7
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 16 23 17
+f 17 24 18
+f 17 23 25
+f 17 25 26
+f 17 26 24
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 24 26 30
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 30
+f 27 34 35
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 30 33 37
+f 32 38 33
+f 33 38 39
+f 33 39 37
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 37 39 44
+f 38 45 39
+f 39 45 46
+f 39 46 44
+f 40 47 48
+f 40 48 41
+f 41 48 42
+f 42 48 49
+f 44 46 50
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 50
+f 47 54 55
+f 47 55 48
+f 48 55 49
+f 49 55 56
+f 50 53 57
+f 52 58 53
+f 53 58 59
+f 53 59 57
+f 54 60 61
+f 54 61 55
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 57 59 64
+f 58 62 61
+f 58 61 59
+f 59 61 65
+f 59 65 64
+f 60 65 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_66.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3f8d2644de618198a22924a76fb03ffc561aac
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v 0.00680491 -0.03567396 0.00542085
+v 0.00680598 -0.04185566 0.00542064
+v 0.00680491 -0.03567396 0.00735031
+v 0.00680491 -0.03333912 0.00542064
+v 0.01111532 -0.04281210 0.00542064
+v 0.00680598 -0.04161655 0.00580548
+v 0.00680598 -0.03967554 0.00693329
+v 0.00680598 -0.03913402 0.00710910
+v 0.00680598 -0.03838856 0.00725293
+v 0.00680598 -0.03776969 0.00729123
+v 0.00680491 -0.03526607 0.00736906
+v 0.00680491 0.02878733 0.00542064
+v 0.01302113 -0.04304417 0.00542064
+v 0.01302113 -0.04190489 0.00624735
+v 0.01068439 -0.04212290 0.00585824
+v 0.00873872 -0.03999201 0.00694246
+v 0.00705592 -0.03880349 0.00723256
+v 0.01124783 -0.03724927 0.00750188
+v 0.00906300 -0.03515354 0.00750188
+v 0.00695250 -0.03297342 0.00750188
+v 0.00680491 -0.03312110 0.00744260
+v 0.00680491 0.02878733 0.00750188
+v 0.01068331 0.02878733 0.00542064
+v 0.01516179 -0.04305824 0.00542064
+v 0.01516179 -0.04190489 0.00624878
+v 0.01302113 -0.04012563 0.00703882
+v 0.01088154 -0.04007640 0.00700439
+v 0.01068439 -0.04007640 0.00699848
+v 0.00873872 -0.03892304 0.00726373
+v 0.01483213 -0.03784001 0.00750188
+v 0.00680491 -0.03114493 0.00750188
+v 0.01068331 0.02878733 0.00750188
+v 0.01741773 0.02878030 0.00542064
+v 0.01660650 -0.04258002 0.00542064
+v 0.01516179 -0.04013266 0.00703576
+v 0.01634578 -0.03893008 0.00725477
+v 0.01516179 -0.03905666 0.00728044
+v 0.01302113 -0.03904963 0.00727758
+v 0.01088154 -0.03901447 0.00727758
+v 0.01068439 -0.03900743 0.00727636
+v 0.01516179 -0.03784705 0.00750188
+v 0.01516287 0.02878030 0.00740247
+v 0.01644813 0.02878030 0.00731853
+v 0.01722704 0.02878030 0.00612777
+v 0.01722920 0.02878030 0.00612105
+v 0.01225837 0.02877326 0.00750188
+v 0.01760734 0.02733157 0.00542064
+v 0.01748021 0.02524990 0.00750188
+v 0.01778294 0.02310495 0.00750188
+v 0.01689953 -0.04190489 0.00542064
+v 0.01679718 -0.04190489 0.00564963
+v 0.01716994 -0.03548408 0.00750188
+v 0.01655048 -0.03742509 0.00750188
+v 0.01518118 0.02849899 0.00750188
+v 0.01623051 0.02832317 0.00750188
+v 0.01644597 0.02877326 0.00732220
+v 0.01650415 0.02825988 0.00750188
+v 0.01686829 0.02718388 0.00750188
+v 0.01778833 0.02519364 0.00542064
+v 0.01778618 0.02293616 0.00750188
+v 0.01725397 -0.03971773 0.00542064
+v 0.01775170 -0.03332505 0.00750188
+v 0.01780988 0.02304165 0.00542064
+v 0.01779587 0.02233839 0.00750188
+v 0.01780988 0.02095999 0.00750188
+v 0.01780988 0.02233839 0.00612777
+v 0.01746405 -0.03761497 0.00542064
+v 0.01765151 -0.03547001 0.00542064
+v 0.01777756 -0.03332505 0.00612777
+v 0.01780988 -0.03118712 0.00750188
+v 0.01781096 -0.00447711 0.00612777
+v 0.01781096 -0.00447711 0.00542064
+v 0.01778618 -0.03332505 0.00542064
+v 0.01780988 -0.03118712 0.00542064
+v 0.01781096 -0.00764181 0.00612777
+v 0.01781096 -0.00764181 0.00542064
+f 1 2 3
+f 1 3 11
+f 1 11 21
+f 1 21 31
+f 1 31 22
+f 1 22 12
+f 1 12 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 12
+f 2 12 23
+f 2 23 33
+f 2 33 47
+f 2 47 59
+f 2 59 63
+f 2 63 72
+f 2 72 76
+f 2 76 74
+f 2 74 73
+f 2 73 68
+f 2 68 67
+f 2 67 61
+f 2 61 50
+f 2 50 34
+f 2 34 24
+f 2 24 13
+f 2 13 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 12 22 32
+f 12 32 23
+f 13 24 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 16
+f 14 24 25
+f 16 28 17
+f 17 29 18
+f 17 28 29
+f 18 29 30
+f 18 30 41
+f 18 41 53
+f 18 53 52
+f 18 52 62
+f 18 62 70
+f 18 70 65
+f 18 65 64
+f 18 64 60
+f 18 60 49
+f 18 49 48
+f 18 48 58
+f 18 58 57
+f 18 57 55
+f 18 55 54
+f 18 54 46
+f 18 46 32
+f 18 32 22
+f 18 22 31
+f 18 31 20
+f 18 20 19
+f 20 31 21
+f 23 32 33
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 35
+f 26 35 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 29
+f 26 29 27
+f 27 29 28
+f 29 40 30
+f 30 40 39
+f 30 39 41
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 32 46 42
+f 33 45 48
+f 33 48 49
+f 33 49 47
+f 34 50 51
+f 34 51 36
+f 35 36 37
+f 36 52 53
+f 36 53 41
+f 36 41 37
+f 36 51 52
+f 37 41 38
+f 38 41 39
+f 42 46 54
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 58 48
+f 44 48 45
+f 47 49 59
+f 49 60 59
+f 50 61 62
+f 50 62 51
+f 51 62 52
+f 55 57 56
+f 59 60 64
+f 59 64 65
+f 59 65 66
+f 59 66 63
+f 61 67 62
+f 62 68 69
+f 62 69 70
+f 62 67 68
+f 63 66 71
+f 63 71 72
+f 65 71 66
+f 65 70 75
+f 65 75 71
+f 68 73 69
+f 69 73 70
+f 70 74 76
+f 70 76 75
+f 70 73 74
+f 71 75 76
+f 71 76 72
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_67.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..699e549ed072c614e5986d06f44c6b63bad932f3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v 0.00023114 -0.04104557 0.00285838
+v 0.00034644 -0.04110963 0.00285838
+v 0.00023114 -0.04081779 0.00393238
+v 0.00023114 0.02878021 0.00285838
+v 0.00659127 -0.04297449 0.00285823
+v 0.00237700 -0.04181429 0.00285838
+v 0.00057875 -0.04108115 0.00358969
+v 0.00689585 -0.04309549 0.00285823
+v 0.00023114 -0.04067544 0.00433578
+v 0.00023114 0.02878021 0.00433839
+v 0.00553985 0.02878733 0.00285838
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_68.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1246f0759c44ba82c8876d2168c248b586294b14
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00344958 0.01100810 0.01987711
+v -0.00465531 0.01100810 0.02139323
+v -0.00472630 0.00727594 0.02074021
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+v -0.00532042 0.01100810 0.02204740
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+v -0.00562622 0.00727594 0.02181108
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+v -0.00344958 0.00727594 0.01176107
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+v -0.00669652 0.00727594 0.02254288
+v -0.01451519 0.00727594 0.01176107
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+v -0.01454904 0.01100810 0.01255452
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_69.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86fbf9c14607ed083f66afa9ee0a15666c6e8e24
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01190364 -0.00054745 0.01686554
+v 0.01190364 0.00539770 0.01670166
+v 0.00952709 0.00539770 0.01968398
+v 0.00844291 0.00539770 0.02086092
+v 0.01141064 -0.00054745 0.01737749
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+v 0.00088282 -0.00054745 0.00803372
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+v 0.01123587 0.00539770 0.00803508
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+v 0.00088282 0.00311124 0.00803372
+v 0.00088282 -0.00054745 0.01542314
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+v 0.01096186 0.00539770 0.00805675
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_7.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998278597ead92dd2662504e4bfbf0f219df26c4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02711430 -0.00549685 0.00826983
+v -0.02705936 -0.00549685 0.00895242
+v -0.02690867 -0.00369961 0.00826983
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+v -0.02054016 -0.01767066 0.00895242
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+f 8 14 9
+f 9 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 14 21 15
+f 17 22 18
+f 18 22 23
+f 18 23 19
+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 31
+f 26 31 32
+f 26 32 27
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 33 38 34
+f 34 38 39
+f 36 40 37
+f 37 40 41
+f 38 42 39
+f 38 43 42
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 43 48
+f 42 48 47
+f 45 47 49
+f 45 49 50
+f 45 50 46
+f 47 48 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_70.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329de760976bd261bb183122053d48652bbf1cff
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 -0.02141900 -0.00798018
+v -0.00597001 -0.02141900 -0.01127159
+v -0.00716741 -0.02141900 -0.00798018
+v -0.00597001 -0.03796163 -0.00798018
+v -0.00716741 -0.02141900 -0.01127159
+v -0.00597001 -0.03675688 -0.01127159
+v -0.00716741 -0.03726210 -0.00798018
+v -0.00597001 -0.03783857 -0.00848278
+v -0.00716741 -0.03603630 -0.01127159
+v -0.00597001 -0.03686213 -0.01100966
+v -0.00664027 -0.03635692 -0.01127159
+v -0.00716741 -0.03706131 -0.00871475
+v -0.00597001 -0.03766692 -0.00899312
+v -0.00703226 -0.03612050 -0.01127159
+v -0.00716741 -0.03645893 -0.01022579
+v -0.00690566 -0.03630348 -0.01100966
+v -0.00677824 -0.03627434 -0.01127159
+v -0.00644627 -0.03736249 -0.00904241
+v -0.00716741 -0.03657552 -0.00993550
+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 17
+f 2 17 14
+f 2 14 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 19
+f 3 19 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 10 16 11
+f 10 13 16
+f 11 16 17
+f 12 18 13
+f 12 19 18
+f 13 18 19
+f 13 19 16
+f 14 17 16
+f 14 16 15
+f 15 16 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_71.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4a3a67a563cbc74435b3cad98d82b7a06319b0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.01685825 0.02012040 0.01483519
+v 0.01697261 0.02225128 0.01201187
+v 0.01680200 0.02266281 0.01201187
+v 0.01663722 0.02301880 0.01201187
+v 0.01643557 0.02142316 0.01383227
+v 0.01575872 0.02012040 0.01483519
+v 0.01762752 0.01805769 0.01483519
+v 0.01768307 0.01806779 0.01469645
+v 0.01751899 0.02075411 0.01201187
+v 0.01593704 0.02301880 0.01201187
+v 0.01611605 0.02142316 0.01383227
+v 0.01553513 0.02225885 0.01201187
+v 0.01542684 0.02204677 0.01201187
+v 0.01542684 0.01940590 0.01483519
+v 0.01764783 0.01792893 0.01483519
+v 0.01779813 0.01592681 0.01469645
+v 0.01777759 0.01861061 0.01201187
+v 0.01542684 -0.00277392 0.01201187
+v 0.01542684 0.00300268 0.01483519
+v 0.01775542 0.01592681 0.01483519
+v 0.01781097 0.01646963 0.01201187
+v 0.01776032 0.01578795 0.01483519
+v 0.01781074 0.01378331 0.01469645
+v 0.01661622 -0.00039561 0.01201187
+v 0.01702163 0.00081626 0.01263451
+v 0.01668484 0.00145502 0.01423272
+v 0.01542684 -0.00044611 0.01362085
+v 0.01542684 0.00105359 0.01427832
+v 0.01698382 0.00291684 0.01483519
+v 0.01781097 0.01432613 0.01201187
+v 0.01777199 0.01378331 0.01483519
+v 0.01781074 0.01164233 0.01469645
+v 0.01719784 0.00084908 0.01201187
+v 0.01772181 0.00307590 0.01255464
+v 0.01701976 0.00295724 0.01483519
+v 0.01700996 0.00292694 0.01483519
+v 0.01781074 0.00736038 0.01255464
+v 0.01781074 0.00736038 0.01201187
+v 0.01777012 0.01164233 0.01483519
+v 0.01780047 0.00950136 0.01469645
+v 0.01774048 0.00307590 0.01201187
+v 0.01779370 0.00521688 0.01255464
+v 0.01775449 0.00736038 0.01469645
+v 0.01761632 0.00521688 0.01469645
+v 0.01706247 0.00313144 0.01483519
+v 0.01779790 0.00521688 0.01201187
+v 0.01774749 0.00950136 0.01483519
+v 0.01769801 0.00736038 0.01483519
+v 0.01754980 0.00521688 0.01483519
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 14
+f 1 14 19
+f 1 19 29
+f 1 29 36
+f 1 36 35
+f 1 35 45
+f 1 45 49
+f 1 49 48
+f 1 48 47
+f 1 47 39
+f 1 39 31
+f 1 31 22
+f 1 22 20
+f 1 20 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 9 17
+f 2 17 21
+f 2 21 30
+f 2 30 38
+f 2 38 46
+f 2 46 41
+f 2 41 33
+f 2 33 24
+f 2 24 18
+f 2 18 13
+f 2 13 12
+f 2 12 10
+f 2 10 4
+f 2 4 3
+f 2 8 9
+f 4 10 11
+f 4 11 5
+f 6 11 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 13 18 27
+f 13 27 28
+f 13 28 19
+f 13 19 14
+f 15 20 16
+f 16 21 17
+f 16 20 22
+f 16 22 23
+f 16 23 21
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 19 28 29
+f 21 23 32
+f 21 32 30
+f 22 31 23
+f 23 31 32
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 36 29
+f 27 29 28
+f 30 32 37
+f 30 37 38
+f 31 39 32
+f 32 39 40
+f 32 40 37
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 37 40 42
+f 37 42 46
+f 37 46 38
+f 39 47 40
+f 40 47 43
+f 40 43 42
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 44 48 49
+f 44 49 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_72.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3537b1fbb2ce95dcd37643764a6239c35c50eae9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00716741 -0.03744250 0.00257120
+v -0.00597001 -0.03816328 0.00257120
+v -0.00638082 -0.03772487 0.00348660
+v -0.00716741 -0.03740535 0.00274225
+v -0.00716741 0.03707188 0.00257120
+v -0.00597001 -0.03797008 0.00348660
+v -0.00597001 0.03774806 0.00257120
+v -0.00716741 -0.03724188 0.00348660
+v -0.00716741 0.03701243 0.00292657
+v -0.00686912 0.03725764 0.00257120
+v -0.00597001 0.03752514 0.00348660
+v -0.00716741 0.03687125 0.00348660
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 9
+f 1 9 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 6
+f 3 6 11
+f 3 11 12
+f 3 12 8
+f 3 8 4
+f 5 9 10
+f 7 10 9
+f 7 9 11
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_73.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf137586a90b2e5b0eba018e50a79825f4dc671
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00755133 0.00647227 -0.00293675
+v 0.00755434 -0.01226808 -0.00293675
+v 0.00755133 0.00647227 0.00285823
+v 0.00755133 0.01455336 -0.00293675
+v 0.00755434 -0.01226808 0.00285823
+v 0.01780896 -0.01226808 -0.00293675
+v 0.00755133 0.01455336 0.00285823
+v 0.01781097 0.01455336 -0.00293675
+v 0.01780896 -0.01226808 0.00285823
+v 0.01781097 0.01164175 -0.00293675
+v 0.01781097 0.01455336 0.00285823
+v 0.01781097 0.01164175 0.00285823
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 12
+f 6 12 9
+f 8 11 12
+f 8 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_74.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22abfd900ef0d4d515702a53706701ce6e43927a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00351176 -0.01408438 -0.01105270
+v -0.00351176 -0.01408438 -0.01227207
+v -0.00415443 -0.01408438 -0.01105270
+v -0.00351176 -0.03827487 -0.01105270
+v -0.00415443 -0.01408438 -0.01227207
+v -0.00351176 -0.03780124 -0.01227207
+v -0.00415443 -0.03792912 -0.01105270
+v -0.00384203 -0.03810909 -0.01105270
+v -0.00351176 -0.03822513 -0.01121922
+v -0.00415443 -0.03744365 -0.01227207
+v -0.00402113 -0.03800963 -0.01105270
+v -0.00388657 -0.03759284 -0.01227207
+v -0.00415443 -0.03790780 -0.01110868
+v -0.00410008 -0.03796227 -0.01105270
+v -0.00410354 -0.03747207 -0.01227207
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 13
+f 3 13 7
+f 4 8 9
+f 6 9 8
+f 6 8 11
+f 6 11 12
+f 7 13 14
+f 10 15 11
+f 10 11 13
+f 11 14 13
+f 11 15 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_75.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4db82e3faaff8577c425e9c78c3973abc7f718
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.01093707 -0.04121456 -0.01518692
+v 0.01093707 -0.04114376 -0.01540845
+v 0.01165732 -0.04087344 -0.01650825
+v 0.01302094 -0.04142695 -0.01518692
+v 0.01329129 -0.04142695 -0.01518642
+v 0.01415010 -0.04143982 -0.01518616
+v 0.01093707 0.01250856 -0.01518616
+v 0.01093707 -0.04084769 -0.01625482
+v 0.01302094 -0.04091849 -0.01661205
+v 0.01302094 -0.04126605 -0.01564542
+v 0.01093707 -0.04081551 -0.01632672
+v 0.01093707 -0.04024912 -0.01728626
+v 0.01302094 -0.04024912 -0.01768298
+v 0.01329129 -0.04098929 -0.01644673
+v 0.01415010 -0.04093780 -0.01662927
+v 0.01516352 -0.04145270 -0.01518616
+v 0.01093707 0.02373333 -0.01518616
+v 0.01329045 -0.04041647 -0.01743082
+v 0.01329129 -0.04092493 -0.01661585
+v 0.01093707 -0.04022981 -0.01731132
+v 0.01415010 -0.04026843 -0.01770020
+v 0.01093707 -0.03986295 -0.01777083
+v 0.01283760 -0.04014614 -0.01777185
+v 0.01302094 -0.04015902 -0.01777185
+v 0.01329129 -0.04019120 -0.01775514
+v 0.01516352 -0.04027487 -0.01771564
+v 0.01516352 -0.04094424 -0.01664446
+v 0.01525265 -0.04093780 -0.01663737
+v 0.01525265 -0.04139477 -0.01529478
+v 0.01525265 -0.04141408 -0.01518794
+v 0.01525265 -0.03975354 -0.01518616
+v 0.01093707 0.02373333 -0.01777261
+v 0.01415010 0.02429972 -0.01518616
+v 0.01504693 -0.04021694 -0.01777261
+v 0.01093707 -0.03888464 -0.01777185
+v 0.01329129 -0.04017189 -0.01777235
+v 0.01525265 -0.04031992 -0.01762981
+v 0.01516352 -0.04021694 -0.01777261
+v 0.01525265 0.02429972 -0.01518616
+v 0.01415010 0.02429972 -0.01777261
+v 0.01093707 0.01250856 -0.01777261
+v 0.01415010 -0.04019120 -0.01777261
+v 0.01525265 -0.04016545 -0.01777261
+v 0.01525265 0.02429972 -0.01777261
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 32
+f 1 32 41
+f 1 41 35
+f 1 35 22
+f 1 22 20
+f 1 20 12
+f 1 12 11
+f 1 11 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 9
+f 4 10 14
+f 4 14 15
+f 4 15 16
+f 4 16 6
+f 4 6 5
+f 6 16 31
+f 6 31 39
+f 6 39 33
+f 6 33 17
+f 6 17 7
+f 9 13 18
+f 9 18 19
+f 9 19 14
+f 9 14 10
+f 12 20 13
+f 13 21 18
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 21
+f 14 19 15
+f 15 19 18
+f 15 18 21
+f 15 21 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 17 33 40
+f 17 40 32
+f 21 25 34
+f 21 34 26
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 25
+f 25 36 34
+f 26 37 27
+f 26 34 38
+f 26 38 37
+f 27 37 28
+f 28 37 43
+f 28 43 44
+f 28 44 39
+f 28 39 31
+f 28 31 30
+f 28 30 29
+f 32 40 44
+f 32 44 43
+f 32 43 38
+f 32 38 34
+f 32 34 42
+f 32 42 41
+f 33 39 44
+f 33 44 40
+f 34 36 42
+f 35 41 42
+f 35 42 36
+f 37 38 43
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_76.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08e2b6425413959f77fc31bd0fbe5e53aaa9203
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03639901 -0.01127165
+v -0.00597001 0.03612689 -0.01193237
+v -0.00611370 0.03457294 -0.01551152
+v -0.00653437 0.03577600 -0.01193237
+v -0.00613023 0.03629876 -0.01127165
+v -0.00597001 -0.03675842 -0.01127165
+v -0.00597001 0.03561129 -0.01317868
+v -0.00675765 0.03590490 -0.01127165
+v -0.00597001 0.03478061 -0.01517411
+v -0.00597001 0.03462307 -0.01551152
+v -0.00705173 0.03392128 -0.01551152
+v -0.00716741 0.03400722 -0.01511559
+v -0.00664021 -0.03635740 -0.01127165
+v -0.00597001 -0.03652927 -0.01184480
+v -0.00716741 0.03426502 -0.01449887
+v -0.00691893 0.03579032 -0.01127165
+v -0.00597001 -0.03504693 -0.01551152
+v -0.00716741 0.03383535 -0.01551152
+v -0.00716741 -0.03603515 -0.01127165
+v -0.00716741 -0.03465307 -0.01472962
+v -0.00597001 -0.03529757 -0.01490849
+v -0.00716741 0.03561129 -0.01127165
+v -0.00597001 -0.03514002 -0.01528866
+v -0.00657938 -0.03468887 -0.01551152
+v -0.00716741 -0.03430218 -0.01551152
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 16
+f 1 16 22
+f 1 22 19
+f 1 19 13
+f 1 13 6
+f 1 6 14
+f 1 14 21
+f 1 21 23
+f 1 23 17
+f 1 17 10
+f 1 10 9
+f 1 9 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 17
+f 3 17 24
+f 3 24 25
+f 3 25 18
+f 3 18 11
+f 3 11 12
+f 3 12 8
+f 4 8 5
+f 6 13 14
+f 8 12 15
+f 8 15 16
+f 11 18 12
+f 12 18 25
+f 12 25 20
+f 12 20 19
+f 12 19 22
+f 12 22 15
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 22 16
+f 17 23 24
+f 20 25 24
+f 20 24 21
+f 21 24 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_77.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4060a054e38e2483912879a407472f475288bd49
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00622923 0.02607299 0.00285823
+v 0.00622959 0.02607299 0.00107203
+v 0.00492073 0.02607976 0.00107203
+v 0.00252084 0.02607299 0.00285823
+v 0.00622923 -0.04290141 0.00285823
+v 0.00622959 0.02607299 -0.00214020
+v 0.00622959 -0.04309786 0.00107203
+v 0.00363583 0.02607976 0.00107203
+v 0.00492073 0.02607976 0.00052351
+v 0.00252048 0.02607299 0.00107203
+v 0.00252084 -0.04185819 0.00285823
+v 0.00586471 -0.04288109 0.00285823
+v 0.00561818 -0.04296238 0.00238119
+v 0.00622923 -0.04308431 0.00190132
+v 0.00622923 0.02606621 -0.00293659
+v 0.00252048 0.02607299 -0.00214020
+v 0.00622959 -0.04312496 -0.00214020
+v 0.00622923 -0.04309109 0.00180829
+v 0.00622959 -0.04312496 -0.00029954
+v 0.00363583 0.02607976 0.00052351
+v 0.00252048 -0.04208174 0.00107203
+v 0.00252084 -0.04203432 0.00205277
+v 0.00332577 -0.04212916 0.00285823
+v 0.00455221 -0.04250174 0.00285823
+v 0.00252084 -0.04207497 0.00183382
+v 0.00475880 -0.04276593 0.00180829
+v 0.00537202 -0.04294883 0.00107203
+v 0.00550999 -0.04298270 0.00107203
+v 0.00252048 0.02606621 -0.00293659
+v 0.00622923 -0.04311819 -0.00293659
+v 0.00564287 -0.04301657 -0.00214020
+v 0.00548784 -0.04298270 -0.00293659
+v 0.00622887 -0.04309786 0.00156381
+v 0.00550055 -0.04298270 0.00095291
+v 0.00252048 -0.04211561 -0.00029954
+v 0.00252084 -0.04209529 0.00107259
+v 0.00465278 -0.04273883 0.00173795
+v 0.00461938 -0.04274561 0.00107259
+v 0.00451228 -0.04272528 0.00052351
+v 0.00492073 -0.04284722 -0.00029954
+v 0.00252048 -0.04211561 -0.00293659
+v 0.00548857 -0.04298270 -0.00029954
+v 0.00548784 -0.04298270 -0.00214020
+v 0.00533790 -0.04294883 -0.00214020
+v 0.00492073 -0.04284722 -0.00214020
+v 0.00466513 -0.04277948 -0.00293659
+v 0.00278733 -0.04220368 -0.00214020
+v 0.00393064 -0.04256270 -0.00293659
+v 0.00441679 -0.04271174 -0.00214020
+v 0.00441679 -0.04270496 -0.00029954
+v 0.00457545 -0.04273206 0.00107259
+v 0.00441679 -0.04271174 -0.00293659
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 23
+f 1 23 24
+f 1 24 12
+f 1 12 5
+f 1 5 7
+f 1 7 2
+f 2 6 9
+f 2 9 3
+f 2 7 19
+f 2 19 17
+f 2 17 6
+f 3 9 20
+f 3 20 8
+f 4 8 10
+f 4 10 21
+f 4 21 11
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 15 29
+f 6 29 16
+f 6 16 20
+f 6 20 9
+f 6 17 30
+f 6 30 15
+f 7 14 18
+f 7 18 19
+f 8 20 16
+f 8 16 10
+f 10 16 29
+f 10 29 41
+f 10 41 35
+f 10 35 21
+f 11 21 22
+f 11 22 23
+f 12 24 13
+f 13 24 23
+f 13 23 22
+f 13 22 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 18
+f 13 18 14
+f 15 30 32
+f 15 32 46
+f 15 46 52
+f 15 52 48
+f 15 48 41
+f 15 41 29
+f 17 19 31
+f 17 31 32
+f 17 32 30
+f 18 28 33
+f 18 33 19
+f 19 33 28
+f 19 28 34
+f 19 34 31
+f 21 35 36
+f 21 36 25
+f 21 25 22
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 34
+f 27 34 28
+f 31 34 42
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 34 40 42
+f 35 41 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 39
+f 35 39 36
+f 36 39 51
+f 36 51 37
+f 37 51 38
+f 38 51 39
+f 39 50 40
+f 40 46 45
+f 40 45 44
+f 40 44 42
+f 40 50 49
+f 40 49 46
+f 41 48 47
+f 42 44 43
+f 46 49 52
+f 48 52 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_78.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f98e399147562a241dc076a912bf48c9b859856
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02749655 -0.00120956 0.00446477
+v -0.02747306 -0.00331802 0.00446477
+v -0.02710344 -0.00549334 0.00590711
+v -0.02709626 -0.00321995 0.00590711
+v -0.02730076 0.00307200 0.00446477
+v -0.02727893 -0.00549334 0.00446477
+v -0.02680203 -0.00748591 0.00590711
+v -0.02697631 -0.00178236 0.00590711
+v -0.02679699 0.00521613 0.00533645
+v -0.02725650 0.00383203 0.00446477
+v -0.02694197 -0.00769987 0.00446477
+v -0.02690855 -0.00787372 0.00446477
+v -0.02661844 -0.00843761 0.00590711
+v -0.02600862 0.00521613 0.00590711
+v -0.02593765 0.00571538 0.00588650
+v -0.02593765 0.00690780 0.00571440
+v -0.02593765 0.00720646 0.00566992
+v -0.02669719 0.00666932 0.00519272
+v -0.02715547 0.00521613 0.00446477
+v -0.02615695 -0.01128381 0.00446477
+v -0.02655526 -0.00870284 0.00590711
+v -0.02593765 0.00557051 0.00590711
+v -0.02593765 0.00876886 0.00531131
+v -0.02593765 0.01020199 0.00482056
+v -0.02652474 0.00809799 0.00484385
+v -0.02687269 0.00712622 0.00446477
+v -0.02709229 0.00579339 0.00446477
+v -0.02593765 -0.01188337 0.00446477
+v -0.02621220 -0.00997773 0.00590711
+v -0.02593765 -0.01072215 0.00590711
+v -0.02593765 0.01088624 0.00446477
+v -0.02674206 0.00774138 0.00446477
+v -0.02639258 0.00927480 0.00446477
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 27
+f 1 27 26
+f 1 26 32
+f 1 32 33
+f 1 33 31
+f 1 31 28
+f 1 28 20
+f 1 20 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 21
+f 3 21 29
+f 3 29 30
+f 3 30 22
+f 3 22 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 20 13
+f 13 20 21
+f 14 22 15
+f 15 22 30
+f 15 30 28
+f 15 28 31
+f 15 31 24
+f 15 24 23
+f 15 23 17
+f 15 17 16
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 29
+f 20 29 21
+f 24 31 25
+f 25 32 26
+f 25 31 33
+f 25 33 32
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_79.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1e5268463836d2d057d5cf5c66dea963cf2bc3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01344335 0.01548912 0.00635237
+v -0.01344335 0.01548912 0.00196944
+v -0.01399461 0.01548912 0.00635237
+v -0.01344335 0.01043338 0.00635237
+v -0.01399461 0.01548912 0.00196944
+v -0.01344335 0.01043338 0.00196944
+v -0.01399461 0.01043338 0.00635237
+v -0.01399461 0.01043338 0.00196944
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_8.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d445c7ef3d2ea789d9b4114b822213f27ba2da4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00597001 0.03774143 0.00257120
+v -0.00597001 0.03791318 0.00184326
+v -0.00686912 0.03725603 0.00257120
+v -0.00597001 -0.03815979 0.00257120
+v -0.00597001 0.03795052 0.00032041
+v -0.00625857 0.03775636 0.00184326
+v -0.00716741 0.03719629 0.00184326
+v -0.00716741 0.03706934 0.00257120
+v -0.00716741 -0.03744290 0.00257120
+v -0.00632574 -0.03809258 0.00184326
+v -0.00597001 -0.03830168 0.00184326
+v -0.00625857 0.03778623 0.00032041
+v -0.00597001 -0.03833901 0.00032041
+v -0.00716741 0.03722616 0.00032041
+v -0.00716741 -0.03758479 0.00184326
+v -0.00716741 -0.03761465 0.00032041
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 6 7
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 5 13 16
+f 5 16 14
+f 5 14 12
+f 6 12 14
+f 6 14 7
+f 7 14 16
+f 7 16 15
+f 7 15 9
+f 7 9 8
+f 9 15 10
+f 10 13 11
+f 10 15 13
+f 13 15 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_80.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..045e4e89aebb944c159665021e1df4c3682ffdeb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01086907 0.00735948 0.01802335
+v 0.01086907 0.00539770 0.01793540
+v 0.01190364 0.00813682 0.01689433
+v 0.01190364 0.01008019 0.01692933
+v 0.01086907 0.00950127 0.01800450
+v 0.01190364 0.00622005 0.01677228
+v 0.01086907 0.00539770 0.00885479
+v 0.01190364 0.00539770 0.01670227
+v 0.01190364 0.01162261 0.01678574
+v 0.01086907 0.01164306 0.01773257
+v 0.01190364 0.00539770 0.00885479
+v 0.01086907 0.02629398 0.00885479
+v 0.01190364 0.01219948 0.01670048
+v 0.01190364 0.01352301 0.01637829
+v 0.01086907 0.01372962 0.01712678
+v 0.01190364 0.02458587 0.00885479
+v 0.01086907 0.02247885 0.01198337
+v 0.01190364 0.01394646 0.01625174
+v 0.01086907 0.01452947 0.01678753
+v 0.01190364 0.02049253 0.01212248
+v 0.01086907 0.02025319 0.01351715
+v 0.01190364 0.01763272 0.01425308
+v 0.01086907 0.01797434 0.01504285
+v 0.01086907 0.01589801 0.01615930
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 21
+f 1 21 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 8
+f 2 8 6
+f 3 6 8
+f 3 8 11
+f 3 11 16
+f 3 16 20
+f 3 20 22
+f 3 22 18
+f 3 18 14
+f 3 14 13
+f 3 13 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 7 12 16
+f 7 16 11
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 12 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_81.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4f48965e3955624c713076bf0c8ad896865359
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00117607 -0.00525894 0.01149606
+v 0.00117607 -0.00525894 0.00911226
+v 0.00023061 -0.00525894 0.01149606
+v 0.00117607 -0.00818387 0.01149606
+v 0.00023061 -0.00525894 0.00911226
+v 0.00117607 -0.01473872 0.00911226
+v 0.00023061 -0.01036782 0.01149606
+v 0.00117607 -0.01192079 0.01081354
+v 0.00023061 -0.01547470 0.00911226
+v 0.00117607 -0.01396274 0.01033613
+v 0.00023061 -0.01192079 0.01100652
+v 0.00023061 -0.01388774 0.01029366
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 9
+f 7 11 10
+f 7 10 8
+f 9 10 12
+f 10 11 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_82.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5aeeb8cbe57f468ec73b538b8011a20526ab63d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 -0.00843289 0.01231466
+v 0.00071254 -0.00843289 0.01166305
+v 0.00023052 -0.00843289 0.01149606
+v 0.00023052 -0.00969292 0.01180112
+v 0.00047325 -0.00973043 0.01149606
+v 0.00083601 -0.00843289 0.01149606
+v 0.00023052 -0.01036812 0.01149606
+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 6
+f 3 6 5
+f 3 5 7
+f 4 7 5
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_83.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1b2500a25a40dcba2a779d9b9cf51af9be37e9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00295333 -0.01443856 0.00403405
+v -0.00295333 -0.01443856 0.00329752
+v -0.00351176 -0.01443856 0.00403405
+v -0.00295333 -0.03417755 0.00403405
+v -0.00351176 -0.01443856 0.00329752
+v -0.00295333 -0.03417755 0.00329752
+v -0.00351176 -0.03417755 0.00403405
+v -0.00351176 -0.03417755 0.00329752
+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_half_muffin/new_half_muffin_0/collision/model_normalized_collision_84.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4179b21747d9393ee843b9fb06824991e02138e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00805384 0.03617087 0.00391258
+v -0.00805384 0.03619120 0.00386512
+v -0.00811013 0.03613699 0.00391258
+v -0.00805384 -0.03252592 0.00391258
+v -0.00805384 0.03623863 0.00370367
+v -0.00850034 0.03580496 0.00391258
+v -0.00805384 0.03640126 0.00313671
+v -0.00850034 -0.03252592 0.00391258
+v -0.00805384 -0.03253269 0.00245322
+v -0.00850034 0.03618442 0.00253754
+v -0.00805384 0.03664520 0.00184261
+v -0.00850034 0.03631995 0.00184261
+v -0.00850034 -0.03253269 0.00245322
+v -0.00805384 -0.03253269 -0.00041592
+v -0.00805384 0.03669264 -0.00029812
+v -0.00850034 0.03636738 -0.00029812
+v -0.00850034 -0.03253269 -0.00041592
+v -0.00805384 0.02114133 -0.00041635
+v -0.00805384 0.03669264 -0.00041635
+v -0.00850034 0.03636738 -0.00041635
+v -0.00850034 0.02114133 -0.00041635
+f 1 2 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 8 13
+f 4 13 9
+f 6 7 10
+f 6 10 12
+f 6 12 16
+f 6 16 20
+f 6 20 21
+f 6 21 17
+f 6 17 13
+f 6 13 8
+f 7 11 12
+f 7 12 10
+f 9 13 17
+f 9 17 14
+f 11 15 16
+f 11 16 12
+f 14 17 21
+f 14 21 18
+f 15 19 20
+f 15 20 16
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_85.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d70e17b5829371112662f38fc635824f41a132
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01634805 0.01629814 0.00403414
+v -0.01634805 0.01629814 0.00165818
+v -0.01680296 0.01629814 0.00403414
+v -0.01634805 0.00563206 0.00403414
+v -0.01680296 0.01629814 0.00165818
+v -0.01634805 0.00558981 0.00165818
+v -0.01680296 0.00550741 0.00403414
+v -0.01634854 0.00550741 0.00403414
+v -0.01680296 0.00550741 0.00165818
+v -0.01634841 0.00550741 0.00165818
+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 6
+f 6 8 10
+f 7 9 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_86.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ec82103412262c99d0ea07932700bcc1636047
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00083021 -0.02805282 -0.01188050
+v -0.00083021 -0.02805282 -0.01637871
+v -0.00183008 -0.02805282 -0.01188050
+v -0.00083021 -0.03919068 -0.01188050
+v -0.00183008 -0.02805282 -0.01637871
+v -0.00083021 -0.03746266 -0.01637871
+v -0.00183008 -0.03878948 -0.01188050
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+v -0.00183008 -0.03740597 -0.01544340
+v -0.00083021 -0.03832395 -0.01420512
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+f 13 19 17
+f 14 20 16
+f 16 20 22
+f 16 22 21
+f 17 23 18
+f 17 19 23
+f 19 22 23
+f 19 24 22
+f 21 22 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_87.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421236fcabbd10b15534ab13cc584ac07f421567
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00516783 -0.03882684 -0.00458280
+v -0.00528765 -0.03875888 -0.00458280
+v -0.00525428 -0.03873862 -0.00607703
+v -0.00516783 -0.03879024 -0.00596414
+v -0.00516783 -0.03882684 -0.00029925
+v -0.00597001 -0.03835115 -0.00458280
+v -0.00528765 -0.03875888 -0.00029925
+v -0.00516783 -0.03878175 -0.00613975
+v -0.00516783 -0.03878894 -0.00599550
+v -0.00597001 -0.03833677 -0.00510884
+v -0.00597001 -0.03825378 -0.00667049
+v -0.00516783 -0.03865433 -0.00748267
+v -0.00516783 -0.03882226 -0.00008052
+v -0.00517144 -0.03881900 0.00000023
+v -0.00597001 -0.03835115 -0.00029925
+v -0.00528302 -0.03875561 0.00000023
+v -0.00538298 -0.03869615 0.00000023
+v -0.00597001 -0.03823549 -0.00685472
+v -0.00516783 -0.03864061 -0.00753912
+v -0.00516783 -0.03875365 0.00000023
+v -0.00597001 -0.03834526 0.00000023
+v -0.00597001 -0.03795452 -0.00800871
+v -0.00556680 -0.03824202 -0.00800871
+v -0.00516783 -0.03863473 -0.00755715
+v -0.00516783 -0.03215148 0.00000023
+v -0.00597001 -0.03215148 0.00000023
+v -0.00597001 -0.03215148 -0.00800871
+v -0.00541988 -0.03833089 -0.00800871
+v -0.00516783 -0.03848314 -0.00800871
+v -0.00516783 -0.03215148 -0.00800871
+f 1 2 3
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+f 19 23 24
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+f 23 28 24
+f 24 28 29
+f 25 30 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_88.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23c9d09f848095f953ede9749618d6c3cb3679b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00117607 -0.01473828 0.00911226
+v 0.00199450 -0.01547598 0.00911226
+v 0.00364661 -0.01769517 0.00922753
+v 0.00117607 -0.01396163 0.01033590
+v 0.00117607 -0.00525894 0.00911226
+v 0.00199450 -0.00525894 0.00911226
+v 0.00364661 -0.01633055 0.01040240
+v 0.00364661 -0.00525894 0.00922753
+v 0.00364661 -0.01544677 0.01115632
+v 0.00279818 -0.01407240 0.01115632
+v 0.00117607 -0.01192017 0.01081331
+v 0.00117607 -0.00525894 0.01149606
+v 0.00364661 -0.00525894 0.01115632
+v 0.00199450 -0.01069188 0.01149606
+v 0.00117607 -0.00818540 0.01149606
+v 0.00199450 -0.00525894 0.01149606
+f 1 2 3
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+f 1 4 11
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+f 1 15 12
+f 1 12 5
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+f 5 13 8
+f 5 8 6
+f 9 13 16
+f 9 16 14
+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 12 15 14
+f 12 14 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_89.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7256f8e93b679fdbff48f55d881e0e1dcf4d2180
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.01348162 0.01512470 0.01811148
+v -0.01322757 0.01512470 0.01898128
+v -0.01344376 0.01592856 0.01811148
+v -0.00330375 0.01512470 0.01811148
+v -0.01228909 0.01512470 0.02124275
+v -0.01317676 0.01592856 0.01898128
+v -0.01314787 0.01807045 0.01811148
+v -0.00330375 0.01512470 0.02215264
+v -0.00330375 0.02836889 0.01811148
+v -0.01186667 0.01512470 0.02202489
+v -0.01169731 0.01550459 0.02228107
+v -0.01216256 0.01610229 0.02132905
+v -0.01204799 0.01807045 0.02088464
+v -0.01284102 0.01807045 0.01898128
+v -0.01257402 0.02021363 0.01811148
+v -0.00330375 0.01582613 0.02295244
+v -0.00428607 0.01512470 0.02285799
+v -0.00395830 0.02825090 0.01811148
+v -0.00411671 0.02647982 0.02112383
+v -0.00330375 0.02660300 0.02112383
+v -0.01171026 0.01512470 0.02229398
+v -0.01117626 0.01512470 0.02266500
+v -0.01075085 0.01610229 0.02290284
+v -0.01038821 0.01807045 0.02294565
+v -0.01160366 0.01693338 0.02217982
+v -0.01145920 0.01807045 0.02195489
+v -0.01181785 0.01965871 0.02046197
+v -0.01214463 0.02030958 0.01907981
+v -0.01152595 0.02108750 0.01985923
+v -0.01191648 0.02184209 0.01811148
+v -0.00616404 0.01512470 0.02385417
+v -0.00479616 0.01512470 0.02317261
+v -0.00330375 0.01644069 0.02336559
+v -0.00409878 0.02822497 0.01811148
+v -0.00519467 0.02556965 0.02219884
+v -0.00411671 0.02572005 0.02237824
+v -0.00330375 0.02613105 0.02190189
+v -0.01066218 0.01512470 0.02298710
+v -0.00876131 0.01807045 0.02401658
+v -0.00831199 0.02030180 0.02384738
+v -0.01001262 0.02021234 0.02268675
+v -0.00967488 0.02157630 0.02240134
+v -0.01113740 0.02030958 0.02115509
+v -0.01005546 0.02231533 0.02104772
+v -0.01111050 0.02238923 0.01907981
+v -0.01132769 0.02288451 0.01811148
+v -0.01167340 0.02227384 0.01811148
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+v -0.00330375 0.01743384 0.02402813
+v -0.00330375 0.01783966 0.02429179
+v -0.00330375 0.01850479 0.02463767
+v -0.00532917 0.02783082 0.01811148
+v -0.00544274 0.02779192 0.01811148
+v -0.00657052 0.02727201 0.01811148
+v -0.00604947 0.02585230 0.02096890
+v -0.00741037 0.02562540 0.02015211
+v -0.00662332 0.02515735 0.02158047
+v -0.00767737 0.02372986 0.02248017
+v -0.00604947 0.02446499 0.02275402
+v -0.00486889 0.02326180 0.02426393
+v -0.00413962 0.02435868 0.02358304
+v -0.00330375 0.02365984 0.02434208
+v -0.00330375 0.02448704 0.02360615
+v -0.00330375 0.02578099 0.02245163
+v -0.00908709 0.01512470 0.02377875
+v -0.00769132 0.01807045 0.02447119
+v -0.00753889 0.01964704 0.02442838
+v -0.00835084 0.01580279 0.02412123
+v -0.00721908 0.02107454 0.02429247
+v -0.00839468 0.02231533 0.02289264
+v -0.00910402 0.02300249 0.02171026
+v -0.00961411 0.02358724 0.02028325
+v -0.01092022 0.02344073 0.01811148
+v -0.00836778 0.01512470 0.02403765
+v -0.00673590 0.01643291 0.02442430
+v -0.00330375 0.01910120 0.02481367
+v -0.00723503 0.02689213 0.01811148
+v -0.00925645 0.02537517 0.01811148
+v -0.00825819 0.02437165 0.02093152
+v -0.00814960 0.02630609 0.01811148
+v -0.00640613 0.02246962 0.02400979
+v -0.00579044 0.02183301 0.02453778
+v -0.00413962 0.02246962 0.02469135
+v -0.00344024 0.02355353 0.02441343
+v -0.00330375 0.02356001 0.02441750
+v -0.00411671 0.02021234 0.02502704
+v -0.00640613 0.02030180 0.02464175
+v -0.00760265 0.01643291 0.02442430
+v -0.00953341 0.02509382 0.01811148
+v -0.01028759 0.02429126 0.01811148
+v -0.00330375 0.02021234 0.02505286
+v -0.00330375 0.02102527 0.02498491
+v -0.00330375 0.02242424 0.02477765
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+f 1 15 30
+f 1 30 47
+f 1 47 46
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+f 1 73 90
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+f 1 80 77
+f 1 77 54
+f 1 54 53
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+f 4 20 37
+f 4 37 64
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+f 4 63 62
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+f 11 23 24
+f 11 24 25
+f 11 25 12
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+f 13 26 27
+f 13 27 14
+f 13 25 26
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 16 31 32
+f 16 32 17
+f 16 33 31
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+f 19 34 35
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+f 22 38 23
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+f 23 38 39
+f 24 39 40
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+f 24 41 25
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+f 26 42 43
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+f 62 84 85
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+f 72 78 89
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+f 75 76 91
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+f 82 86 83
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+f 83 93 84
+f 84 93 85
+f 86 91 92
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_9.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6d232bbf67f8dc533c12da8b27d80789dde7ac
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01774935 -0.00789257 0.00803468
+v 0.01774248 -0.00789257 0.00823877
+v 0.01190364 -0.00789257 0.00803468
+v 0.01774248 -0.00740053 0.00803468
+v 0.01774133 -0.00789257 0.00827038
+v 0.01190364 -0.00333117 0.00803468
+v 0.01190364 -0.00789257 0.01782209
+v 0.01767724 -0.00333117 0.00803468
+v 0.01766122 -0.00333117 0.00827038
+v 0.01769727 -0.00789257 0.00852621
+v 0.01190364 -0.00333117 0.01715810
+v 0.01296748 -0.00789257 0.01680263
+v 0.01190364 -0.00714067 0.01777227
+v 0.01687378 -0.00333117 0.00999983
+v 0.01685260 -0.00789257 0.01084874
+v 0.01697908 -0.00789257 0.01055747
+v 0.01190993 -0.00333117 0.01715235
+v 0.01298751 -0.00789257 0.01678060
+v 0.01397353 -0.00726390 0.01560687
+v 0.01261153 -0.00333117 0.01644620
+v 0.01369255 -0.00333117 0.01512780
+v 0.01461275 -0.00789257 0.01481162
+v 0.01588891 -0.00789257 0.01263184
+v 0.01456926 -0.00789257 0.01487102
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 15
+f 1 15 23
+f 1 23 22
+f 1 22 24
+f 1 24 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 7 13
+f 3 13 11
+f 3 11 6
+f 4 8 5
+f 5 9 10
+f 5 8 9
+f 6 11 17
+f 6 17 20
+f 6 20 21
+f 6 21 14
+f 6 14 9
+f 6 9 8
+f 7 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 13 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 17
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 18 24 19
+f 19 24 22
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_90.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687bcb40fae0413f7aaf32ed44cae9ed8ba0fd4d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.01456166 0.01592769 0.01176107
+v -0.01453191 0.01512497 0.01176107
+v -0.01454954 0.01512497 0.01225712
+v -0.01455946 0.01512497 0.01255487
+v -0.01455836 0.01592769 0.01255487
+v -0.01451648 0.01807089 0.01176107
+v -0.00330375 0.01512497 0.01176107
+v -0.01440518 0.01512497 0.01469695
+v -0.01437763 0.01592769 0.01469695
+v -0.01448011 0.01807089 0.01255487
+v -0.01430710 0.02021253 0.01176107
+v -0.00330375 0.01512497 0.01811148
+v -0.00330375 0.03114019 0.01176107
+v -0.01400075 0.01512497 0.01650896
+v -0.01398422 0.01592769 0.01645239
+v -0.01419801 0.01807089 0.01469695
+v -0.01424319 0.02021253 0.01255487
+v -0.01391479 0.02178818 0.01255487
+v -0.01409993 0.02120495 0.01176107
+v -0.01348061 0.01512497 0.01811148
+v -0.00330375 0.02836830 0.01811148
+v -0.00411702 0.03096616 0.01176107
+v -0.00411702 0.03085798 0.01255487
+v -0.00330375 0.03102417 0.01255487
+v -0.01346739 0.01542913 0.01811148
+v -0.01344314 0.01592769 0.01811148
+v -0.01387292 0.01807089 0.01610615
+v -0.01378476 0.01926243 0.01584508
+v -0.01391590 0.02007142 0.01459812
+v -0.01380900 0.02144483 0.01381861
+v -0.01395226 0.02190106 0.01176107
+v -0.01355444 0.02285900 0.01255487
+v -0.01359742 0.02297345 0.01176107
+v -0.01382443 0.02229772 0.01176107
+v -0.00330375 0.02983577 0.01592402
+v -0.00409829 0.02822562 0.01811148
+v -0.00627031 0.03021675 0.01176107
+v -0.00627582 0.03013209 0.01235222
+v -0.00557385 0.03001764 0.01401877
+v -0.00401564 0.03020734 0.01471871
+v -0.00330375 0.03058675 0.01396407
+v -0.01314781 0.01807089 0.01811148
+v -0.01257368 0.02021410 0.01811148
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+v -0.00401564 0.02915534 0.01667431
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+v -0.00532921 0.02783053 0.01811148
+v -0.00701415 0.02993924 0.01176107
+v -0.00700092 0.02969937 0.01293095
+v -0.00627582 0.02938894 0.01471871
+v -0.00330375 0.02992984 0.01574935
+v -0.00330375 0.03034688 0.01471063
+v -0.01191579 0.02184305 0.01811148
+v -0.01223206 0.02239022 0.01688877
+v -0.01186730 0.02381066 0.01620810
+v -0.01192020 0.02595543 0.01176107
+v -0.01135488 0.02523894 0.01524087
+v -0.01169429 0.02566695 0.01381302
+v -0.01185738 0.02587547 0.01255487
+v -0.00618435 0.02825855 0.01684650
+v -0.00544271 0.02779134 0.01811148
+v -0.00759710 0.02963039 0.01176107
+v -0.00819107 0.02912085 0.01235222
+v -0.00957847 0.02779918 0.01382545
+v -0.00840816 0.02824601 0.01460247
+v -0.00769958 0.02794969 0.01613723
+v -0.01167335 0.02227420 0.01811148
+v -0.01132733 0.02288565 0.01811148
+v -0.01091959 0.02344066 0.01811148
+v -0.01028815 0.02429198 0.01811148
+v -0.01157197 0.02635209 0.01176107
+v -0.00992670 0.02602285 0.01637407
+v -0.01046667 0.02655904 0.01453347
+v -0.01086119 0.02694629 0.01255487
+v -0.01094494 0.02702625 0.01176107
+v -0.00657115 0.02727239 0.01811148
+v -0.00828474 0.02915847 0.01176107
+v -0.00931179 0.02844825 0.01176107
+v -0.00979005 0.02797948 0.01255487
+v -0.00912666 0.02745112 0.01525330
+v -0.00814919 0.02630505 0.01811148
+v -0.00723565 0.02689298 0.01811148
+v -0.00953329 0.02509313 0.01811148
+v -0.00925669 0.02537377 0.01811148
+v -0.01027052 0.02767689 0.01176107
+v -0.00987381 0.02805160 0.01176107
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 31
+f 1 31 34
+f 1 34 33
+f 1 33 47
+f 1 47 63
+f 1 63 78
+f 1 78 82
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+f 1 93 85
+f 1 85 84
+f 1 84 69
+f 1 69 55
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+f 2 8 4
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+f 5 8 9
+f 6 10 11
+f 7 13 24
+f 7 24 41
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+f 7 58 50
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+f 9 14 15
+f 9 15 16
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+f 12 21 36
+f 12 36 54
+f 12 54 68
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+f 12 89 88
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+f 12 91 90
+f 12 90 77
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+f 12 74 60
+f 12 60 43
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+f 12 42 26
+f 12 26 25
+f 12 25 20
+f 13 22 23
+f 13 23 24
+f 14 20 15
+f 15 20 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 31 19
+f 18 30 32
+f 18 32 33
+f 18 33 34
+f 18 34 31
+f 21 35 36
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 26 42 27
+f 27 42 28
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+f 28 44 45
+f 28 45 30
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+f 30 45 46
+f 30 46 32
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+f 32 46 48
+f 32 48 49
+f 32 49 47
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+f 48 64 65
+f 48 65 49
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+f 49 65 66
+f 49 66 63
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+f 53 68 54
+f 55 69 56
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+f 57 73 67
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+f 62 76 77
+f 62 77 64
+f 63 66 78
+f 64 79 80
+f 64 80 65
+f 64 77 79
+f 65 80 71
+f 65 71 81
+f 65 81 66
+f 66 81 82
+f 66 82 78
+f 67 73 83
+f 67 83 68
+f 69 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 71 80 87
+f 71 87 72
+f 71 86 81
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 73 89 83
+f 77 90 79
+f 79 90 91
+f 79 91 88
+f 79 88 87
+f 79 87 80
+f 81 86 92
+f 81 92 82
+f 85 93 86
+f 86 93 92
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_91.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1343fa03d50fb20a76ae7f4ddf578007a154f4de
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00516773 -0.01278659 -0.01719110
+v -0.00415443 -0.01278659 -0.01719110
+v -0.00516773 -0.01278659 -0.01656073
+v -0.00516773 0.03441315 -0.01719110
+v -0.00415443 -0.01278659 -0.01656073
+v -0.00415443 0.03491127 -0.01719110
+v -0.00516773 0.03463401 -0.01656073
+v -0.00516773 0.03447894 -0.01707441
+v -0.00491785 0.03454473 -0.01719110
+v -0.00415443 0.03521203 -0.01656073
+v -0.00516773 0.03462461 -0.01660405
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 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 11
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_92.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e89d0f716f0149d2e77ed40a587bf79234bc2bb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01312555 0.00451627 0.00803383
+v 0.01426750 0.00451627 0.00803383
+v 0.01312555 0.00451627 0.00916845
+v 0.01312555 0.02557952 0.00803383
+v 0.01426750 0.00451627 0.00916845
+v 0.01426750 0.02634887 0.00803383
+v 0.01312555 0.02318810 0.00916845
+v 0.01312555 0.02327786 0.00914434
+v 0.01426750 0.02307911 0.00916845
+v 0.01426750 0.02414766 0.00886966
+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 6
+f 6 8 10
+f 7 9 8
+f 8 9 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_93.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a204beed6933ee4e2a8d35f7ce1d1058c84a12
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00183008 -0.04047830 -0.00500450
+v -0.00183008 -0.04045563 -0.00556514
+v -0.00182127 -0.04048397 -0.00500450
+v -0.00183008 0.01702886 -0.00500450
+v -0.00105328 -0.04079007 -0.00556514
+v -0.00158958 -0.04058601 -0.00500450
+v -0.00183008 0.01702886 -0.00556514
+v -0.00083021 0.01702886 -0.00500450
+v -0.00083520 -0.04087510 -0.00556514
+v -0.00148798 -0.04062569 -0.00500450
+v -0.00083021 0.01702886 -0.00556514
+v -0.00083021 -0.04088077 -0.00500450
+v -0.00091918 -0.04084676 -0.00500450
+v -0.00083021 -0.04087510 -0.00556514
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 14
+f 2 14 9
+f 2 9 5
+f 4 8 11
+f 4 11 7
+f 5 9 10
+f 5 10 6
+f 8 12 14
+f 8 14 11
+f 9 12 13
+f 9 13 10
+f 9 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_94.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c3143dc1dbdd9e8ff4075a423ee332d0812a3c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01399461 0.03028128 -0.01095227
+v -0.01399461 0.03010013 -0.01132354
+v -0.01406904 0.03017776 -0.01101034
+v -0.01408326 0.03019070 -0.01095227
+v -0.01399461 -0.00276518 -0.01095227
+v -0.01399461 0.02912646 -0.01328757
+v -0.01468167 0.02862831 -0.01284475
+v -0.01512946 0.02906824 -0.01101034
+v -0.01512901 0.02909735 -0.01095227
+v -0.01512946 -0.00276518 -0.01095227
+v -0.01399461 -0.00276518 -0.01328757
+v -0.01505703 0.02801370 -0.01328757
+v -0.01512946 0.02798782 -0.01318881
+v -0.01512946 0.02909412 -0.01095502
+v -0.01512946 0.02903265 -0.01095227
+v -0.01512946 -0.00276518 -0.01328757
+v -0.01512946 0.02793607 -0.01328757
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 16
+f 5 16 11
+f 6 11 16
+f 6 16 17
+f 6 17 12
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 14 9
+f 8 13 17
+f 8 17 16
+f 8 16 10
+f 8 10 15
+f 8 15 14
+f 9 14 15
+f 12 17 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_95.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267bef61afa87178f3cc278df37a21c5459f2c84
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00023052 0.04044622 -0.00834754
+v 0.00023052 0.04033480 -0.00884260
+v -0.00011427 0.04028705 -0.00834754
+v 0.00023052 -0.04085644 -0.00834754
+v 0.00023052 0.03984934 -0.01011468
+v 0.00013667 0.03982547 -0.01011468
+v 0.00009659 0.04023134 -0.00897216
+v -0.00083011 0.03978568 -0.00901541
+v -0.00083011 0.03995280 -0.00834754
+v -0.00083011 -0.04041873 -0.00834754
+v -0.00083011 -0.04025956 -0.00894103
+v 0.00023052 -0.04071319 -0.00881614
+v 0.00023052 -0.04023569 -0.01011468
+v -0.00083011 0.03937980 -0.01011468
+v -0.00083011 0.03973793 -0.00916400
+v 0.00023052 -0.04060973 -0.00910726
+v -0.00083011 -0.03982981 -0.01011468
+v 0.00011445 -0.04019589 -0.01011468
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 16
+f 1 16 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 4 10 11
+f 4 11 12
+f 5 13 18
+f 5 18 17
+f 5 17 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 14
+f 8 14 17
+f 8 17 11
+f 8 11 10
+f 8 10 9
+f 11 16 12
+f 11 17 18
+f 11 18 16
+f 13 16 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_96.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca5e7c459859617c79775503163e5243f19ca15
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v -0.02181543 0.01159837 -0.01838119
+v -0.02270349 0.01159837 -0.01755407
+v -0.02211607 0.01224251 -0.01829848
+v -0.02181543 0.01198295 -0.01849797
+v -0.02181543 0.01159837 0.00634994
+v -0.02272297 0.01159837 -0.01751514
+v -0.02254118 0.01322779 -0.01687047
+v -0.02181543 0.01390265 -0.01752731
+v -0.02181543 0.01714983 0.00634994
+v -0.02309077 0.01159837 0.00634994
+v -0.02309077 0.01159837 -0.01663206
+v -0.02309077 0.01160261 -0.01662963
+v -0.02285094 0.01387934 -0.01536947
+v -0.02223942 0.01465591 -0.01613578
+v -0.02309077 0.01319706 -0.01534758
+v -0.02309077 0.01381472 -0.01479535
+v -0.02181543 0.01598551 -0.01567600
+v -0.02181543 0.01747931 0.00629155
+v -0.02309077 0.01417704 0.00634994
+v -0.02309077 0.01595266 -0.01236505
+v -0.02250610 0.01527992 -0.01470777
+v -0.02181543 0.01632771 -0.01535731
+v -0.02181543 0.01771133 0.00623317
+v -0.02181543 0.01806942 0.00614072
+v -0.02276479 0.01806942 0.00553741
+v -0.02309077 0.01697290 0.00561282
+v -0.02278689 0.01596750 -0.01316542
+v -0.02309077 0.01707037 -0.01108300
+v -0.02181543 0.01798785 -0.01345492
+v -0.02181543 0.01944881 0.00570526
+v -0.02181543 0.01984398 0.00555930
+v -0.02246565 0.01941915 0.00525034
+v -0.02309077 0.01773358 0.00520169
+v -0.02181543 0.01805565 -0.01337707
+v -0.02309077 0.01715936 -0.01098083
+v -0.02181543 0.02110895 0.00463000
+v -0.02208386 0.02084727 0.00447187
+v -0.02268301 0.02016499 0.00384909
+v -0.02309077 0.01872839 0.00449620
+v -0.02309077 0.01867754 0.00455458
+v -0.02216164 0.01875806 -0.01164010
+v -0.02181543 0.01980478 -0.01111706
+v -0.02309077 0.01806095 -0.00994449
+v -0.02181543 0.02146281 0.00418481
+v -0.02181543 0.02188976 0.00355960
+v -0.02237651 0.02136216 0.00304386
+v -0.02309077 0.01923586 0.00390748
+v -0.02242770 0.01934393 -0.01021209
+v -0.02181543 0.02000608 -0.01085190
+v -0.02309077 0.01900173 -0.00877678
+v -0.02181543 0.02233260 0.00202454
+v -0.02309077 0.01968507 0.00292222
+v -0.02309077 0.01951556 0.00333579
+v -0.02242320 0.02143420 0.00184209
+v -0.02305120 0.02021161 0.00184209
+v -0.02309077 0.02012473 0.00184939
+v -0.02261335 0.02011944 -0.00866730
+v -0.02233468 0.02129753 -0.00781828
+v -0.02181543 0.02032497 -0.01042130
+v -0.02309077 0.01999866 -0.00671869
+v -0.02181543 0.02235379 0.00184209
+v -0.02181543 0.02241418 -0.00006031
+v -0.02244405 0.02146598 -0.00030115
+v -0.02309077 0.02021584 -0.00029141
+v -0.02309077 0.02021161 -0.00017464
+v -0.02309077 0.02013321 0.00166207
+v -0.02309077 0.02012897 0.00175694
+v -0.02299264 0.02021161 -0.00672355
+v -0.02239174 0.02138546 -0.00672355
+v -0.02181543 0.02225950 -0.00672355
+v -0.02181543 0.02178699 -0.00829753
+v -0.02181543 0.02175415 -0.00834618
+v -0.02309077 0.02021161 -0.00463627
+v -0.02181543 0.02242054 -0.00030115
+v -0.02244405 0.02146598 -0.00458518
+v -0.02309077 0.02021584 -0.00458518
+v -0.02181543 0.02242054 -0.00458518
+v -0.02181543 0.02228705 -0.00635864
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 22
+f 1 22 29
+f 1 29 34
+f 1 34 42
+f 1 42 49
+f 1 49 59
+f 1 59 72
+f 1 72 71
+f 1 71 70
+f 1 70 78
+f 1 78 77
+f 1 77 74
+f 1 74 62
+f 1 62 61
+f 1 61 51
+f 1 51 45
+f 1 45 44
+f 1 44 36
+f 1 36 31
+f 1 31 30
+f 1 30 24
+f 1 24 23
+f 1 23 18
+f 1 18 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 19
+f 5 19 10
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 16
+f 7 16 13
+f 8 14 17
+f 9 18 19
+f 10 19 26
+f 10 26 33
+f 10 33 40
+f 10 40 39
+f 10 39 47
+f 10 47 53
+f 10 53 52
+f 10 52 56
+f 10 56 67
+f 10 67 66
+f 10 66 65
+f 10 65 64
+f 10 64 76
+f 10 76 73
+f 10 73 60
+f 10 60 50
+f 10 50 43
+f 10 43 35
+f 10 35 28
+f 10 28 20
+f 10 20 16
+f 10 16 15
+f 10 15 12
+f 10 12 11
+f 13 16 20
+f 13 20 21
+f 13 21 14
+f 14 22 17
+f 14 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 20 27 21
+f 20 28 27
+f 21 27 29
+f 21 29 22
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 27 34 29
+f 27 28 35
+f 27 35 34
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 34 35 41
+f 34 41 42
+f 35 43 41
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 41 43 48
+f 41 48 42
+f 42 48 49
+f 43 50 48
+f 45 51 46
+f 46 52 53
+f 46 53 47
+f 46 51 54
+f 46 54 55
+f 46 55 56
+f 46 56 52
+f 48 50 57
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 50 60 58
+f 50 58 57
+f 51 61 54
+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 55 66 67
+f 55 67 56
+f 58 60 68
+f 58 68 69
+f 58 69 70
+f 58 70 71
+f 58 71 72
+f 58 72 59
+f 60 73 68
+f 62 74 63
+f 63 74 77
+f 63 77 75
+f 63 75 76
+f 63 76 64
+f 68 73 69
+f 69 73 75
+f 69 75 77
+f 69 77 78
+f 69 78 70
+f 73 76 75
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_97.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f02707b80ad8a4f7eb5acfd541650d8c1b2c3ab
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00275560 -0.04154793 0.00433862
+v 0.00275560 -0.04109048 0.00537976
+v 0.00275560 0.02878029 0.00433862
+v 0.00445361 -0.04206872 0.00433862
+v 0.00275560 -0.04103418 0.00542054
+v 0.00445361 -0.04147755 0.00542054
+v 0.00301816 -0.04112567 0.00542054
+v 0.00275560 0.02878029 0.00542054
+v 0.00708688 0.02878733 0.00433862
+v 0.00754364 -0.04278658 0.00433862
+v 0.00873634 -0.04286399 0.00474318
+v 0.00928126 -0.04291326 0.00488382
+v 0.00873634 -0.04221652 0.00542054
+v 0.00708688 0.02878733 0.00542054
+v 0.00928126 0.02878733 0.00433862
+v 0.00928126 -0.04311031 0.00433862
+v 0.00928126 -0.04299067 0.00467667
+v 0.00928126 -0.04230801 0.00542054
+v 0.00928126 0.02878733 0.00542054
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 14
+f 3 14 9
+f 4 10 11
+f 4 11 6
+f 5 7 6
+f 5 6 13
+f 5 13 18
+f 5 18 19
+f 5 19 14
+f 5 14 8
+f 6 11 12
+f 6 12 13
+f 9 14 19
+f 9 19 15
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 16
+f 12 16 15
+f 12 15 19
+f 12 19 18
+f 12 18 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_98.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b295f81ec147ecf2615af77024efbdf75f5e00d2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01190376 0.01008039 0.01693020
+v 0.01312555 0.01148750 0.01608555
+v 0.01312555 0.01327159 0.01593665
+v 0.01190376 0.01162187 0.01678478
+v 0.01190376 0.00813580 0.01689362
+v 0.01312555 0.00988443 0.01607249
+v 0.01190376 0.01394529 0.01625013
+v 0.01190376 0.01352166 0.01637726
+v 0.01190376 0.01219853 0.01669944
+v 0.01312555 0.01436519 0.01557877
+v 0.01190376 0.00451910 0.01668290
+v 0.01312555 0.00839520 0.01591140
+v 0.01312555 0.01444170 0.01555003
+v 0.01190376 0.01763291 0.01425259
+v 0.01190376 0.00451910 0.00803533
+v 0.01232940 0.00451910 0.01619614
+v 0.01312555 0.00661671 0.01557006
+v 0.01312555 0.01605410 0.01467317
+v 0.01312555 0.01719435 0.01386946
+v 0.01312555 0.02093609 0.01113090
+v 0.01190376 0.02049193 0.01212183
+v 0.01312555 0.00451910 0.00803533
+v 0.01190376 0.02358050 0.00803533
+v 0.01310977 0.00451910 0.01511900
+v 0.01312555 0.00451910 0.01509636
+v 0.01312555 0.02358050 0.00896966
+v 0.01190376 0.02248690 0.01048392
+v 0.01312555 0.02358050 0.00803533
+v 0.01190376 0.02358050 0.00929010
+v 0.01190376 0.02267912 0.01031587
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 14
+f 1 14 21
+f 1 21 27
+f 1 27 30
+f 1 30 29
+f 1 29 23
+f 1 23 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 25
+f 2 25 22
+f 2 22 28
+f 2 28 26
+f 2 26 20
+f 2 20 19
+f 2 19 18
+f 2 18 13
+f 2 13 10
+f 2 10 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 7
+f 5 11 6
+f 6 11 12
+f 7 10 13
+f 7 13 14
+f 11 15 22
+f 11 22 25
+f 11 25 24
+f 11 24 16
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 15 23 28
+f 15 28 22
+f 16 24 17
+f 17 24 25
+f 20 26 21
+f 21 26 27
+f 23 29 26
+f 23 26 28
+f 26 29 30
+f 26 30 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_99.obj b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda1234d0c185431e75deae060feaaa80cc239f3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01875151 0.02265987 0.00635237
+v -0.01875151 0.02461529 0.00558266
+v -0.01911182 0.02235085 0.00628079
+v -0.01876210 0.02264467 0.00635237
+v -0.01875151 -0.02314058 0.00635237
+v -0.01875151 0.02490404 0.00546711
+v -0.02000983 0.02146432 0.00608288
+v -0.02000983 0.02055753 0.00634003
+v -0.01910295 0.02211275 0.00635237
+v -0.01904407 0.02428094 0.00554721
+v -0.01910739 -0.02280117 0.00635237
+v -0.01875151 -0.02463501 0.00579585
+v -0.01875151 0.02554741 0.00489252
+v -0.02000983 0.02355652 0.00513369
+v -0.02000983 0.02303474 0.00544383
+v -0.02000983 0.02051194 0.00635237
+v -0.01922096 -0.02262893 0.00635237
+v -0.01906021 -0.02464008 0.00564156
+v -0.01875151 -0.02471607 0.00576232
+v -0.01875151 0.02576524 0.00457734
+v -0.02000983 0.02393140 0.00467377
+v -0.02000983 -0.02117503 0.00635237
+v -0.02000983 -0.02262893 0.00586691
+v -0.02000983 -0.02265933 0.00585510
+v -0.02000983 -0.02401191 0.00528798
+v -0.01875151 -0.02527838 0.00552028
+v -0.01996610 0.02405298 0.00457734
+v -0.01875151 -0.02598760 0.00457734
+v -0.02000983 0.02398712 0.00457734
+v -0.02000983 -0.02436145 0.00457734
+v -0.01950589 -0.02505548 0.00457734
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 26
+f 1 26 28
+f 1 28 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 7
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 7 10 15
+f 7 15 14
+f 7 14 21
+f 7 21 29
+f 7 29 30
+f 7 30 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 16
+f 7 16 8
+f 8 16 9
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 17 23 24
+f 17 24 18
+f 17 22 23
+f 18 25 26
+f 18 26 19
+f 18 24 25
+f 20 27 21
+f 20 28 31
+f 20 31 30
+f 20 30 29
+f 20 29 27
+f 21 27 29
+f 25 30 31
+f 25 31 28
+f 25 28 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_0/model.xml b/new_half_muffin/new_half_muffin_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9d7dc1638a98a5833b971b3d35b405174b21d1e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_0/model.xml
@@ -0,0 +1,956 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_half_muffin_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_285.obj" name="model_normalized_collision_285._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_428.obj" name="model_normalized_collision_428._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_283.obj" name="model_normalized_collision_283._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_148.obj" name="model_normalized_collision_148._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_233.obj" name="model_normalized_collision_233._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_101.obj" name="model_normalized_collision_101._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_345.obj" name="model_normalized_collision_345._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_308.obj" name="model_normalized_collision_308._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_364.obj" name="model_normalized_collision_364._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_230.obj" name="model_normalized_collision_230._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_377.obj" name="model_normalized_collision_377._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_237.obj" name="model_normalized_collision_237._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_280.obj" name="model_normalized_collision_280._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_239.obj" name="model_normalized_collision_239._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_262.obj" name="model_normalized_collision_262._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_461.obj" name="model_normalized_collision_461._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_468.obj" name="model_normalized_collision_468._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_378.obj" name="model_normalized_collision_378._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_175.obj" name="model_normalized_collision_175._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_423.obj" name="model_normalized_collision_423._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_249.obj" name="model_normalized_collision_249._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_261.obj" name="model_normalized_collision_261._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_130.obj" name="model_normalized_collision_130._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_259.obj" name="model_normalized_collision_259._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_150.obj" name="model_normalized_collision_150._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_154.obj" name="model_normalized_collision_154._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_120.obj" name="model_normalized_collision_120._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_241.obj" name="model_normalized_collision_241._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_213.obj" name="model_normalized_collision_213._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_131.obj" name="model_normalized_collision_131._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_173.obj" name="model_normalized_collision_173._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_113.obj" name="model_normalized_collision_113._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_336.obj" name="model_normalized_collision_336._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_39.obj" name="model_normalized_collision_39._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_184.obj" name="model_normalized_collision_184._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_462.obj" name="model_normalized_collision_462._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_435.obj" name="model_normalized_collision_435._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_59.obj" name="model_normalized_collision_59._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_361.obj" name="model_normalized_collision_361._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_122.obj" name="model_normalized_collision_122._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_137.obj" name="model_normalized_collision_137._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_295.obj" name="model_normalized_collision_295._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_354.obj" name="model_normalized_collision_354._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_74.obj" name="model_normalized_collision_74._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_185.obj" name="model_normalized_collision_185._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_344.obj" name="model_normalized_collision_344._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_204.obj" name="model_normalized_collision_204._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_206.obj" name="model_normalized_collision_206._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_334.obj" name="model_normalized_collision_334._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_189.obj" name="model_normalized_collision_189._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_416.obj" name="model_normalized_collision_416._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_half_muffin/new_half_muffin_0/visual/image0.png b/new_half_muffin/new_half_muffin_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1593051464734a3d116e81703acb14b6de35e39a
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diff --git a/new_half_muffin/new_half_muffin_0/visual/ubimyt__base_link__roughness.png b/new_half_muffin/new_half_muffin_0/visual/ubimyt__base_link__roughness.png
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_1.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697b5ceba91d606008e073c99f8fb91f20783f77
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_10.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f3a13860b2c5dff85914796a69b7abb840207d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00285198 0.00827915 0.00909247
+v 0.00582354 0.00827915 0.00909247
+v -0.00285198 0.00827915 0.01024662
+v -0.00285198 0.02934709 0.00909247
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_100.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e849691455f54c176fb531390e38d24d432a1a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_100.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01149607 0.01289921 0.00902625
+v -0.01149607 0.01118180 0.00902625
+v -0.01149607 0.01289921 0.00734090
+v -0.02144654 0.01289921 0.00902625
+v -0.01149607 0.01118180 0.00734090
+v -0.02326007 0.01118180 0.00902625
+v -0.02268667 0.01289921 0.00734090
+v -0.02403852 0.01118180 0.00734090
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_101.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4394f7ab316ad1b4a8c52c3fce036768eb45b172
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_101.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00671434 0.03859125 0.00770733
+v 0.00671434 0.03907110 0.00752619
+v 0.00583846 0.03914170 0.00742234
+v 0.00583846 0.03859125 0.00763004
+v 0.00671434 0.03859125 -0.01696657
+v 0.00671434 0.03922594 0.00744166
+v 0.00511171 0.03859125 0.00754310
+v 0.00671434 0.03934881 0.00737403
+v 0.00607638 0.03934881 0.00732573
+v 0.00583846 0.03934881 0.00730157
+v 0.00369862 0.03914170 0.00702624
+v 0.00316890 0.03859125 0.00718806
+v 0.00605693 0.03859125 -0.01676128
+v 0.00671434 0.03873770 -0.01672022
+v 0.00671434 0.03934881 -0.01520346
+v 0.00428471 0.03934881 0.00701175
+v 0.00309907 0.03859125 0.00717115
+v 0.00396498 0.03934881 0.00695137
+v 0.00369862 0.03934881 0.00689099
+v 0.00161914 0.03920733 0.00647557
+v 0.00161914 0.03916268 0.00650214
+v 0.00578808 0.03859125 -0.01662844
+v 0.00586489 0.03934881 -0.01477355
+v 0.00161914 0.03859125 0.00680404
+v 0.00188450 0.03934881 0.00644659
+v 0.00178374 0.03934881 0.00641036
+v 0.00161914 0.03934881 0.00630167
+v 0.00363976 0.03859125 -0.01492571
+v 0.00583247 0.03934881 -0.01475664
+v 0.00161914 0.03859125 -0.01286794
+v 0.00161914 0.03934881 -0.01079809
+v 0.00345371 0.03859125 -0.01474698
+v 0.00353402 0.03865109 -0.01466728
+v 0.00374501 0.03934881 -0.01297904
+v 0.00554217 0.03934881 -0.01452478
+v 0.00161914 0.03864049 -0.01273510
+v 0.00327365 0.03859125 -0.01456343
+v 0.00161914 0.03872977 -0.01249117
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 17
+f 1 17 24
+f 1 24 30
+f 1 30 37
+f 1 37 32
+f 1 32 28
+f 1 28 22
+f 1 22 13
+f 1 13 5
+f 1 5 14
+f 1 14 15
+f 1 15 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 5 13 14
+f 8 15 23
+f 8 23 29
+f 8 29 35
+f 8 35 34
+f 8 34 31
+f 8 31 27
+f 8 27 26
+f 8 26 25
+f 8 25 19
+f 8 19 18
+f 8 18 16
+f 8 16 10
+f 8 10 9
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 13 22 15
+f 13 15 14
+f 15 22 23
+f 17 21 24
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 31
+f 20 31 38
+f 20 38 36
+f 20 36 30
+f 20 30 24
+f 20 24 21
+f 22 28 29
+f 22 29 23
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 37
+f 31 34 38
+f 32 37 33
+f 33 37 36
+f 33 36 34
+f 34 36 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_102.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f7694394300c858ee47daecb347fbc0fc5e2d6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_102.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00024728 -0.00052499 -0.01892411
+v -0.00024728 0.00226505 -0.01892411
+v 0.00113438 -0.00052499 -0.01892411
+v -0.00024728 -0.00052499 0.01435748
+v -0.00024728 0.00481866 -0.01892082
+v 0.00113438 0.00317623 -0.01892411
+v 0.00113438 -0.00052499 0.01404453
+v 0.00113438 0.00481866 0.01472973
+v -0.00024728 0.00321755 0.01401817
+v 0.00113438 0.00481866 -0.01892082
+v -0.00024728 0.00481866 0.01383040
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 5 11 8
+f 5 8 10
+f 8 11 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_103.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304904383cf4695eec9a7ba5b9ba2d8979910658
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_103.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03747777 -0.00701348
+v -0.00505689 0.03723468 -0.00804246
+v -0.00594128 0.03694885 -0.00701348
+v -0.00505689 0.01018762 -0.00701348
+v -0.00505689 0.03641993 -0.01008567
+v -0.00612209 0.03604328 -0.00943508
+v -0.00624620 0.03651076 -0.00807452
+v -0.00624620 0.03676453 -0.00701348
+v -0.00624620 0.01018762 -0.00701348
+v -0.00505689 0.01018762 -0.01022427
+v -0.00505689 0.03636383 -0.01022427
+v -0.00585873 0.03588567 -0.01022427
+v -0.00621116 0.03567463 -0.01022427
+v -0.00624620 0.03565327 -0.01022427
+v -0.00624620 0.01018762 -0.01022427
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 7 9 8
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_104.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0f4e5389411507341b43e4d2dd7da853b78a2a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_104.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00145747 -0.00052445 -0.01892411
+v -0.00145747 0.00494380 -0.01892411
+v -0.00024728 -0.00052445 -0.01892411
+v -0.00145747 -0.00052445 0.01554863
+v -0.00145747 0.00494380 0.01373659
+v -0.00024728 0.00494380 -0.01892074
+v -0.00024728 0.00455727 -0.01892411
+v -0.00024728 -0.00052445 0.01435747
+v -0.00024906 0.00494380 0.01382095
+v -0.00047319 -0.00052445 0.01463417
+v -0.00024728 0.00321724 0.01401329
+v -0.00024728 0.00494273 0.01382095
+v -0.00024728 0.00494380 0.00739274
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 6
+f 2 6 7
+f 3 7 6
+f 3 6 13
+f 3 13 12
+f 3 12 11
+f 3 11 8
+f 4 9 5
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 8 11 10
+f 9 12 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_105.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d9c0ca0819a5b9ac28d6ba9e4a9d1e5b4d4a20
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_105.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00060100 0.02908500 -0.01891736
+v -0.00124309 0.02908500 -0.01888562
+v -0.00060100 0.03053859 -0.01890414
+v -0.00060100 0.02908500 0.00810634
+v -0.00124309 0.03057961 -0.01886975
+v -0.00124309 0.02908500 0.00810634
+v -0.00060100 0.03057961 -0.01890149
+v -0.00060100 0.03170243 0.00810634
+v -0.00103585 0.03170423 -0.01871103
+v -0.00060100 0.03170423 -0.01877187
+v -0.00124309 0.03170423 -0.01868193
+v -0.00124309 0.03170423 0.00810634
+v -0.00061200 0.03170423 0.00810634
+v -0.00060100 0.03170423 0.00805079
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 14
+f 1 14 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 5 7
+f 4 8 13
+f 4 13 12
+f 4 12 6
+f 5 9 10
+f 5 10 7
+f 5 11 9
+f 8 14 13
+f 9 11 12
+f 9 12 13
+f 9 13 14
+f 9 14 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_106.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef57f310a6048f43216bfb36295a90b0298b3c1e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_106.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00060100 0.02908500 0.00810585
+v -0.00060100 0.02908500 0.00312006
+v -0.00124309 0.02908500 0.00810585
+v -0.00060100 0.00827640 0.00810585
+v -0.00124309 0.02908500 0.00312006
+v -0.00060100 0.00827640 0.00312006
+v -0.00124309 0.00827640 0.00810585
+v -0.00124309 0.00827640 0.00312006
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_107.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c52346e9cdd3178faf1c699a497c29bf120f8cc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_107.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.01879310 0.00076647
+v -0.00398662 -0.01879310 -0.00918973
+v -0.00505678 -0.01879310 0.00076647
+v -0.00398662 -0.03422891 0.00076647
+v -0.00505678 -0.01879310 -0.00918973
+v -0.00398662 -0.03422891 -0.00918973
+v -0.00505678 -0.03422891 0.00076647
+v -0.00505678 -0.03422891 -0.00918973
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_108.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e634ad554c223c2e2324f06f84e57c0ce3c077
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_108.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00742042 -0.03076021 0.00819604
+v -0.00576546 -0.03238791 0.00819604
+v -0.00488676 -0.03069778 0.00970183
+v -0.00618583 -0.02920832 0.00970183
+v -0.00742042 -0.02976129 0.00862511
+v -0.00742042 0.01250546 0.00819604
+v -0.00488676 -0.03305237 0.00819604
+v -0.00488676 0.01250546 0.00970183
+v -0.00663398 -0.02845021 0.00970183
+v -0.00728947 -0.02692507 0.00970183
+v -0.00742042 -0.02920832 0.00881215
+v -0.00742042 0.01250546 0.00970183
+v -0.00488676 0.01250546 0.00819604
+v -0.00742042 -0.02653710 0.00970183
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 14
+f 1 14 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 8
+f 3 8 12
+f 3 12 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 12 8
+f 6 8 13
+f 10 14 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_109.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97687571a7aac00b32588c38d05a174f05717e7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_109.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 0.03151609 -0.00292814
+v -0.00398662 0.03151609 -0.00724661
+v -0.00505678 0.03151609 -0.00292814
+v -0.00398662 -0.00191059 -0.00292814
+v -0.00505678 0.03151609 -0.00724661
+v -0.00398662 -0.00191059 -0.00724661
+v -0.00505678 -0.00191059 -0.00292814
+v -0.00505678 -0.00191059 -0.00724661
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_11.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66ffeb41a1a811f4c31b24a72d90ddf2eadc218
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.02716291 0.00534493 0.00902641
+v -0.02716291 0.00622678 0.00825511
+v -0.02735904 0.00600133 0.00803277
+v -0.02734522 0.00489167 0.00902641
+v -0.02716291 0.00052821 0.00902641
+v -0.02716291 0.00638530 0.00763974
+v -0.02760045 0.00551285 0.00689899
+v -0.02760045 0.00545883 0.00747747
+v -0.02785264 0.00489167 0.00689899
+v -0.02757022 0.00489167 0.00848271
+v -0.02716291 0.00644402 0.00689899
+v -0.02738365 0.00604478 0.00689899
+v -0.02760045 0.00457698 0.00853750
+v -0.02761503 0.00328179 0.00902641
+v -0.02719679 0.00061158 0.00902641
+v -0.02760045 0.00059749 0.00849535
+v -0.02742072 -0.00060141 0.00809073
+v -0.02716291 -0.00010118 0.00869134
+v -0.02737879 0.00603303 0.00551970
+v -0.02772943 0.00503845 0.00478738
+v -0.02850302 0.00275221 0.00475893
+v -0.02838452 0.00275221 0.00689899
+v -0.02760045 0.00481300 0.00842370
+v -0.02716291 0.00641818 0.00517935
+v -0.02777546 0.00275221 0.00885150
+v -0.02768477 0.00275221 0.00902641
+v -0.02760045 0.00061158 0.00850273
+v -0.02746645 0.00142415 0.00902641
+v -0.02760045 0.00049181 0.00843845
+v -0.02762020 0.00061275 0.00847638
+v -0.02716291 -0.00073527 0.00823614
+v -0.02716291 -0.00064603 0.00830041
+v -0.02827529 0.00061275 0.00689899
+v -0.02760045 -0.00119440 0.00709814
+v -0.02739991 -0.00269272 0.00593907
+v -0.02716291 -0.00285125 0.00611293
+v -0.02716291 -0.00239564 0.00657867
+v -0.02728612 0.00584750 0.00409299
+v -0.02716291 0.00618451 0.00432480
+v -0.02716291 0.00472611 0.00081598
+v -0.02716291 0.00359297 -0.00173819
+v -0.02816545 0.00275221 0.00262097
+v -0.02864568 0.00061275 0.00262097
+v -0.02871481 0.00061275 0.00475893
+v -0.02760045 0.00071609 0.00854698
+v -0.02760045 0.00223907 0.00902641
+v -0.02827620 -0.00152671 0.00475893
+v -0.02766334 -0.00139989 0.00675147
+v -0.02760045 -0.00170754 0.00655865
+v -0.02760045 -0.00308492 0.00479581
+v -0.02716291 -0.00392450 0.00475998
+v -0.02716291 0.00549054 0.00261991
+v -0.02739095 0.00207116 -0.00173819
+v -0.02716291 -0.00449283 -0.00173819
+v -0.02812656 0.00061275 0.00047985
+v -0.02812899 -0.00152671 0.00047985
+v -0.02852034 -0.00152671 0.00262097
+v -0.02716291 -0.00547567 0.00232066
+v -0.02716291 -0.00531714 0.00266206
+v -0.02760698 -0.00309666 0.00475893
+v -0.02760045 -0.00310958 0.00475893
+v -0.02739611 0.00203241 -0.00173819
+v -0.02716291 -0.00503181 -0.00079092
+v -0.02747815 -0.00152788 -0.00173819
+v -0.02755062 0.00041783 -0.00173819
+v -0.02716291 -0.00553320 0.00062210
+v -0.02716291 -0.00555199 0.00070112
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 26
+f 1 26 46
+f 1 46 28
+f 1 28 15
+f 1 15 5
+f 1 5 18
+f 1 18 32
+f 1 32 31
+f 1 31 37
+f 1 37 36
+f 1 36 51
+f 1 51 59
+f 1 59 58
+f 1 58 67
+f 1 67 66
+f 1 66 63
+f 1 63 54
+f 1 54 41
+f 1 41 40
+f 1 40 52
+f 1 52 39
+f 1 39 24
+f 1 24 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 12
+f 3 12 7
+f 4 10 13
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 7 12 19
+f 7 19 9
+f 7 9 8
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 9 19 20
+f 10 23 13
+f 11 24 19
+f 11 19 12
+f 13 22 25
+f 13 25 14
+f 13 23 22
+f 14 25 26
+f 15 27 16
+f 15 28 27
+f 16 29 17
+f 16 27 30
+f 16 30 29
+f 17 31 32
+f 17 32 18
+f 17 29 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 31
+f 19 38 20
+f 19 24 39
+f 19 39 38
+f 20 38 40
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 44
+f 21 44 22
+f 22 44 33
+f 22 33 25
+f 25 33 30
+f 25 30 26
+f 26 30 45
+f 26 45 46
+f 27 28 45
+f 27 45 30
+f 28 46 45
+f 29 30 33
+f 33 44 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 35 50 51
+f 35 51 36
+f 35 49 48
+f 35 48 47
+f 35 47 50
+f 38 39 52
+f 38 52 40
+f 41 53 43
+f 41 43 42
+f 41 54 64
+f 41 64 65
+f 41 65 62
+f 41 62 53
+f 43 53 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 44 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 50
+f 50 60 61
+f 50 61 51
+f 51 61 59
+f 53 62 55
+f 54 63 57
+f 54 57 56
+f 54 56 64
+f 55 65 56
+f 55 62 65
+f 56 65 64
+f 57 63 66
+f 57 66 67
+f 57 67 58
+f 59 61 60
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_110.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bdf18134d826344b130acb8ebdd7202627e807
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_110.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00742042 0.01250547 0.01059411
+v -0.00742042 0.01250547 0.00819604
+v -0.00693122 0.01250547 0.01032323
+v -0.00634381 0.01431381 0.00941526
+v -0.00634381 0.01559344 0.00892889
+v -0.00742042 0.01532711 0.00882889
+v -0.00634381 0.01250547 0.00819604
+v -0.00742042 0.01559344 0.00819604
+v -0.00634381 0.01250547 0.00973709
+v -0.00634381 0.01559344 0.00819604
+v -0.00742042 0.01559344 0.00863265
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 8
+f 1 8 2
+f 2 8 10
+f 2 10 7
+f 3 9 4
+f 4 9 7
+f 4 7 10
+f 4 10 5
+f 5 10 8
+f 5 8 11
+f 5 11 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_111.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035793320ad74ff6d9e43797ee6c6dd38f2c3885
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_111.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.02974258 -0.01833465
+v -0.00697561 0.02843819 -0.01866257
+v -0.00700422 0.02843819 -0.01865980
+v -0.00702154 0.02971897 -0.01833465
+v -0.00697561 -0.02995804 -0.01833465
+v -0.00697561 0.02629570 -0.01888525
+v -0.00700422 0.02629570 -0.01888473
+v -0.00740928 0.02629570 -0.01885120
+v -0.00740928 0.02845590 -0.01856869
+v -0.00727081 0.02948288 -0.01833465
+v -0.00697926 -0.03055416 -0.01833465
+v -0.00697561 -0.02938553 -0.01864509
+v -0.00697561 0.02415321 -0.01892408
+v -0.00700422 0.02415321 -0.01892408
+v -0.00740928 0.02415321 -0.01891947
+v -0.00740928 0.02934713 -0.01833465
+v -0.00740928 -0.03021774 -0.01833465
+v -0.00740928 -0.02937963 -0.01855824
+v -0.00700422 -0.02935012 -0.01864734
+v -0.00697561 -0.02935012 -0.01865011
+v -0.00697561 -0.02507103 -0.01892408
+v -0.00740928 0.02201662 -0.01892408
+v -0.00740928 -0.02894877 -0.01865484
+v -0.00697561 -0.02724304 -0.01888762
+v -0.00700422 -0.02721352 -0.01888842
+v -0.00697561 -0.02510054 -0.01892403
+v -0.00700422 -0.02507103 -0.01892408
+v -0.00740928 -0.02466378 -0.01892408
+v -0.00740928 -0.02721352 -0.01885028
+v -0.00697561 -0.02721352 -0.01888888
+v -0.00740928 -0.02680628 -0.01888738
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 20
+f 1 20 24
+f 1 24 30
+f 1 30 26
+f 1 26 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 22
+f 8 22 28
+f 8 28 31
+f 8 31 29
+f 8 29 23
+f 8 23 18
+f 8 18 17
+f 8 17 16
+f 8 16 9
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 21 27
+f 13 27 28
+f 13 28 22
+f 13 22 14
+f 14 22 15
+f 18 23 19
+f 19 23 20
+f 20 23 25
+f 20 25 24
+f 21 26 27
+f 23 29 25
+f 24 25 30
+f 25 29 31
+f 25 31 28
+f 25 28 27
+f 25 27 30
+f 26 30 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_112.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aeacc4ff63f186de6fa40d1aea5c1038777788f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_112.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00118157 0.01185966 0.00704576
+v 0.00118313 0.00827640 0.00426182
+v 0.00118157 0.01185966 0.00810634
+v 0.00118157 0.03334451 0.00704576
+v 0.01130326 0.00827640 0.00426144
+v 0.00118313 0.00827640 0.00704538
+v 0.00118313 0.03334942 0.00426182
+v 0.00118313 0.00827885 0.00810634
+v 0.00118157 0.03334451 0.00810634
+v 0.01706288 0.00827640 0.00426144
+v 0.01130326 0.03334942 0.00426144
+v 0.01705355 0.00827640 0.00704538
+v 0.00118313 0.03334942 0.00704538
+v 0.01699447 0.00827885 0.00810634
+v 0.01693696 0.03334451 0.00810634
+v 0.01706288 0.00827640 0.00689973
+v 0.01706288 0.03107429 0.00426144
+v 0.01706132 0.03334942 0.00426144
+v 0.01696649 0.03334942 0.00704538
+v 0.01701779 0.00917712 0.00810634
+v 0.01703645 0.03334942 0.00627083
+v 0.01699292 0.03271621 0.00810634
+v 0.01706288 0.01346231 0.00704538
+v 0.01705977 0.01346231 0.00810634
+v 0.01704733 0.01131726 0.00810634
+v 0.01706288 0.03057607 0.00704538
+v 0.01705821 0.03334942 0.00476050
+v 0.01705977 0.03057362 0.00810634
+v 0.01701002 0.03232107 0.00810634
+v 0.01704267 0.03150625 0.00810634
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 10
+f 2 10 16
+f 2 16 12
+f 2 12 6
+f 2 7 11
+f 2 11 5
+f 3 6 8
+f 3 8 14
+f 3 14 20
+f 3 20 25
+f 3 25 24
+f 3 24 28
+f 3 28 30
+f 3 30 29
+f 3 29 22
+f 3 22 15
+f 3 15 9
+f 4 9 13
+f 4 13 7
+f 5 11 18
+f 5 18 17
+f 5 17 10
+f 6 12 14
+f 6 14 8
+f 7 13 19
+f 7 19 21
+f 7 21 27
+f 7 27 18
+f 7 18 11
+f 9 15 19
+f 9 19 13
+f 10 17 26
+f 10 26 23
+f 10 23 16
+f 12 16 14
+f 14 16 20
+f 15 21 19
+f 15 22 21
+f 16 23 24
+f 16 24 25
+f 16 25 20
+f 17 18 26
+f 18 27 28
+f 18 28 26
+f 21 22 29
+f 21 29 30
+f 21 30 28
+f 21 28 27
+f 23 26 28
+f 23 28 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_113.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afb98b4782b2dcd1f81b9f6f632da5340b7f83c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_113.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00588040 -0.04021241 0.00723996
+v 0.00583876 -0.04021241 0.00723571
+v 0.00588040 -0.04067040 0.00696143
+v 0.00588040 -0.04021241 -0.01448112
+v 0.00369875 -0.04021241 0.00685300
+v 0.00583876 -0.04067040 0.00695718
+v 0.00588040 -0.04067040 -0.01319266
+v 0.00486235 -0.04067040 -0.01240384
+v 0.00366948 -0.04021241 -0.01276529
+v 0.00176286 -0.04021241 0.00642138
+v 0.00369875 -0.04067040 0.00654258
+v 0.00419025 -0.04067040 -0.01188080
+v 0.00369875 -0.04036332 -0.01236344
+v 0.00348228 -0.04021241 -0.01259095
+v 0.00369875 -0.04067040 -0.01149809
+v 0.00189398 -0.04067040 -0.00988644
+v 0.00166843 -0.04021241 0.00634697
+v 0.00212365 -0.04067040 0.00616624
+v 0.00166843 -0.04021241 -0.01089638
+v 0.00166843 -0.04067040 -0.00966319
+v 0.00166843 -0.04057925 -0.00990983
+v 0.00166843 -0.04035010 -0.01052855
+v 0.00166843 -0.04025106 0.00628956
+v 0.00166843 -0.04067040 0.00565596
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 18
+f 3 18 24
+f 3 24 20
+f 3 20 16
+f 3 16 15
+f 3 15 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 8 12 13
+f 8 13 9
+f 9 13 15
+f 9 15 16
+f 9 16 14
+f 10 17 18
+f 10 18 11
+f 12 15 13
+f 14 16 19
+f 16 20 21
+f 16 21 22
+f 16 22 19
+f 17 23 18
+f 17 19 22
+f 17 22 21
+f 17 21 20
+f 17 20 24
+f 17 24 23
+f 18 23 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_114.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d45389af747bc84178a3967423ad8f2b856eb34
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_114.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01706344 0.03914175 -0.00380341
+v 0.01705701 0.03934878 -0.00380596
+v 0.01705099 0.03914175 0.00475923
+v 0.01705260 0.03859125 0.00475923
+v 0.01706344 0.03859125 -0.00380341
+v 0.01706344 0.03914175 -0.01022349
+v 0.01703974 0.03989761 -0.00380596
+v 0.01702408 0.03934878 0.00475923
+v 0.01691163 0.03859125 0.00530887
+v 0.01704336 0.03934878 0.00455057
+v 0.01706344 0.03859125 -0.01022349
+v 0.01701364 0.03859125 -0.01236351
+v 0.01699637 0.03914175 -0.01236351
+v 0.01703131 0.03989761 -0.00593835
+v 0.01703493 0.03989761 -0.00166593
+v 0.01702167 0.03989761 0.00400348
+v 0.01695099 0.03989761 0.00475668
+v 0.01638674 0.03989761 0.00612823
+v 0.01621084 0.03859125 0.00700358
+v 0.01680722 0.03859125 -0.01450354
+v 0.01671846 0.03914175 -0.01450354
+v 0.01690200 0.03934878 -0.01236351
+v 0.01695380 0.03989761 -0.00808092
+v 0.01609397 0.03989761 0.00677457
+v 0.01623614 0.03934878 0.00667278
+v 0.01613694 0.03898843 0.00702903
+v 0.01606907 0.03859125 0.00724532
+v 0.01630441 0.03859125 -0.01658503
+v 0.01659879 0.03934878 -0.01450354
+v 0.01665099 0.03989761 -0.01236097
+v 0.01609277 0.03916221 -0.01656468
+v 0.01489519 0.03989761 0.00734456
+v 0.01583614 0.03859125 0.00749978
+v 0.01605180 0.03859125 0.00727331
+v 0.01586707 0.03859125 -0.01767413
+v 0.01628112 0.03989761 -0.01450354
+v 0.01579237 0.03989761 -0.01606593
+v 0.01440162 0.03989761 0.00751251
+v 0.01440162 0.03929520 0.00776442
+v 0.01440162 0.03859125 0.00792473
+v 0.01567189 0.03859125 -0.01782935
+v 0.01482531 0.03934878 -0.01726445
+v 0.01440162 0.03972780 -0.01697945
+v 0.01440162 0.03989761 -0.01667919
+v 0.01296067 0.03989761 0.00750233
+v 0.01305705 0.03934878 0.00773389
+v 0.01305705 0.03932972 0.00774152
+v 0.01305705 0.03930978 0.00774916
+v 0.01305705 0.03885326 0.00787130
+v 0.01305705 0.03859125 0.00794000
+v 0.01488234 0.03859125 -0.01799475
+v 0.01440162 0.03865774 -0.01803038
+v 0.01456186 0.03934878 -0.01732043
+v 0.01440162 0.03934878 -0.01735351
+v 0.01305705 0.03860365 -0.01801256
+v 0.01296067 0.03973547 -0.01671481
+v 0.01391769 0.03989761 -0.01662575
+v 0.01296067 0.03952256 0.00766009
+v 0.01296067 0.03989761 -0.01645526
+v 0.01296067 0.03934878 0.00773134
+v 0.01305705 0.03859125 -0.01801765
+v 0.01440162 0.03859125 -0.01805582
+v 0.01296067 0.03935044 -0.01708887
+v 0.01296067 0.03934878 -0.01649597
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 8
+f 4 9 19
+f 4 19 27
+f 4 27 34
+f 4 34 33
+f 4 33 40
+f 4 40 50
+f 4 50 61
+f 4 61 62
+f 4 62 51
+f 4 51 41
+f 4 41 35
+f 4 35 28
+f 4 28 20
+f 4 20 12
+f 4 12 11
+f 4 11 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 10
+f 7 14 23
+f 7 23 30
+f 7 30 36
+f 7 36 37
+f 7 37 44
+f 7 44 57
+f 7 57 59
+f 7 59 45
+f 7 45 38
+f 7 38 32
+f 7 32 24
+f 7 24 18
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 8 10 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 10 15 16
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 18 24 25
+f 18 25 19
+f 19 26 27
+f 19 25 26
+f 20 28 21
+f 21 29 30
+f 21 30 22
+f 21 28 31
+f 21 31 29
+f 22 30 23
+f 24 32 33
+f 24 33 34
+f 24 34 26
+f 24 26 25
+f 26 34 27
+f 28 35 31
+f 29 36 30
+f 29 31 36
+f 31 35 37
+f 31 37 36
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 35 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 45 58 46
+f 45 59 56
+f 45 56 63
+f 45 63 64
+f 45 64 60
+f 45 60 58
+f 46 60 47
+f 46 58 60
+f 47 60 48
+f 48 60 49
+f 49 60 50
+f 50 60 64
+f 50 64 61
+f 51 62 52
+f 52 62 61
+f 52 61 55
+f 52 55 54
+f 52 54 53
+f 55 61 63
+f 55 63 56
+f 56 59 57
+f 61 64 63
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_115.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9308c3f38a343c1dcc67d08f87f6cf107f649a62
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_115.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.03864085 -0.00380046
+v 0.01706170 -0.03864085 0.00475993
+v 0.01706256 -0.03947140 -0.00380046
+v 0.01706343 -0.03864085 -0.00735829
+v 0.01706083 -0.03947140 0.00475993
+v 0.01626590 -0.03864085 0.00694580
+v 0.01706256 -0.03947140 -0.01080803
+v 0.01706256 -0.03864085 -0.01163959
+v 0.01618122 -0.03947140 0.00699873
+v 0.01583127 -0.03864085 0.00757443
+v 0.01551934 -0.03908568 0.00799131
+v 0.01581053 -0.03947140 0.00753693
+v 0.01700899 -0.03947140 -0.01294978
+v 0.01703837 -0.03864085 -0.01377913
+v 0.01552885 -0.03864085 0.00799572
+v 0.01440038 -0.03864085 0.00801557
+v 0.01440038 -0.03912649 0.00800233
+v 0.01513051 -0.03947140 0.00790528
+v 0.01679297 -0.03947140 -0.01451805
+v 0.01679470 -0.03946367 -0.01451805
+v 0.01693641 -0.03864085 -0.01451805
+v 0.01226096 -0.03864085 0.00801336
+v 0.01226096 -0.03911161 0.00800233
+v 0.01440038 -0.03947140 0.00791852
+v 0.00823614 -0.03947140 -0.01451805
+v 0.00823614 -0.03864085 -0.01451805
+v 0.01012067 -0.03864085 0.00800895
+v 0.01012067 -0.03907958 0.00799572
+v 0.01226096 -0.03947140 0.00790528
+v 0.00823614 -0.03947140 0.00775309
+v 0.00823614 -0.03864085 0.00789867
+v 0.00862497 -0.03864085 0.00799131
+v 0.00888505 -0.03903201 0.00798248
+v 0.01012067 -0.03947140 0.00787881
+v 0.00826639 -0.03947140 0.00776191
+v 0.00823614 -0.03924926 0.00779279
+v 0.00847117 -0.03947140 0.00780823
+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 26
+f 1 26 31
+f 1 31 32
+f 1 32 27
+f 1 27 22
+f 1 22 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 12
+f 3 12 18
+f 3 18 24
+f 3 24 29
+f 3 29 34
+f 3 34 37
+f 3 37 35
+f 3 35 30
+f 3 30 25
+f 3 25 19
+f 3 19 13
+f 3 13 7
+f 4 7 8
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 7 13 14
+f 7 14 8
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 21
+f 19 21 20
+f 22 27 23
+f 23 28 29
+f 23 29 24
+f 23 27 28
+f 25 30 36
+f 25 36 31
+f 25 31 26
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 36
+f 31 36 35
+f 31 35 32
+f 32 35 33
+f 33 35 37
+f 33 37 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_116.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c93ed545f8e2edb33472fc14b360a0085efa576
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_116.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 -0.01221999 -0.01892060
+v 0.00369825 -0.01041226 -0.01892412
+v 0.00409429 -0.01221999 -0.01892060
+v 0.00290743 -0.01221999 0.01704924
+v 0.00290743 -0.00708391 -0.01892060
+v 0.00409429 -0.01041226 -0.01892412
+v 0.00369825 -0.01009043 -0.01892412
+v 0.00409429 -0.01221999 0.01619005
+v 0.00409429 -0.01206159 0.01616188
+v 0.00409429 -0.01173927 0.01608441
+v 0.00409429 -0.00708391 0.01490478
+v 0.00290743 -0.00794579 0.01507381
+v 0.00290743 -0.00708391 0.01418644
+v 0.00409429 -0.00708391 -0.01892060
+v 0.00409429 -0.01009043 -0.01892412
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 7
+f 1 7 2
+f 2 7 15
+f 2 15 6
+f 3 6 15
+f 3 15 14
+f 3 14 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 11
+f 5 11 14
+f 5 14 15
+f 5 15 7
+f 11 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_117.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ae0bcc4b73f977348b15036888044c165c4c99
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_117.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01040509 0.02000924 -0.00612663
+v -0.01040509 0.02000924 -0.01685202
+v -0.01106117 0.02000924 -0.00612663
+v -0.01040509 -0.03372109 -0.00612663
+v -0.01106117 0.02000924 -0.01685202
+v -0.01040509 0.02000398 -0.01892018
+v -0.01106117 -0.03372109 -0.00612663
+v -0.01040509 -0.03372109 -0.00970927
+v -0.01106117 0.02000398 -0.01892018
+v -0.01040509 0.01994612 -0.01892143
+v -0.01106117 -0.03372109 -0.00852299
+v -0.01040509 -0.03285855 -0.01176241
+v -0.01049025 -0.03372109 -0.00956021
+v -0.01106117 0.01987249 -0.01892269
+v -0.01040509 0.01987249 -0.01892269
+v -0.01078046 -0.03372109 -0.00903408
+v -0.01106117 -0.03304789 -0.01009134
+v -0.01048646 -0.03277966 -0.01180500
+v -0.01040509 -0.03282699 -0.01183255
+v -0.01106117 -0.02101431 -0.01892269
+v -0.01040509 -0.02169278 -0.01892269
+v -0.01106117 -0.03255876 -0.01119494
+v -0.01040509 -0.03096515 -0.01590500
+v -0.01040509 -0.03226423 -0.01307395
+v -0.01040509 -0.02380707 -0.01887884
+v -0.01106117 -0.02314964 -0.01887759
+v -0.01106117 -0.03118605 -0.01414123
+v -0.01053944 -0.03071796 -0.01618184
+v -0.01040509 -0.03079159 -0.01623570
+v -0.01040509 -0.02383863 -0.01887634
+v -0.01040509 -0.02594766 -0.01867716
+v -0.01106117 -0.02529549 -0.01867215
+v -0.01106117 -0.03049180 -0.01559308
+v -0.01106117 -0.02991327 -0.01661777
+v -0.01040509 -0.03007631 -0.01742198
+v -0.01040509 -0.02597921 -0.01867090
+v -0.01106117 -0.02730459 -0.01822745
+v -0.01106117 -0.02963977 -0.01704368
+v -0.01106117 -0.02870886 -0.01783161
+v -0.01040509 -0.02960822 -0.01775018
+v -0.01040509 -0.02726777 -0.01838404
+v -0.01106117 -0.02766223 -0.01814603
+v -0.01040509 -0.02833544 -0.01814603
+v -0.01106117 -0.02813032 -0.01801826
+v -0.01075869 -0.02886664 -0.01790426
+v -0.01040509 -0.02901390 -0.01796189
+v -0.01106117 -0.02768853 -0.01813976
+v -0.01040509 -0.02835122 -0.01814227
+v -0.01040509 -0.02840907 -0.01812724
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 24
+f 1 24 23
+f 1 23 29
+f 1 29 35
+f 1 35 40
+f 1 40 46
+f 1 46 49
+f 1 49 48
+f 1 48 43
+f 1 43 41
+f 1 41 36
+f 1 36 31
+f 1 31 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 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 20
+f 3 20 26
+f 3 26 32
+f 3 32 37
+f 3 37 42
+f 3 42 47
+f 3 47 44
+f 3 44 39
+f 3 39 38
+f 3 38 34
+f 3 34 33
+f 3 33 27
+f 3 27 22
+f 3 22 17
+f 3 17 11
+f 3 11 7
+f 4 7 11
+f 4 11 16
+f 4 16 13
+f 4 13 8
+f 6 10 9
+f 8 13 12
+f 9 10 14
+f 10 15 14
+f 11 17 18
+f 11 18 16
+f 12 13 18
+f 12 18 19
+f 13 16 18
+f 14 15 21
+f 14 21 20
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 21 25
+f 20 25 26
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 31 36 32
+f 32 36 37
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 36 41 37
+f 37 41 43
+f 37 43 42
+f 39 44 45
+f 39 45 40
+f 40 45 46
+f 42 43 48
+f 42 48 47
+f 44 47 45
+f 45 47 49
+f 45 49 46
+f 47 48 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_118.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d536d2b63852382d72d06a5a9e5d2f13cf8616
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_118.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.01018762 -0.00701348
+v -0.00505689 0.01018762 -0.01022427
+v -0.00624620 0.01018762 -0.00701348
+v -0.00505689 -0.03836396 -0.00701348
+v -0.00624620 0.01018762 -0.01022427
+v -0.00505689 -0.03725187 -0.01022427
+v -0.00624620 -0.03765108 -0.00701348
+v -0.00582368 -0.03791247 -0.00701348
+v -0.00505689 -0.03812633 -0.00798809
+v -0.00624620 -0.03649622 -0.01022427
+v -0.00505689 -0.03730890 -0.01009855
+v -0.00610987 -0.03696672 -0.00945520
+v -0.00624620 -0.03749900 -0.00767286
+v -0.00624620 -0.03740395 -0.00806604
+v -0.00505689 -0.03799802 -0.00832218
+v -0.00624620 -0.03706177 -0.00898691
+v -0.00624620 -0.03681464 -0.00958312
+v -0.00624620 -0.03692395 -0.00932791
+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 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 18
+f 3 18 16
+f 3 16 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 16
+f 9 16 12
+f 9 12 15
+f 10 12 17
+f 11 15 12
+f 12 18 17
+f 12 16 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_119.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50f0705937f0312eb53a0ae29c27363bd4dd970
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_119.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 -0.00708325 -0.01892078
+v 0.00409429 -0.00708325 -0.01892078
+v 0.00290743 -0.00708325 0.01418587
+v 0.00290743 -0.00546538 -0.01892078
+v 0.00290755 -0.00546538 -0.01892412
+v 0.00390423 -0.00546538 -0.01892412
+v 0.00409429 -0.00546538 -0.01892078
+v 0.00409429 -0.00708325 0.01490637
+v 0.00290755 -0.00224764 0.01459949
+v 0.00290743 -0.00546538 0.01416919
+v 0.00290755 -0.00224764 -0.01892078
+v 0.00290755 -0.00366907 -0.01892412
+v 0.00390423 -0.00366907 -0.01892412
+v 0.00390423 -0.00224764 -0.01892078
+v 0.00409429 -0.00546538 0.01473625
+v 0.00409429 -0.00547012 0.01475293
+v 0.00390423 -0.00224764 0.01515322
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 7
+f 2 7 15
+f 2 15 16
+f 2 16 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 11
+f 4 11 12
+f 5 12 13
+f 5 13 6
+f 7 13 14
+f 7 14 17
+f 7 17 15
+f 8 16 17
+f 8 17 9
+f 9 17 14
+f 9 14 11
+f 11 14 13
+f 11 13 12
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_12.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3eb097aa7549b3e14d03e9e277acd7e0648b7f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.01199458 0.01914879 0.01807322
+v 0.01435533 0.01886474 0.01807322
+v 0.01440121 0.02152174 0.02030440
+v 0.01440121 0.02259132 0.02111895
+v 0.01199458 0.02282636 0.02081586
+v 0.01199458 0.03170356 0.01807322
+v 0.01626020 0.01988656 0.01807322
+v 0.01594544 0.02036794 0.01921722
+v 0.01587982 0.02259132 0.02109407
+v 0.01440121 0.02415863 0.02170173
+v 0.01199458 0.02415863 0.02148481
+v 0.01199458 0.02400780 0.02141758
+v 0.01199458 0.02295958 0.02090872
+v 0.01199458 0.03034112 0.01959423
+v 0.01226100 0.03033232 0.01959051
+v 0.01226100 0.03168722 0.01807322
+v 0.01687444 0.02200060 0.01807322
+v 0.01631941 0.02193399 0.01985609
+v 0.01693266 0.02415863 0.01974391
+v 0.01613686 0.02415863 0.02130504
+v 0.01440121 0.02629780 0.02176078
+v 0.01226100 0.02629780 0.02186776
+v 0.01199458 0.02629780 0.02185958
+v 0.01199458 0.02603261 0.02181353
+v 0.01199458 0.02930924 0.02066395
+v 0.01226100 0.02930798 0.02066023
+v 0.01440121 0.03003445 0.01929485
+v 0.01440121 0.02904278 0.02036495
+v 0.01273611 0.03155399 0.01807322
+v 0.01703429 0.02415863 0.01807322
+v 0.01703429 0.02582774 0.01807322
+v 0.01701406 0.02629780 0.01807322
+v 0.01684040 0.02629780 0.01974391
+v 0.01604411 0.02629780 0.02123335
+v 0.01575648 0.02764893 0.02099824
+v 0.01440121 0.02797194 0.02117801
+v 0.01226100 0.02823839 0.02128647
+v 0.01199458 0.02823965 0.02128350
+v 0.01573477 0.02972149 0.01894051
+v 0.01440121 0.03108518 0.01807322
+v 0.01685816 0.02796817 0.01807322
+v 0.01611910 0.02839299 0.01969006
+v 0.01606927 0.02992636 0.01807322
+v 0.01592225 0.03017773 0.01807322
+v 0.01669535 0.02842818 0.01807322
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 24
+f 1 24 23
+f 1 23 38
+f 1 38 25
+f 1 25 14
+f 1 14 6
+f 1 6 16
+f 1 16 29
+f 1 29 40
+f 1 40 44
+f 1 44 43
+f 1 43 45
+f 1 45 41
+f 1 41 32
+f 1 32 31
+f 1 31 30
+f 1 30 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 14 25 26
+f 14 26 15
+f 15 27 16
+f 15 26 28
+f 15 28 27
+f 16 27 29
+f 17 19 18
+f 17 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 25 38 37
+f 25 37 26
+f 26 37 36
+f 26 36 28
+f 27 39 40
+f 27 40 29
+f 27 28 39
+f 28 36 35
+f 28 35 39
+f 32 41 33
+f 33 41 42
+f 33 42 35
+f 33 35 34
+f 35 42 39
+f 39 43 44
+f 39 44 40
+f 39 42 43
+f 41 45 42
+f 42 45 43
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_120.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9554a215417c0774ecfc2e0d4cba69677b35e156
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_120.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.00891576 0.00423379
+v -0.00907299 0.00892016 0.00268757
+v -0.00950666 0.00891576 0.00423379
+v -0.00907299 -0.03557798 0.00423379
+v -0.00950666 0.00892016 0.00268757
+v -0.00907299 0.00892016 -0.01198244
+v -0.00950666 -0.03526118 0.00423379
+v -0.00917639 -0.03550318 0.00423379
+v -0.00907299 -0.03596519 0.00261772
+v -0.00950666 0.00892016 -0.01198244
+v -0.00907299 -0.03197871 -0.01198403
+v -0.00950666 -0.03564838 0.00261772
+v -0.00949668 -0.03563959 0.00268757
+v -0.00919456 -0.03548998 0.00423379
+v -0.00914693 -0.03589479 0.00268757
+v -0.00907299 -0.03603119 0.00047778
+v -0.00950666 -0.03566599 0.00207004
+v -0.00950666 -0.03197871 -0.01198403
+v -0.00907299 -0.03375195 -0.01198403
+v -0.00907299 -0.03603119 -0.00380527
+v -0.00950666 -0.03571439 0.00047778
+v -0.00950666 -0.03343074 -0.01198403
+v -0.00907299 -0.03542398 -0.00802324
+v -0.00919745 -0.03533598 -0.00801847
+v -0.00950666 -0.03464076 -0.00913448
+v -0.00907299 -0.03593879 -0.00594203
+v -0.00950666 -0.03571439 -0.00380527
+v -0.00950666 -0.03562639 -0.00594203
+v -0.00914481 -0.03589039 -0.00594203
+v -0.00950666 -0.03519518 -0.00781845
+v -0.00907299 -0.03547678 -0.00781051
+v -0.00950666 -0.03556918 -0.00633414
+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 26
+f 1 26 31
+f 1 31 23
+f 1 23 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 18
+f 3 18 22
+f 3 22 25
+f 3 25 30
+f 3 30 32
+f 3 32 28
+f 3 28 27
+f 3 27 21
+f 3 21 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 6 11 18
+f 6 18 10
+f 7 12 13
+f 7 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 13
+f 9 13 12
+f 9 12 17
+f 9 17 16
+f 11 19 22
+f 11 22 18
+f 13 15 14
+f 16 17 21
+f 16 21 27
+f 16 27 20
+f 19 23 24
+f 19 24 25
+f 19 25 22
+f 20 27 28
+f 20 28 29
+f 20 29 26
+f 23 30 24
+f 23 31 32
+f 23 32 30
+f 24 30 25
+f 26 29 32
+f 26 32 31
+f 28 32 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_121.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f9d5bb06221d86e3719fbe5a43c0adbd8bcb8f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_121.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00390657 0.00846430 0.00819655
+v -0.00285283 0.00846430 0.00819655
+v -0.00390657 0.00846430 0.01212141
+v -0.00390657 0.01250507 0.00819655
+v -0.00285283 0.01250507 0.00819655
+v -0.00285283 0.00846430 0.01273618
+v -0.00285283 0.01250507 0.01335247
+v -0.00390657 0.01231520 0.01211838
+v -0.00390657 0.01250507 0.01207245
+v -0.00373266 0.01250507 0.01231624
+v -0.00390657 0.01244692 0.01208708
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 11
+f 1 11 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 7
+f 4 7 5
+f 7 10 8
+f 8 10 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_122.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc8cbf9b5653fbd1afdf32ee1a7bd66404bdaec
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_122.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.00052445 -0.01892061
+v -0.00285283 0.00489241 -0.01892411
+v -0.00284846 0.00294742 -0.01892411
+v -0.00145772 -0.00052445 -0.01892061
+v -0.00285283 -0.00052445 0.01682583
+v -0.00285283 0.00494380 -0.01892411
+v -0.00145772 0.00294742 -0.01892411
+v -0.00145772 -0.00052445 0.01554504
+v -0.00285283 0.00061267 0.01630791
+v -0.00201230 -0.00052445 0.01615044
+v -0.00145772 0.00494380 0.01373935
+v -0.00145772 0.00494380 -0.01892411
+v -0.00285283 0.00494380 0.01374285
+v -0.00175474 -0.00052445 0.01587749
+v -0.00285283 0.00247254 0.01522660
+v -0.00285283 0.00491061 0.01376735
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 10
+f 1 10 5
+f 1 5 9
+f 1 9 15
+f 1 15 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 4 7 12
+f 4 12 11
+f 4 11 8
+f 5 10 11
+f 5 11 9
+f 6 13 11
+f 6 11 12
+f 8 11 14
+f 9 11 15
+f 10 14 11
+f 11 13 16
+f 11 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_123.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e123f2f980f5daaed3f2839e6139f192c64cadd9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_123.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.00757589 -0.01020724
+v -0.00285283 -0.00757589 -0.01892326
+v -0.00398662 -0.00757589 -0.01020724
+v -0.00285283 -0.02408012 -0.01020724
+v -0.00398662 -0.00757589 -0.01892326
+v -0.00285283 -0.02408012 -0.01892412
+v -0.00398662 -0.02408012 -0.01020724
+v -0.00398662 -0.02408012 -0.01892326
+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 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+f 5 6 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_124.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fe21584d15dc57cf910994d618a9389d4a2b85
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_124.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 -0.00909651 -0.01892411
+v -0.00740928 -0.00580953 -0.01892411
+v -0.00740928 -0.00909651 -0.01892279
+v -0.00854170 -0.00909651 -0.00540631
+v -0.00854170 -0.00547679 -0.01892411
+v -0.00740928 -0.00547679 -0.01892411
+v -0.00740928 -0.00909651 -0.00540631
+v -0.00854170 -0.00547679 -0.00540631
+v -0.00740928 -0.00547679 -0.00540631
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 2 7 3
+f 4 7 9
+f 4 9 8
+f 5 8 9
+f 5 9 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_125.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3667579202c04a1913aeca0c077b446d1abe62c6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_125.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.00546566 0.00655530
+v 0.01705828 -0.00546566 0.01331438
+v 0.01706343 -0.00546566 -0.01449869
+v 0.01706343 -0.00440119 0.00562865
+v 0.01706214 -0.00366899 0.01331438
+v 0.01706214 -0.00440119 0.01331438
+v 0.01702479 -0.00546566 0.01511317
+v 0.01700289 -0.00546566 -0.01663816
+v 0.01706343 -0.00440119 -0.01449869
+v 0.01706214 -0.00351299 0.01101820
+v 0.01704540 -0.00440119 0.01407069
+v 0.01706085 -0.00351299 0.01315426
+v 0.01705184 -0.00351299 0.01331438
+v 0.01690757 -0.00440119 0.01545725
+v 0.01699001 -0.00546566 0.01545725
+v 0.01687537 -0.00546566 -0.01690729
+v 0.01700289 -0.00440119 -0.01663816
+v 0.01705828 -0.00351299 -0.01465540
+v 0.01706214 -0.00351299 -0.01449528
+v 0.01685348 -0.00351299 0.01530054
+v 0.01684832 -0.00366899 0.01545725
+v 0.01673883 -0.00440119 0.01587970
+v 0.01682127 -0.00546566 0.01587970
+v 0.01620557 -0.00546566 -0.01831430
+v 0.01653016 -0.00440119 -0.01763294
+v 0.01700032 -0.00351299 -0.01664156
+v 0.01682127 -0.00351299 0.01545725
+v 0.01666541 -0.00366899 0.01587970
+v 0.01671178 -0.00407619 0.01587970
+v 0.00597556 -0.00546566 0.01587970
+v 0.01439966 -0.00546566 -0.01892071
+v 0.01620557 -0.00440119 -0.01831430
+v 0.01620428 -0.00351299 -0.01831089
+v 0.01663836 -0.00351299 0.01587970
+v 0.00546806 -0.00351299 0.01587970
+v 0.00390432 -0.00546566 0.01464644
+v 0.00390560 -0.00546566 -0.01892071
+v 0.00434098 -0.00440119 -0.01892412
+v 0.01439966 -0.00440119 -0.01892071
+v 0.01600720 -0.00351299 -0.01837903
+v 0.00403184 -0.00351299 0.01499734
+v 0.00390560 -0.00351299 0.01491898
+v 0.00390432 -0.00440119 0.01478612
+v 0.00390432 -0.00546566 0.01407069
+v 0.00390560 -0.00440119 -0.01892071
+v 0.00434098 -0.00407313 -0.01892412
+v 0.01439838 -0.00351299 -0.01891730
+v 0.00390560 -0.00351299 -0.01891730
+v 0.00390432 -0.00440119 0.01407069
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 30
+f 1 30 36
+f 1 36 44
+f 1 44 37
+f 1 37 31
+f 1 31 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 17
+f 3 17 9
+f 4 10 5
+f 4 9 19
+f 4 19 10
+f 5 11 7
+f 5 7 6
+f 5 10 12
+f 5 12 13
+f 5 13 11
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 9 17 18
+f 9 18 19
+f 10 19 18
+f 10 18 26
+f 10 26 33
+f 10 33 40
+f 10 40 47
+f 10 47 48
+f 10 48 42
+f 10 42 41
+f 10 41 35
+f 10 35 34
+f 10 34 27
+f 10 27 20
+f 10 20 13
+f 10 13 12
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 20 27 21
+f 21 28 29
+f 21 29 22
+f 21 27 34
+f 21 34 28
+f 22 29 28
+f 22 28 34
+f 22 34 35
+f 22 35 30
+f 22 30 23
+f 24 31 39
+f 24 39 32
+f 24 32 25
+f 25 32 26
+f 26 32 33
+f 30 35 36
+f 31 37 38
+f 31 38 46
+f 31 46 39
+f 32 40 33
+f 32 39 40
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 36 43 49
+f 36 49 44
+f 37 45 46
+f 37 46 38
+f 37 44 49
+f 37 49 45
+f 39 46 47
+f 39 47 40
+f 42 48 49
+f 42 49 43
+f 45 48 46
+f 45 49 48
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_126.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4387bc278e9374685f861cc607c0ca71203deff9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_126.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02077105 -0.01278377 0.00789659
+v -0.02077105 -0.01326384 0.00783310
+v -0.02077105 -0.01225387 0.00786104
+v -0.02174393 -0.01225387 0.00771122
+v -0.02182261 -0.01225387 0.00769091
+v -0.02184141 -0.01249391 0.00765536
+v -0.02184141 -0.01308658 0.00757664
+v -0.02190183 -0.01326384 0.00753602
+v -0.02077105 -0.01326384 -0.01790948
+v -0.02077105 -0.01225387 -0.01804405
+v -0.02351408 -0.01225387 0.00680218
+v -0.02351408 -0.01326384 0.00663967
+v -0.02105918 -0.01326384 -0.01782060
+v -0.02116686 -0.01225387 -0.01788916
+v -0.02351408 -0.01225387 -0.01287421
+v -0.02351408 -0.01326384 -0.01205658
+v -0.02125601 -0.01326384 -0.01751844
+v -0.02184141 -0.01239475 -0.01682523
+v -0.02184141 -0.01225387 -0.01685824
+v -0.02318808 -0.01225387 -0.01379848
+v -0.02307047 -0.01326384 -0.01346839
+v -0.02351408 -0.01255688 -0.01267361
+v -0.02309571 -0.01326384 -0.01339475
+v -0.02184141 -0.01243360 -0.01681507
+v -0.02164726 -0.01326384 -0.01669573
+v -0.02184141 -0.01269974 -0.01664748
+v -0.02197728 -0.01225387 -0.01664495
+v -0.02196815 -0.01225387 -0.01666272
+v -0.02279764 -0.01225387 -0.01487003
+v -0.02278663 -0.01225387 -0.01489796
+v -0.02276354 -0.01227483 -0.01493605
+v -0.02208604 -0.01326384 -0.01575368
+v -0.02184141 -0.01326384 -0.01627930
+v -0.02276354 -0.01225387 -0.01494875
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 12
+f 2 12 16
+f 2 16 23
+f 2 23 21
+f 2 21 32
+f 2 32 33
+f 2 33 25
+f 2 25 17
+f 2 17 13
+f 2 13 9
+f 3 10 14
+f 3 14 19
+f 3 19 28
+f 3 28 27
+f 3 27 34
+f 3 34 30
+f 3 30 29
+f 3 29 20
+f 3 20 15
+f 3 15 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 11 8
+f 6 8 7
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 22
+f 11 22 16
+f 11 16 12
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 16 22 23
+f 17 24 18
+f 17 25 26
+f 17 26 27
+f 17 27 24
+f 18 24 28
+f 18 28 19
+f 20 29 21
+f 21 23 22
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 24 27 28
+f 25 33 26
+f 26 33 32
+f 26 32 27
+f 27 32 31
+f 27 31 34
+f 30 34 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_127.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5423b8c03ca82652a5ba06fc34687210d5e3d0bf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_127.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.00892016 -0.01198403
+v -0.00907299 0.00892016 -0.01398001
+v -0.00950666 0.00892016 -0.01198403
+v -0.00907299 -0.02913239 -0.01198403
+v -0.00950666 0.00892016 -0.01398001
+v -0.00907299 -0.02913239 -0.01398001
+v -0.00950666 -0.02913239 -0.01198403
+v -0.00950666 -0.02913239 -0.01398001
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_128.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4e872943117ced9697224c339bc94ab1d6516e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_128.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01040509 0.02000924 0.00762547
+v -0.01040509 0.02000924 0.00118048
+v -0.01106117 0.02000924 0.00762547
+v -0.01040509 0.00873314 0.00762547
+v -0.01106117 0.02000924 0.00118048
+v -0.01040509 0.00873314 0.00118048
+v -0.01106117 0.00873314 0.00762547
+v -0.01106117 0.00873314 0.00118048
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_129.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8a3585a54e5f7b069cdd15323bd69b7f19f918
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_129.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01706205 0.00467477 0.00689960
+v 0.01705512 0.00467477 0.00711879
+v 0.01706205 0.00275572 0.00689647
+v 0.01706205 0.00467477 -0.01450275
+v 0.01693318 0.00467477 0.00903827
+v 0.01699277 0.00275572 0.00903514
+v 0.01706205 0.00275572 -0.01450588
+v 0.01700939 0.00467477 -0.01642536
+v 0.01688191 0.00467477 0.00925746
+v 0.01648838 0.00275572 0.01117694
+v 0.01700246 0.00275572 -0.01664455
+v 0.01700246 0.00467477 -0.01664455
+v 0.01602834 0.00467477 0.01154330
+v 0.01582742 0.00307656 0.01306511
+v 0.01589116 0.00275572 0.01306511
+v 0.01644820 0.00275572 0.01130532
+v 0.01620432 0.00275572 -0.01831979
+v 0.01620709 0.00467477 -0.01831979
+v 0.01531749 0.00467477 0.01306511
+v 0.00290743 0.00275572 0.01306511
+v 0.01439741 0.00275572 -0.01892412
+v 0.01440018 0.00467477 -0.01892412
+v 0.00290743 0.00467477 0.01306511
+v 0.00290743 0.00275572 -0.01892099
+v 0.01225655 0.00275572 -0.01892412
+v 0.00290743 0.00467477 -0.01892099
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 18
+f 1 18 22
+f 1 22 26
+f 1 26 23
+f 1 23 19
+f 1 19 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 16
+f 3 16 15
+f 3 15 20
+f 3 20 24
+f 3 24 25
+f 3 25 21
+f 3 21 17
+f 3 17 11
+f 3 11 7
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 23
+f 14 23 20
+f 14 20 15
+f 17 21 22
+f 17 22 18
+f 20 23 26
+f 20 26 24
+f 21 25 22
+f 22 25 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_13.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822887c6f3f511acc267cac3a81c975e33d2c009
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,495 @@
+# https://github.com/mikedh/trimesh
+v -0.01556536 -0.03029828 -0.00380460
+v -0.01604104 -0.02980139 -0.00380460
+v -0.01556536 -0.03025421 -0.00471026
+v -0.01556536 -0.03029828 0.00047881
+v -0.01704985 -0.02873014 -0.00380460
+v -0.01700254 -0.02867938 -0.00594236
+v -0.01599119 -0.02974930 -0.00594236
+v -0.01604104 -0.02980139 0.00047881
+v -0.01556536 -0.03019410 -0.00594236
+v -0.01556536 -0.03022215 0.00261920
+v -0.01704985 -0.02873014 0.00047881
+v -0.01812033 -0.02739441 -0.00380460
+v -0.01807302 -0.02732896 -0.00594236
+v -0.01879963 -0.02617756 -0.00706653
+v -0.01684876 -0.02851375 -0.00747460
+v -0.01600471 -0.02976265 0.00261920
+v -0.01701521 -0.02869274 0.00261920
+v -0.01556536 -0.03006987 -0.00648733
+v -0.01686566 -0.02853111 0.00418830
+v -0.01556536 -0.02956096 0.00487017
+v -0.01812033 -0.02739441 0.00047881
+v -0.01889595 -0.02632315 -0.00380460
+v -0.01885371 -0.02625904 -0.00594236
+v -0.02133517 -0.02249896 -0.00594236
+v -0.02116704 -0.02224383 -0.00762203
+v -0.01920772 -0.02504219 -0.00790110
+v -0.01822257 -0.02504219 -0.01030213
+v -0.01850730 -0.02573410 -0.00849346
+v -0.01729740 -0.02515840 -0.01236880
+v -0.01648377 -0.02592778 -0.01308753
+v -0.01678793 -0.02634052 -0.01166060
+v -0.01767761 -0.02716333 -0.00798271
+v -0.01556536 -0.02951822 -0.00816963
+v -0.01651841 -0.02814910 -0.00890153
+v -0.01556536 -0.02870209 -0.00980981
+v -0.01556536 -0.02936060 -0.00848819
+v -0.01556536 -0.02947280 -0.00826178
+v -0.01881569 -0.02620160 0.00378286
+v -0.01808569 -0.02734766 0.00261920
+v -0.01556536 -0.02950352 0.00498601
+v -0.01653446 -0.02816913 0.00561523
+v -0.01769366 -0.02718470 0.00469904
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_130.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541d6008daee57adb4e8cf99462f0b8c33150a70
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_130.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.02198666 -0.00919068
+v -0.00398662 0.03740888 -0.00919164
+v -0.00505678 -0.02198666 -0.00919068
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+v -0.00426076 -0.03423042 -0.01786084
+v -0.00398662 0.03433742 -0.01663177
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+v -0.00505678 0.03365721 -0.01664321
+v -0.00505678 -0.03336789 -0.01794563
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+v -0.00505678 0.03247912 -0.01795516
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_131.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59e929706251860ca1924a2cac5983e794b2970
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_131.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00006272 -0.00601880 -0.01892411
+v -0.00006272 -0.00367249 -0.01892411
+v 0.00114825 -0.00601880 -0.01892411
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_132.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e1788eea9c6bf03ff82a289e767de78d0c247ae
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_132.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00113438 -0.00052499 -0.01892068
+v 0.00113438 0.00157208 -0.01892411
+v 0.00290726 -0.00052499 -0.01892068
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+v 0.00290726 0.00157208 -0.01892411
+v 0.00113438 0.00317588 -0.01892411
+v 0.00290726 -0.00052499 0.01510928
+v 0.00285277 -0.00052499 0.01509210
+v 0.00290726 0.00481891 0.01619205
+v 0.00113438 0.00481891 0.01472430
+v 0.00290726 0.00354361 -0.01892411
+v 0.00113438 0.00481891 -0.01892068
+v 0.00290726 -0.00045751 0.01512647
+v 0.00290726 0.00481891 -0.01892068
+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 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 9
+f 3 9 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 12 11
+f 7 13 8
+f 8 13 9
+f 9 14 12
+f 9 12 10
+f 11 12 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_133.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f0f19ae65c154a0bb1a83589c0def38b950b22
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_133.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.00827640 -0.01892149
+v -0.00285283 0.02629319 -0.01892413
+v -0.00272301 0.00827640 -0.01892149
+v -0.00285283 0.00827640 0.00810634
+v -0.00272301 0.02629319 -0.01892413
+v -0.00285283 0.02843576 -0.01891884
+v -0.00272301 0.02843576 -0.01892413
+v -0.00124325 0.00855864 -0.01892149
+v -0.00124325 0.00827640 -0.01891884
+v -0.00124325 0.00827640 0.00810634
+v -0.00285283 0.03240677 0.00810634
+v -0.00285283 0.03057588 -0.01877861
+v -0.00272301 0.03057588 -0.01879184
+v -0.00124325 0.03057588 -0.01886857
+v -0.00124325 0.02843576 -0.01892149
+v -0.00124325 0.03334921 0.00810634
+v -0.00262863 0.03263501 0.00810634
+v -0.00285283 0.03256139 0.00809046
+v -0.00124325 0.03271846 -0.01856694
+v -0.00285283 0.03271355 -0.01833410
+v -0.00272301 0.03271846 -0.01836056
+v -0.00181549 0.03334921 0.00810634
+v -0.00124325 0.03334921 -0.01835791
+v -0.00285283 0.03334921 0.00796082
+v -0.00285283 0.03284363 -0.01829176
+v -0.00285283 0.03334921 -0.01811978
+v -0.00272301 0.03334921 -0.01814359
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 24
+f 1 24 26
+f 1 26 25
+f 1 25 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 5 8
+f 4 10 16
+f 4 16 22
+f 4 22 17
+f 4 17 11
+f 5 7 15
+f 5 15 8
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 15 14
+f 8 14 19
+f 8 19 23
+f 8 23 16
+f 8 16 10
+f 8 10 9
+f 11 17 18
+f 12 19 13
+f 12 20 21
+f 12 21 19
+f 13 19 14
+f 16 23 27
+f 16 27 26
+f 16 26 24
+f 16 24 22
+f 17 22 18
+f 18 22 24
+f 19 21 23
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_134.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc45c8531147c0741d3ea06b251a1f6eca78670
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_134.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 0.01315165 -0.01892148
+v -0.00854170 0.01774136 -0.01892148
+v -0.00740928 0.01315165 -0.01892148
+v -0.00854170 0.01315165 0.00819339
+v -0.00740928 0.01774136 -0.01892148
+v -0.00854170 0.01774136 0.00815357
+v -0.00740928 0.01315165 0.00819339
+v -0.00854170 0.01761690 0.00819339
+v -0.00740928 0.01774136 0.00819339
+v -0.00834805 0.01774136 0.00818542
+v -0.00829218 0.01774136 0.00819339
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 9
+f 4 9 11
+f 4 11 8
+f 6 8 10
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_135.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc8326025c56dad42fba906fe6a6b41cd15c7d9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_135.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00113960 -0.00367218 -0.01892411
+v 0.00114825 -0.00325903 -0.01892411
+v 0.00114825 -0.00367218 -0.01892411
+v -0.00006272 -0.00367218 -0.01892072
+v -0.00006272 -0.00052529 -0.01892072
+v 0.00114825 -0.00052529 -0.01892072
+v 0.00114825 -0.00367218 0.01489146
+v -0.00006272 -0.00367218 0.01574678
+v -0.00006272 -0.00052529 0.01413118
+v 0.00114825 -0.00052529 0.01405311
+v 0.00114825 -0.00246753 0.01490843
+v 0.00000757 -0.00367218 0.01569926
+v -0.00006272 -0.00357205 0.01575017
+v -0.00006272 -0.00173919 0.01512566
+v 0.00114825 -0.00178756 0.01469121
+v 0.00114825 -0.00243333 0.01490843
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 11 16 13
+f 11 13 12
+f 13 16 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_136.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5cce7c8c6514fd9d1105df5d1c4bc29a91fa41
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_136.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03546388 -0.01248133
+v -0.00505689 0.03475113 -0.01425720
+v -0.00624620 0.03404407 -0.01425720
+v -0.00508564 0.03544678 -0.01248133
+v -0.00505689 -0.02278836 -0.01248133
+v -0.00505689 -0.02278836 -0.01425720
+v -0.00624620 0.03443751 -0.01326904
+v -0.00624620 -0.02278836 -0.01425720
+v -0.00624620 0.03475113 -0.01248133
+v -0.00624620 -0.02278836 -0.01248133
+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 8
+f 2 8 3
+f 3 7 4
+f 3 8 10
+f 3 10 9
+f 3 9 7
+f 4 7 9
+f 5 10 8
+f 5 8 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_137.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a8da8f6694d18cd18793206949f08e9769e48a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_137.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01608638 -0.03759756 -0.00018888
+v 0.00833741 -0.03759756 -0.00018888
+v 0.01608638 -0.03864074 -0.00018888
+v 0.01608638 -0.03759756 -0.01820106
+v 0.00833741 -0.03864074 -0.00018888
+v 0.00833741 -0.03759756 -0.01843244
+v 0.01608638 -0.03864074 -0.01762439
+v 0.01608638 -0.03791271 -0.01817394
+v 0.01584063 -0.03759756 -0.01828240
+v 0.00833741 -0.03864074 -0.01807994
+v 0.00943422 -0.03759756 -0.01851198
+v 0.00833741 -0.03765108 -0.01842160
+v 0.01595137 -0.03864074 -0.01804378
+v 0.01608638 -0.03795683 -0.01816309
+v 0.01510790 -0.03864074 -0.01826252
+v 0.01440097 -0.03791731 -0.01860779
+v 0.01440097 -0.03759756 -0.01865480
+v 0.00833741 -0.03803832 -0.01831494
+v 0.01012068 -0.03791731 -0.01849029
+v 0.01012068 -0.03864074 -0.01820286
+v 0.00980058 -0.03759756 -0.01853729
+v 0.00833741 -0.03791731 -0.01836194
+v 0.01440097 -0.03864074 -0.01833121
+v 0.01226044 -0.03791731 -0.01856441
+v 0.01194111 -0.03759756 -0.01860960
+v 0.01408087 -0.03759756 -0.01865118
+v 0.01116439 -0.03864074 -0.01823902
+v 0.01012068 -0.03759756 -0.01854814
+v 0.01324196 -0.03864074 -0.01830771
+v 0.01226044 -0.03864074 -0.01827698
+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 17
+f 1 17 26
+f 1 26 25
+f 1 25 28
+f 1 28 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 20
+f 3 20 27
+f 3 27 30
+f 3 30 29
+f 3 29 23
+f 3 23 15
+f 3 15 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 14 13
+f 8 13 15
+f 10 18 19
+f 10 19 20
+f 11 21 19
+f 11 19 12
+f 12 19 22
+f 15 23 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 16 23 24
+f 18 22 19
+f 19 21 24
+f 19 24 27
+f 19 27 20
+f 21 28 24
+f 23 29 24
+f 24 29 30
+f 24 30 27
+f 24 28 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_138.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec244013f0e548201307a6bc1cf89379a67a7662
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_138.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.01556640 -0.01022652 0.00803784
+v -0.01984687 -0.01022652 0.00803257
+v -0.01559031 -0.01225387 0.00803520
+v -0.01556640 -0.01225387 0.00803520
+v -0.01556640 -0.01022652 -0.01892148
+v -0.01995913 -0.01022652 0.00802993
+v -0.01981672 -0.01225387 0.00800881
+v -0.01772223 -0.01225387 0.00803257
+v -0.01556640 -0.01225387 -0.01892148
+v -0.01556640 -0.01223085 -0.01892412
+v -0.01757151 -0.01022652 -0.01890301
+v -0.02104432 -0.01022652 0.00800090
+v -0.02099338 -0.01148687 0.00799034
+v -0.01987182 -0.01225387 0.00800354
+v -0.01768481 -0.01225387 -0.01882647
+v -0.01556640 -0.01223185 -0.01892412
+v -0.01770768 -0.01022652 -0.01889773
+v -0.02210040 -0.01022652 0.00772642
+v -0.02181871 -0.01221260 0.00770003
+v -0.02174283 -0.01225387 0.00771322
+v -0.01770768 -0.01225387 -0.01882383
+v -0.01770768 -0.01223085 -0.01882647
+v -0.01971174 -0.01022652 -0.01858367
+v -0.02430508 -0.01022652 0.00661268
+v -0.02182183 -0.01225387 0.00769211
+v -0.02395063 -0.01223085 0.00658101
+v -0.01982504 -0.01225387 -0.01840420
+v -0.01984791 -0.01223085 -0.01840156
+v -0.01984791 -0.01022652 -0.01855464
+v -0.02432171 -0.01022652 0.00660212
+v -0.02431963 -0.01022751 0.00660476
+v -0.02394647 -0.01225387 0.00657837
+v -0.02516159 -0.01103242 0.00574703
+v -0.01984895 -0.01225387 -0.01839628
+v -0.02136447 -0.01022652 -0.01797665
+v -0.02116593 -0.01225387 -0.01789220
+v -0.02564077 -0.01022652 0.00492360
+v -0.02502022 -0.01223085 0.00535907
+v -0.02501606 -0.01225387 0.00535115
+v -0.02564077 -0.01022751 0.00492360
+v -0.02540794 -0.01223085 0.00429019
+v -0.02502438 -0.01225387 0.00533267
+v -0.02243718 -0.01022652 -0.01664650
+v -0.02116905 -0.01223085 -0.01789220
+v -0.02196735 -0.01225387 -0.01666234
+v -0.02248812 -0.01022652 -0.01656996
+v -0.02564493 -0.01022652 0.00490776
+v -0.02540482 -0.01225387 0.00428228
+v -0.02612932 -0.01022652 0.00261695
+v -0.02197671 -0.01225387 -0.01664386
+v -0.02198398 -0.01223085 -0.01664386
+v -0.02304318 -0.01022652 -0.01552749
+v -0.02567196 -0.01223085 0.00261695
+v -0.02566572 -0.01225387 0.00261695
+v -0.02618441 -0.01022652 0.00047656
+v -0.02279060 -0.01225387 -0.01489144
+v -0.02280203 -0.01223085 -0.01488088
+v -0.02297666 -0.01080718 -0.01534538
+v -0.02339556 -0.01022652 -0.01453251
+v -0.02572081 -0.01225387 0.00047656
+v -0.02566676 -0.01225387 0.00258528
+v -0.02618441 -0.01022652 -0.00380420
+v -0.02279787 -0.01225387 -0.01487297
+v -0.02318767 -0.01225387 -0.01380145
+v -0.02319079 -0.01223085 -0.01380937
+v -0.02368660 -0.01225387 -0.01238685
+v -0.02412629 -0.01022652 -0.01245547
+v -0.02572081 -0.01225387 -0.00380420
+v -0.02610957 -0.01022652 -0.00594195
+v -0.02564701 -0.01225387 -0.00594195
+v -0.02571977 -0.01225387 -0.00383851
+v -0.02445268 -0.01223085 -0.01022271
+v -0.02500879 -0.01225387 -0.00862336
+v -0.02501399 -0.01223085 -0.00862600
+v -0.02490172 -0.01022652 -0.01024910
+v -0.02609294 -0.01022652 -0.00604487
+v -0.02564493 -0.01225387 -0.00596306
+v -0.02538507 -0.01225387 -0.00754921
+v -0.02538819 -0.01223085 -0.00755713
+v -0.02560959 -0.01022652 -0.00823012
+v -0.02524267 -0.01022652 -0.00927788
+v -0.02561479 -0.01022652 -0.00821429
+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 17
+f 1 17 23
+f 1 23 29
+f 1 29 35
+f 1 35 43
+f 1 43 46
+f 1 46 52
+f 1 52 59
+f 1 59 67
+f 1 67 75
+f 1 75 81
+f 1 81 80
+f 1 80 82
+f 1 82 76
+f 1 76 69
+f 1 69 62
+f 1 62 55
+f 1 55 49
+f 1 49 47
+f 1 47 37
+f 1 37 30
+f 1 30 24
+f 1 24 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 14
+f 3 14 20
+f 3 20 25
+f 3 25 32
+f 3 32 39
+f 3 39 42
+f 3 42 48
+f 3 48 54
+f 3 54 61
+f 3 61 60
+f 3 60 68
+f 3 68 71
+f 3 71 70
+f 3 70 77
+f 3 77 78
+f 3 78 73
+f 3 73 66
+f 3 66 64
+f 3 64 63
+f 3 63 56
+f 3 56 50
+f 3 50 45
+f 3 45 36
+f 3 36 34
+f 3 34 27
+f 3 27 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 9 15 16
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 18 24 19
+f 19 25 20
+f 19 24 26
+f 19 26 25
+f 21 27 22
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 24 30 31
+f 24 31 26
+f 25 26 32
+f 26 33 32
+f 26 31 33
+f 27 34 28
+f 28 35 29
+f 28 34 36
+f 28 36 35
+f 30 37 33
+f 30 33 31
+f 32 33 38
+f 32 38 39
+f 33 37 40
+f 33 40 41
+f 33 41 42
+f 33 42 38
+f 35 36 44
+f 35 44 43
+f 36 45 46
+f 36 46 43
+f 36 43 44
+f 37 47 40
+f 38 42 39
+f 40 47 41
+f 41 48 42
+f 41 47 49
+f 41 49 48
+f 45 50 51
+f 45 51 46
+f 46 51 52
+f 48 49 53
+f 48 53 54
+f 49 55 53
+f 50 56 51
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 52 58 59
+f 53 55 60
+f 53 60 61
+f 53 61 54
+f 55 62 68
+f 55 68 60
+f 56 63 57
+f 57 63 64
+f 57 64 65
+f 57 65 58
+f 58 65 66
+f 58 66 59
+f 59 66 67
+f 62 69 70
+f 62 70 71
+f 62 71 68
+f 64 66 65
+f 66 72 67
+f 66 73 74
+f 66 74 72
+f 67 72 74
+f 67 74 75
+f 69 76 77
+f 69 77 70
+f 73 78 74
+f 74 78 79
+f 74 79 80
+f 74 80 81
+f 74 81 75
+f 76 82 79
+f 76 79 78
+f 76 78 77
+f 79 82 80
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_139.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c092c92a762689cc24bb6128e7b7e72d85a66fe
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_139.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01277639 -0.03947155 0.00790665
+v 0.01226013 -0.03947155 0.00790413
+v 0.01277639 -0.04018543 0.00771951
+v 0.01277639 -0.03947155 -0.01792884
+v 0.01011921 -0.03947155 0.00787884
+v 0.01226013 -0.04018187 0.00771193
+v 0.01226013 -0.04021234 0.00769675
+v 0.01277639 -0.04020857 0.00770687
+v 0.01277639 -0.03968129 -0.01768859
+v 0.01238972 -0.03947155 -0.01790355
+v 0.00847033 -0.03947155 0.00780803
+v 0.01011921 -0.04014982 0.00767905
+v 0.01011921 -0.04021234 0.00764365
+v 0.01277639 -0.04021234 0.00742110
+v 0.01042159 -0.03947155 -0.01774170
+v 0.01277639 -0.04021234 -0.01696785
+v 0.00583949 -0.03947155 0.00749444
+v 0.00583949 -0.04005771 0.00733006
+v 0.00809419 -0.03987037 0.00765123
+v 0.00987056 -0.04021234 0.00762342
+v 0.01004335 -0.04021234 0.00763859
+v 0.01011921 -0.03947155 -0.01770882
+v 0.01009287 -0.04021234 -0.01665932
+v 0.00369857 -0.03947155 0.00719603
+v 0.00583949 -0.04021234 0.00723396
+v 0.00807417 -0.04021234 0.00746409
+v 0.00369857 -0.04005771 0.00695831
+v 0.00859254 -0.03947155 -0.01750651
+v 0.01004019 -0.04021234 -0.01664414
+v 0.00733771 -0.03947155 -0.01719039
+v 0.00201281 -0.03947155 0.00684198
+v 0.00369857 -0.04021234 0.00685209
+v 0.00201281 -0.04012574 0.00653851
+v 0.00797935 -0.03987581 -0.01664414
+v 0.00888545 -0.04021234 -0.01626481
+v 0.00637788 -0.03947155 -0.01668967
+v 0.00201281 -0.03947155 -0.01328826
+v 0.00201281 -0.04019239 0.00649046
+v 0.00201281 -0.04021234 0.00647528
+v 0.00863574 -0.04021234 -0.01618135
+v 0.00796881 -0.04021234 -0.01584248
+v 0.00609024 -0.03947155 -0.01652781
+v 0.00242161 -0.03947155 -0.01371059
+v 0.00201281 -0.04021234 -0.01119937
+v 0.00724394 -0.04021234 -0.01543026
+v 0.00607444 -0.03947155 -0.01651770
+v 0.00713331 -0.04021234 -0.01536704
+v 0.00349944 -0.03947155 -0.01471457
+v 0.00348258 -0.04021234 -0.01259028
+v 0.00464260 -0.03947155 -0.01557441
+v 0.00592061 -0.04021234 -0.01450973
+v 0.00583949 -0.04019254 -0.01450467
+v 0.00367012 -0.04021234 -0.01276477
+v 0.00591008 -0.04021234 -0.01450215
+v 0.00464470 -0.04021234 -0.01352092
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 28
+f 1 28 30
+f 1 30 36
+f 1 36 42
+f 1 42 46
+f 1 46 50
+f 1 50 48
+f 1 48 43
+f 1 43 37
+f 1 37 31
+f 1 31 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 5 6
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 21
+f 7 21 20
+f 7 20 26
+f 7 26 25
+f 7 25 32
+f 7 32 39
+f 7 39 44
+f 7 44 49
+f 7 49 53
+f 7 53 55
+f 7 55 54
+f 7 54 51
+f 7 51 47
+f 7 47 45
+f 7 45 41
+f 7 41 40
+f 7 40 35
+f 7 35 29
+f 7 29 23
+f 7 23 16
+f 7 16 14
+f 7 14 8
+f 9 15 10
+f 9 16 15
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 15 16 22
+f 16 23 22
+f 17 24 18
+f 18 25 26
+f 18 26 19
+f 18 24 27
+f 18 27 25
+f 19 26 20
+f 22 23 28
+f 23 29 30
+f 23 30 28
+f 24 31 27
+f 25 27 32
+f 27 31 33
+f 27 33 32
+f 29 34 30
+f 29 35 34
+f 30 34 36
+f 31 37 44
+f 31 44 39
+f 31 39 38
+f 31 38 33
+f 32 33 38
+f 32 38 39
+f 34 35 40
+f 34 40 41
+f 34 41 42
+f 34 42 36
+f 37 43 44
+f 41 45 42
+f 42 45 47
+f 42 47 46
+f 43 48 49
+f 43 49 44
+f 46 47 50
+f 47 51 50
+f 48 50 52
+f 48 52 53
+f 48 53 49
+f 50 51 52
+f 51 54 52
+f 52 54 55
+f 52 55 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_14.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b51a79659453ccd7bf841319ccd003a452252d0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.00827909 0.00810634
+v 0.00148095 0.00827909 0.00810634
+v -0.00285283 0.00827909 0.00909237
+v -0.00285283 0.03240593 0.00810634
+v 0.00148095 0.00827909 0.00909237
+v 0.01699520 0.00828202 0.00810634
+v -0.00285283 0.02934290 0.00909237
+v -0.00211396 0.03057748 0.00909237
+v -0.00045882 0.03259902 0.00909237
+v -0.00262669 0.03263412 0.00810634
+v 0.01696206 0.00828202 0.00904083
+v 0.01693867 0.00828202 0.00909237
+v 0.01700690 0.00867404 0.00810634
+v 0.00184356 0.03462641 0.00909237
+v -0.00084483 0.03421391 0.00810634
+v 0.01698545 0.00918015 0.00904083
+v 0.01702834 0.01131872 0.00909237
+v 0.01701860 0.00918015 0.00810634
+v 0.01703614 0.01131872 0.00904083
+v 0.00370340 0.03551577 0.00909237
+v 0.00096237 0.03559768 0.00810634
+v 0.01706149 0.01346020 0.00909237
+v 0.01704784 0.01131872 0.00810634
+v 0.00584202 0.03645194 0.00909237
+v 0.00370340 0.03681763 0.00810634
+v 0.01706343 0.01439345 0.00810634
+v 0.01706343 0.01560169 0.00904083
+v 0.01706343 0.01774025 0.00909237
+v 0.01706149 0.01346020 0.00810634
+v 0.00798258 0.03697854 0.00909237
+v 0.00584397 0.03763093 0.00810634
+v 0.01706343 0.01972376 0.00810634
+v 0.01706343 0.01972376 0.00909073
+v 0.01706149 0.03057455 0.00909237
+v 0.00841733 0.03701364 0.00909237
+v 0.01011731 0.03813705 0.00810634
+v 0.00864152 0.03801710 0.00810634
+v 0.00739383 0.03788838 0.00810634
+v 0.01706149 0.03057455 0.00810634
+v 0.01704784 0.03150780 0.00810634
+v 0.01697181 0.03271311 0.00909237
+v 0.01011731 0.03714822 0.00909237
+v 0.01209802 0.03816338 0.00810634
+v 0.01699715 0.03271311 0.00810634
+v 0.01690942 0.03364636 0.00810634
+v 0.01633042 0.03582002 0.00810634
+v 0.01621540 0.03485168 0.00909237
+v 0.01012705 0.03714822 0.00909237
+v 0.01420739 0.03811949 0.00810634
+v 0.01559935 0.03766018 0.00810634
+v 0.01619590 0.03489263 0.00909237
+v 0.01226762 0.03709848 0.00909237
+v 0.01538100 0.03802587 0.00810634
+v 0.01520359 0.03624715 0.00909237
+v 0.01421714 0.03677668 0.00909237
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 25
+f 1 25 31
+f 1 31 38
+f 1 38 37
+f 1 37 36
+f 1 36 43
+f 1 43 49
+f 1 49 53
+f 1 53 50
+f 1 50 46
+f 1 46 45
+f 1 45 44
+f 1 44 40
+f 1 40 39
+f 1 39 32
+f 1 32 26
+f 1 26 29
+f 1 29 23
+f 1 23 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 17
+f 3 17 22
+f 3 22 28
+f 3 28 34
+f 3 34 41
+f 3 41 47
+f 3 47 51
+f 3 51 54
+f 3 54 55
+f 3 55 52
+f 3 52 48
+f 3 48 42
+f 3 42 35
+f 3 35 30
+f 3 30 24
+f 3 24 20
+f 3 20 14
+f 3 14 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 5 11 12
+f 6 13 11
+f 9 14 15
+f 9 15 10
+f 11 13 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 16
+f 14 20 21
+f 14 21 15
+f 16 19 17
+f 17 19 22
+f 18 23 19
+f 19 23 22
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 28
+f 22 23 29
+f 22 29 26
+f 24 30 31
+f 24 31 25
+f 26 32 33
+f 26 33 28
+f 26 28 27
+f 28 33 34
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 34
+f 32 34 33
+f 34 39 40
+f 34 40 41
+f 35 42 36
+f 36 42 43
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 41 46 47
+f 42 48 43
+f 43 48 49
+f 46 50 47
+f 47 50 51
+f 48 52 49
+f 49 52 53
+f 50 53 51
+f 51 53 54
+f 52 55 53
+f 53 55 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_140.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b81b755a9a74ae198ee75bfe1e8681427a89718
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_140.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00505678 -0.01879246 -0.00918973
+v -0.00398662 -0.01879246 -0.00918973
+v -0.00505678 -0.01879246 0.00076647
+v -0.00505678 -0.01231555 -0.00918973
+v -0.00398662 -0.01231555 -0.00918973
+v -0.00398662 -0.01879246 0.00076647
+v -0.00505678 -0.01231555 0.00076647
+v -0.00398662 -0.01231555 0.00076647
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_141.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c972e314d74ac3e2b4ba093f21f7909e3c2e083
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_141.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00155799 -0.00601880 -0.01892411
+v 0.00211141 -0.00601880 -0.01892411
+v 0.00114825 -0.00601880 -0.01892075
+v 0.00155799 -0.00366876 -0.01892411
+v 0.00211141 -0.00366876 -0.01892411
+v 0.00211141 -0.00601880 0.01426419
+v 0.00114825 -0.00052499 -0.01892075
+v 0.00114825 -0.00601880 0.01477286
+v 0.00211141 -0.00052499 -0.01892075
+v 0.00211141 -0.00601826 0.01443936
+v 0.00114825 -0.00601718 0.01549039
+v 0.00114825 -0.00052499 0.01405533
+v 0.00211141 -0.00052499 0.01453706
+v 0.00211141 -0.00420276 0.01457748
+v 0.00211141 -0.00143919 0.01464148
+v 0.00114825 -0.00243405 0.01491098
+v 0.00114825 -0.00178766 0.01469201
+v 0.00148756 -0.00052499 0.01425745
+f 1 2 6
+f 1 6 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 13
+f 2 13 15
+f 2 15 14
+f 2 14 10
+f 2 10 6
+f 3 8 11
+f 3 11 16
+f 3 16 17
+f 3 17 12
+f 3 12 7
+f 4 7 9
+f 4 9 5
+f 6 10 11
+f 6 11 8
+f 7 12 18
+f 7 18 13
+f 7 13 9
+f 10 14 11
+f 11 14 15
+f 11 15 13
+f 11 13 16
+f 12 17 18
+f 13 18 17
+f 13 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_142.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7797abe4fef0dc065197194e9c73d71737d141
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_142.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.02716272 0.00359384 -0.00173867
+v -0.02716272 0.00354151 -0.00380227
+v -0.02739088 0.00207152 -0.00173867
+v -0.02716272 -0.00449348 -0.00173867
+v -0.02716272 0.00300790 -0.00595664
+v -0.02736416 0.00186775 -0.00525715
+v -0.02737669 0.00196052 -0.00380227
+v -0.02739608 0.00203346 -0.00173867
+v -0.02747816 -0.00152813 -0.00173867
+v -0.02716272 -0.00450616 -0.00254280
+v -0.02716272 0.00266062 -0.00618551
+v -0.02721116 0.00264952 -0.00595951
+v -0.02729681 0.00040410 -0.00595951
+v -0.02736416 0.00097973 -0.00525715
+v -0.02755052 0.00041600 -0.00173867
+v -0.02721898 -0.00152813 -0.00594231
+v -0.02716272 -0.00278087 -0.00594231
+v -0.02716272 -0.00366810 -0.00474065
+v -0.02716272 -0.00412241 -0.00380227
+v -0.02716272 0.00236409 -0.00625670
+v -0.02716272 0.00046912 -0.00661934
+v -0.02716272 -0.00009858 -0.00651136
+v -0.02716272 -0.00152813 -0.00621752
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 12 13
+f 7 15 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 15 14
+f 9 14 16
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 16
+f 13 16 14
+f 16 23 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_143.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8c02cddf649f9a48b974d3b89d344d318eb406
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_143.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 -0.02913239 -0.01198403
+v -0.00907299 -0.02913239 -0.01398001
+v -0.00950666 -0.02913239 -0.01198403
+v -0.00907299 -0.03375150 -0.01198403
+v -0.00950666 -0.02913239 -0.01398001
+v -0.00907299 -0.03290455 -0.01398001
+v -0.00950666 -0.03343135 -0.01198403
+v -0.00913123 -0.03370945 -0.01198403
+v -0.00907299 -0.03362172 -0.01229178
+v -0.00950666 -0.03258486 -0.01398001
+v -0.00911904 -0.03287109 -0.01398001
+v -0.00950666 -0.03314331 -0.01267280
+v -0.00915895 -0.03368910 -0.01198403
+v -0.00910011 -0.03360364 -0.01228768
+v -0.00924881 -0.03277658 -0.01398001
+v -0.00950666 -0.03268479 -0.01375237
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 13
+f 8 13 12
+f 8 12 14
+f 8 14 9
+f 9 14 12
+f 9 12 15
+f 9 15 11
+f 10 15 16
+f 12 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_144.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f88c777a081b599a747ca8d7e16dea0b04cc1dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_144.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.00762950 0.00819604
+v -0.01106117 0.00762950 -0.00479877
+v -0.01149480 0.00762950 0.00819604
+v -0.01106117 -0.02204161 0.00819604
+v -0.01149480 0.00762950 -0.00479877
+v -0.01106117 0.00631382 -0.00479877
+v -0.01149480 -0.02179184 0.00819604
+v -0.01126729 -0.02204161 0.00819604
+v -0.01106117 -0.02204161 -0.00479749
+v -0.01149480 0.00631382 -0.00479877
+v -0.01149480 -0.02204161 0.00817569
+v -0.01149480 -0.02204161 -0.00479749
+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 12
+f 3 12 11
+f 3 11 7
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 6 9 12
+f 6 12 10
+f 7 11 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_145.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3116eccf64b95deac840618b44db873476967806
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_145.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.01556630 -0.01651174 0.00803210
+v -0.01556724 -0.01427212 0.00803210
+v -0.01556724 -0.01539170 0.00803474
+v -0.01556724 -0.01665247 0.00803210
+v -0.01556630 -0.01665247 0.00620356
+v -0.01556630 -0.01539170 0.00722469
+v -0.01770774 -0.01427212 0.00803210
+v -0.01556724 -0.01427212 -0.01892115
+v -0.01770774 -0.01437185 0.00803210
+v -0.01770774 -0.01651174 0.00802155
+v -0.01769837 -0.01665247 0.00801891
+v -0.01556630 -0.01665247 -0.01711371
+v -0.01556630 -0.01539170 -0.01882880
+v -0.01904508 -0.01427212 0.00800044
+v -0.01556630 -0.01651267 -0.01886838
+v -0.01556724 -0.01437255 -0.01892115
+v -0.01566658 -0.01427212 -0.01891851
+v -0.01899729 -0.01539170 0.00799516
+v -0.01886421 -0.01665247 0.00798725
+v -0.01556724 -0.01665247 -0.01885783
+v -0.01914349 -0.01427212 0.00799780
+v -0.01556724 -0.01651174 -0.01886838
+v -0.01556724 -0.01539170 -0.01889740
+v -0.01770774 -0.01427212 -0.01870479
+v -0.02020436 -0.01427212 0.00786587
+v -0.01994570 -0.01651174 0.00772603
+v -0.01992321 -0.01665247 0.00771547
+v -0.01756716 -0.01665247 -0.01852536
+v -0.01668716 -0.01539170 -0.01878131
+v -0.01770774 -0.01437185 -0.01869951
+v -0.01780802 -0.01427212 -0.01868632
+v -0.02106750 -0.01427212 0.00763104
+v -0.02197937 -0.01427212 0.00738037
+v -0.02198780 -0.01437185 0.00736718
+v -0.02206559 -0.01539170 0.00705319
+v -0.02215930 -0.01665247 0.00666531
+v -0.01771617 -0.01665247 -0.01848578
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_146.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe1459f2026d5fa7c38ef9f595bc52b06b39ebe
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_146.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00360082 0.03716436 0.00791697
+v 0.00360082 0.03749262 0.00777096
+v -0.00041565 0.03716436 0.00726859
+v 0.00360082 0.03716436 -0.01736496
+v 0.00360082 0.03790458 0.00758040
+v -0.00058243 0.03716436 0.00723394
+v 0.00293752 0.03790458 0.00746657
+v 0.00260649 0.03790458 0.00740965
+v 0.00250731 0.03790458 0.00739232
+v 0.00023312 0.03790458 0.00696419
+v -0.00058243 0.03790458 0.00680086
+v 0.00198994 0.03716436 -0.01667204
+v 0.00360082 0.03771813 -0.01681310
+v 0.00360082 0.03790458 -0.01641714
+v -0.00164119 0.03790458 0.00649399
+v -0.00270185 0.03716436 0.00661773
+v 0.00360082 0.03777407 -0.01670916
+v 0.00152941 0.03716436 -0.01628598
+v 0.00304617 0.03790458 -0.01601376
+v -0.00231587 0.03790458 0.00628117
+v -0.00274291 0.03716436 0.00660536
+v -0.00046493 0.03716436 -0.01451407
+v 0.00177136 0.03790458 -0.01489765
+v -0.00285220 0.03790458 0.00590253
+v -0.00285220 0.03716436 0.00653607
+v 0.00140307 0.03785125 -0.01466750
+v -0.00059127 0.03716436 -0.01438043
+v -0.00104801 0.03790458 -0.01198241
+v 0.00147508 0.03790458 -0.01459573
+v -0.00285220 0.03790458 -0.00959428
+v -0.00285220 0.03716436 -0.01147756
+v 0.00116491 0.03790458 -0.01427897
+v -0.00280798 0.03716436 -0.01153943
+v -0.00193936 0.03790458 -0.01090590
+v -0.00248770 0.03790458 -0.01012388
+v -0.00285220 0.03769378 -0.01014615
+v -0.00283451 0.03716436 -0.01150478
+v -0.00275491 0.03766270 -0.01036393
+f 1 2 3
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+f 33 37 34
+f 34 37 38
+f 34 38 36
+f 34 36 35
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_147.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62c8b2c493a4d72ce6482cc2b0f1e030ea9e91f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_147.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01556587 -0.01326384 0.00741987
+v -0.01556587 -0.01225387 0.00683437
+v -0.01556638 -0.01225387 0.00803356
+v -0.01556638 -0.01326384 0.00803356
+v -0.01556587 -0.01326384 -0.01411558
+v -0.01556587 -0.01225387 -0.01411558
+v -0.01772234 -0.01225387 0.00803356
+v -0.01770705 -0.01326384 0.00803356
+v -0.02077105 -0.01326384 -0.01411558
+v -0.02077105 -0.01225387 -0.01411558
+v -0.01981613 -0.01225387 0.00800753
+v -0.01947880 -0.01326384 0.00800537
+v -0.02077105 -0.01326384 0.00783622
+v -0.02077105 -0.01225387 0.00786441
+v -0.01987116 -0.01225387 0.00800320
+v -0.02053155 -0.01291397 0.00794248
+v -0.02044697 -0.01326384 0.00792296
+v -0.02077105 -0.01278377 0.00789911
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 14 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 18
+f 9 18 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 17 18
+f 14 18 15
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_148.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950876ba61b2a4b6c3304b8ebea4927eb2733b79
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_148.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 -0.00582400 0.00031689
+v -0.00603797 -0.00582400 0.00031689
+v -0.00697561 -0.00582400 0.00099274
+v -0.00697561 0.02852120 0.00031689
+v -0.00603797 -0.00582400 0.00099274
+v -0.00603797 0.02852120 0.00031689
+v -0.00697561 0.02852120 0.00099274
+v -0.00603797 0.02852120 0.00099274
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_149.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37220017a0f0ea4c8e3b15586caf6db15909e98f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_149.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.02545424 -0.01889843
+v -0.00697561 0.02629897 -0.01887962
+v -0.00624639 0.02629897 -0.01889278
+v -0.00624639 0.02545424 -0.01889278
+v -0.00697561 0.02545424 0.00030955
+v -0.00697561 0.02843987 -0.01865957
+v -0.00624639 0.02843987 -0.01872728
+v -0.00624639 0.02545424 0.00030955
+v -0.00697561 0.02763276 0.00031143
+v -0.00624639 0.03061155 -0.01827026
+v -0.00697561 0.03062865 -0.01811416
+v -0.00624639 0.02763276 0.00031143
+v -0.00697561 0.03301009 0.00031519
+v -0.00697561 0.03073581 -0.01808219
+v -0.00624639 0.03091137 -0.01817998
+v -0.00624639 0.03301009 0.00031519
+v -0.00697561 0.03666375 0.00031519
+v -0.00697561 0.03091137 -0.01793549
+v -0.00687989 0.03091137 -0.01804833
+v -0.00624639 0.03193964 -0.01786402
+v -0.00624639 0.03710037 0.00031519
+v -0.00687339 0.03672531 0.00031519
+v -0.00697561 0.03666375 -0.00380362
+v -0.00697561 0.03229189 -0.01677507
+v -0.00633997 0.03189632 -0.01785650
+v -0.00624639 0.03286303 -0.01666035
+v -0.00624639 0.03710037 -0.00380362
+v -0.00697561 0.03666261 -0.00383936
+v -0.00697561 0.03236713 -0.01667539
+v -0.00624639 0.03363366 -0.01524415
+v -0.00624639 0.03701715 -0.00594014
+v -0.00697561 0.03658281 -0.00593826
+v -0.00697561 0.03337603 -0.01472507
+v -0.00697561 0.03430740 -0.01250768
+v -0.00636360 0.03404748 -0.01407433
+v -0.00624639 0.03397680 -0.01442415
+v -0.00624639 0.03695445 -0.00620909
+v -0.00624639 0.03682335 -0.00676955
+v -0.00697561 0.03653949 -0.00612257
+v -0.00697561 0.03594442 -0.00840391
+v -0.00624639 0.03633544 -0.00851675
+v -0.00624639 0.03478619 -0.01239860
+v -0.00624639 0.03651100 -0.00807478
+v -0.00697561 0.03607210 -0.00808230
+f 1 2 3
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+f 35 41 42
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+f 38 43 44
+f 38 44 39
+f 40 44 43
+f 40 43 41
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_15.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507d7481e97599a06f212b0bdba107aea87882c7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.01199458 0.03170168 0.01807322
+v 0.01207397 0.03169778 0.01807322
+v 0.01199458 0.03226418 0.01745573
+v 0.01199458 0.01914951 0.01807322
+v 0.01226102 0.03168611 0.01807322
+v 0.01226102 0.03237707 0.01731400
+v 0.01199458 0.03238291 0.01732319
+v 0.01199458 0.01715642 0.01709489
+v 0.01435535 0.01886534 0.01807322
+v 0.01273586 0.03155375 0.01807322
+v 0.01226102 0.03344758 0.01610890
+v 0.01440149 0.03208122 0.01697997
+v 0.01199458 0.03331911 0.01626749
+v 0.01199458 0.01631364 0.01649886
+v 0.01477958 0.01637982 0.01668885
+v 0.01573520 0.01637982 0.01668885
+v 0.01626014 0.01988718 0.01807322
+v 0.01440149 0.03108468 0.01807322
+v 0.01440149 0.03396726 0.01467321
+v 0.01226102 0.03420861 0.01503865
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+v 0.01199458 0.03345341 0.01611427
+v 0.01440149 0.03315173 0.01574347
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+v 0.01199458 0.01631364 0.01024738
+v 0.01472897 0.01631364 0.01663446
+v 0.01560173 0.01631364 0.01663446
+v 0.01577787 0.01631364 0.01658772
+v 0.01687440 0.02200095 0.01807322
+v 0.01641743 0.01631364 0.01550291
+v 0.01592225 0.03017766 0.01807322
+v 0.01547570 0.03379208 0.01439664
+v 0.01440149 0.03458815 0.01332256
+v 0.01226102 0.03506696 0.01332256
+v 0.01199458 0.03508058 0.01332256
+v 0.01605126 0.03049298 0.01747565
+v 0.01589595 0.03258922 0.01525086
+v 0.01705302 0.01631364 0.01024738
+v 0.01199458 0.03619780 0.01024738
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+v 0.01703466 0.02415948 0.01807322
+v 0.01681486 0.01773839 0.01546231
+v 0.01702027 0.01631364 0.01332256
+v 0.01606961 0.02992658 0.01807322
+v 0.01576943 0.03401592 0.01332256
+v 0.01422139 0.03595451 0.01024738
+v 0.01226102 0.03617445 0.01024738
+v 0.01679452 0.03057862 0.01546231
+v 0.01656578 0.03271963 0.01332256
+v 0.01706294 0.01773839 0.01024738
+v 0.01706294 0.01773839 0.01332256
+v 0.01705153 0.01631364 0.01118204
+v 0.01706294 0.02415948 0.01760282
+v 0.01703466 0.02582947 0.01807322
+v 0.01669528 0.02842787 0.01807322
+v 0.01610584 0.03435264 0.01118204
+v 0.01614702 0.03459788 0.01024738
+v 0.01686299 0.02843761 0.01760282
+v 0.01706294 0.03057862 0.01332256
+v 0.01690218 0.03271963 0.01118204
+v 0.01659605 0.03367725 0.01024738
+v 0.01706294 0.03057862 0.01024738
+v 0.01706294 0.02629854 0.01760282
+v 0.01701432 0.02629854 0.01807322
+v 0.01685803 0.02796853 0.01807322
+v 0.01702424 0.03151288 0.01024738
+v 0.01693344 0.03271963 0.01024738
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 21
+f 1 21 35
+f 1 35 39
+f 1 39 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 41
+f 1 41 54
+f 1 54 64
+f 1 64 65
+f 1 65 55
+f 1 55 44
+f 1 44 31
+f 1 31 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
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+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 11
+f 7 11 13
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+f 8 15 9
+f 9 15 16
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+f 11 19 20
+f 11 20 21
+f 11 21 22
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+f 11 23 19
+f 12 18 24
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+f 14 25 38
+f 14 38 52
+f 14 52 43
+f 14 43 30
+f 14 30 28
+f 14 28 27
+f 14 27 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 30
+f 17 30 29
+f 18 31 24
+f 19 23 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 23 24 32
+f 24 31 36
+f 24 36 37
+f 24 37 32
+f 25 39 47
+f 25 47 46
+f 25 46 57
+f 25 57 61
+f 25 61 67
+f 25 67 66
+f 25 66 62
+f 25 62 50
+f 25 50 38
+f 29 40 41
+f 29 30 42
+f 29 42 40
+f 30 43 42
+f 31 44 36
+f 32 45 46
+f 32 46 33
+f 32 37 45
+f 33 46 34
+f 34 46 47
+f 34 47 39
+f 34 39 35
+f 36 44 48
+f 36 48 37
+f 37 49 45
+f 37 48 49
+f 38 50 51
+f 38 51 52
+f 40 53 41
+f 40 42 43
+f 40 43 51
+f 40 51 53
+f 41 53 63
+f 41 63 54
+f 43 52 51
+f 44 55 48
+f 45 49 56
+f 45 56 57
+f 45 57 46
+f 48 55 58
+f 48 58 59
+f 48 59 60
+f 48 60 49
+f 49 60 61
+f 49 61 57
+f 49 57 56
+f 50 62 59
+f 50 59 63
+f 50 63 53
+f 50 53 51
+f 54 63 64
+f 55 65 58
+f 58 65 64
+f 58 64 63
+f 58 63 59
+f 59 62 66
+f 59 66 67
+f 59 67 60
+f 60 67 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_150.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6176b5de83eaf698778aac1cd7a17faeb3a3c7b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_150.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03474819 -0.01425802
+v -0.00505689 0.03457599 -0.01468409
+v -0.00596669 0.03379767 -0.01526117
+v -0.00624620 0.03403186 -0.01425802
+v -0.00505689 -0.03561758 -0.01425802
+v -0.00505689 0.03386655 -0.01620682
+v -0.00564118 0.03399053 -0.01526117
+v -0.00588554 0.03374257 -0.01550310
+v -0.00622548 0.03363236 -0.01526117
+v -0.00624620 0.03362548 -0.01524636
+v -0.00624620 0.03396298 -0.01442648
+v -0.00624620 -0.03481171 -0.01425802
+v -0.00574456 -0.03515610 -0.01425802
+v -0.00567797 -0.03480482 -0.01526117
+v -0.00505689 -0.03519054 -0.01526117
+v -0.00505689 0.03365992 -0.01664508
+v -0.00560486 0.03354283 -0.01620682
+v -0.00624620 0.03286093 -0.01666309
+v -0.00624620 -0.03446043 -0.01514094
+v -0.00584305 -0.03462574 -0.01542091
+v -0.00505689 -0.03484615 -0.01606160
+v -0.00505689 0.03312267 -0.01722478
+v -0.00624620 0.03236501 -0.01722478
+v -0.00624620 -0.03410226 -0.01584233
+v -0.00505689 -0.03477727 -0.01620682
+v -0.00624620 -0.03390941 -0.01620682
+v -0.00505689 -0.03401961 -0.01722478
+v -0.00624620 -0.03322752 -0.01722478
+v -0.00505689 -0.03438466 -0.01690908
+v -0.00624620 -0.03367522 -0.01662969
+v -0.00582012 -0.03353747 -0.01722478
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 15
+f 1 15 21
+f 1 21 25
+f 1 25 29
+f 1 29 27
+f 1 27 22
+f 1 22 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 8
+f 4 11 10
+f 4 10 18
+f 4 18 23
+f 4 23 28
+f 4 28 30
+f 4 30 26
+f 4 26 24
+f 4 24 19
+f 4 19 12
+f 5 13 14
+f 5 14 15
+f 6 8 7
+f 6 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 12 19 14
+f 12 14 13
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 22 23
+f 16 23 18
+f 16 18 17
+f 19 24 20
+f 20 25 21
+f 20 24 26
+f 20 26 25
+f 22 27 31
+f 22 31 28
+f 22 28 23
+f 25 26 30
+f 25 30 29
+f 27 29 31
+f 28 31 29
+f 28 29 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_151.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903bc9c3cd60c45e21b4c8c15b50077582763cd0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_151.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.02262222 0.00819566
+v -0.00697561 0.02720805 0.00803910
+v -0.00740928 0.02720805 0.00803531
+v -0.00724674 0.02200738 0.00819566
+v -0.00697561 -0.01211810 0.00819566
+v -0.00697561 0.02721197 0.00030161
+v -0.00740928 0.02721197 0.00030161
+v -0.00740928 0.02200738 0.00818051
+v -0.00740928 0.02137296 0.00819566
+v -0.00697731 -0.01279559 0.00819566
+v -0.00697561 -0.01279559 0.00806814
+v -0.00697561 0.02721197 -0.00470351
+v -0.00740928 0.02721197 -0.00470351
+v -0.00740928 -0.01279559 0.00819566
+v -0.00697561 -0.01279559 0.00434334
+v -0.00697561 -0.01279168 -0.00470351
+v -0.00740928 -0.01279168 -0.00470351
+v -0.00740928 -0.01279559 0.00434334
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 17
+f 3 17 18
+f 3 18 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 18
+f 10 18 15
+f 10 15 11
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_152.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb3f15a6755a4330c19cf1863f4539faede2034
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_152.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01706344 0.03859125 -0.00380611
+v 0.01706344 0.03790466 -0.00380611
+v 0.01706344 0.03859125 -0.01021991
+v 0.01705241 0.03859125 0.00475855
+v 0.01705436 0.03790466 0.00475855
+v 0.01706344 0.03790466 -0.01021991
+v 0.01703489 0.03790466 -0.01236043
+v 0.01701348 0.03859125 -0.01236043
+v 0.01691162 0.03859125 0.00530919
+v 0.01681042 0.03790466 0.00570989
+v 0.01691746 0.03790466 -0.01450094
+v 0.01680717 0.03859125 -0.01450094
+v 0.01621094 0.03859125 0.00700247
+v 0.01633875 0.03790466 0.00695853
+v 0.01673645 0.03790466 0.00599684
+v 0.01655869 0.03790466 -0.01660786
+v 0.01630436 0.03859125 -0.01658459
+v 0.01605718 0.03859125 0.00726358
+v 0.01592093 0.03790466 0.00766686
+v 0.01633226 0.03790466 -0.01717401
+v 0.01581648 0.03846214 -0.01792371
+v 0.01586708 0.03859125 -0.01767295
+v 0.01605199 0.03859125 0.00727133
+v 0.01590471 0.03790466 0.00769271
+v 0.01622716 0.03790466 -0.01743511
+v 0.01567180 0.03859125 -0.01782806
+v 0.01592418 0.03790466 -0.01801936
+v 0.01440019 0.03790466 -0.01830114
+v 0.01489002 0.03859004 -0.01799351
+v 0.01597673 0.03859125 0.00735147
+v 0.01566337 0.03790466 0.00794864
+v 0.01488093 0.03859125 -0.01799092
+v 0.01226115 0.03790466 -0.01825202
+v 0.01440019 0.03859125 -0.01805296
+v 0.01583659 0.03859125 0.00749883
+v 0.01551999 0.03817288 0.00799259
+v 0.01556345 0.03790466 0.00805205
+v 0.01043547 0.03790466 -0.01815637
+v 0.01226115 0.03857135 -0.01799868
+v 0.01275228 0.03859125 -0.01800643
+v 0.01440019 0.03859125 0.00792279
+v 0.01538504 0.03803020 0.00810375
+v 0.01545965 0.03790466 0.00810375
+v 0.01043547 0.03843506 -0.01794956
+v 0.01043547 0.03790466 0.00810375
+v 0.01225920 0.03859125 -0.01797541
+v 0.01296183 0.03859125 0.00793830
+v 0.01420944 0.03812442 0.00810375
+v 0.01043547 0.03858822 -0.01773499
+v 0.01043547 0.03814532 0.00810375
+v 0.01220600 0.03859125 -0.01796507
+v 0.01210220 0.03816670 0.00810375
+v 0.01084226 0.03859125 0.00792796
+v 0.01043547 0.03859125 -0.01755144
+v 0.01043547 0.03859125 0.00791504
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 32
+f 1 32 34
+f 1 34 40
+f 1 40 46
+f 1 46 51
+f 1 51 54
+f 1 54 55
+f 1 55 53
+f 1 53 47
+f 1 47 41
+f 1 41 35
+f 1 35 30
+f 1 30 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 14
+f 2 14 19
+f 2 19 24
+f 2 24 31
+f 2 31 37
+f 2 37 43
+f 2 43 45
+f 2 45 38
+f 2 38 33
+f 2 33 28
+f 2 28 27
+f 2 27 25
+f 2 25 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 26 22
+f 21 25 27
+f 21 27 28
+f 21 28 29
+f 21 29 26
+f 23 30 24
+f 24 30 31
+f 26 29 32
+f 28 33 34
+f 28 34 29
+f 29 34 32
+f 30 35 31
+f 31 36 37
+f 31 35 36
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 42 37
+f 36 41 42
+f 37 42 43
+f 38 44 39
+f 38 45 50
+f 38 50 55
+f 38 55 54
+f 38 54 49
+f 38 49 44
+f 39 46 40
+f 39 44 46
+f 41 47 48
+f 41 48 42
+f 42 48 52
+f 42 52 50
+f 42 50 45
+f 42 45 43
+f 44 49 46
+f 46 49 51
+f 47 52 48
+f 47 53 52
+f 49 54 51
+f 50 52 53
+f 50 53 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_153.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898e7946cc075f1e0350e649ef12f56bccfaea9e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_153.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01040509 0.00872788 0.00762547
+v -0.01040509 0.00872788 -0.00612663
+v -0.01106117 0.00872788 0.00762547
+v -0.01040509 -0.03002265 0.00762547
+v -0.01106117 0.00872788 -0.00612663
+v -0.01040509 -0.03372109 -0.00612663
+v -0.01106117 -0.02954060 0.00762547
+v -0.01040509 -0.03153527 0.00715298
+v -0.01106117 -0.03372109 -0.00612663
+v -0.01040509 -0.03372109 0.00564262
+v -0.01106117 -0.03162669 0.00690529
+v -0.01040509 -0.03328060 0.00637895
+v -0.01106117 -0.03372109 0.00508263
+v -0.01095277 -0.03372109 0.00517551
+v -0.01106117 -0.03266974 0.00641530
+v -0.01088399 -0.03309776 0.00627126
+v -0.01106117 -0.03332216 0.00573281
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 17
+f 3 17 15
+f 3 15 11
+f 3 11 7
+f 4 7 8
+f 6 10 14
+f 6 14 13
+f 6 13 9
+f 7 11 8
+f 8 11 12
+f 10 12 14
+f 11 15 12
+f 12 13 14
+f 12 15 16
+f 12 16 13
+f 13 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_154.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b801b0ebedbf24be86795a796fbfe1fa731bfd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_154.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03214770 -0.00476043
+v -0.00624620 0.03214770 -0.00476043
+v -0.00505689 -0.03528978 -0.00476043
+v -0.00505689 0.03777436 -0.00476087
+v -0.00624620 -0.03528230 -0.00476043
+v -0.00620010 0.03708599 -0.00476087
+v -0.00624620 0.03705606 -0.00476087
+v -0.00623852 -0.03528978 -0.00476043
+v -0.00505689 -0.03866427 -0.00476065
+v -0.00505689 0.03772198 -0.00594231
+v -0.00624620 0.03701117 -0.00593834
+v -0.00624620 -0.03793849 -0.00476065
+v -0.00596319 -0.03811807 -0.00476065
+v -0.00518250 -0.03859693 -0.00476065
+v -0.00513733 -0.03857449 -0.00594231
+v -0.00505689 -0.03861189 -0.00594231
+v -0.00505689 0.03755737 -0.00664914
+v -0.00605470 0.03687649 -0.00701348
+v -0.00624620 0.03681663 -0.00676603
+v -0.00624620 -0.03793101 -0.00512477
+v -0.00505689 -0.03860441 -0.00602369
+v -0.00624620 -0.03789360 -0.00594231
+v -0.00582361 -0.03790857 -0.00701348
+v -0.00505689 0.03746759 -0.00701348
+v -0.00624620 0.03675677 -0.00701348
+v -0.00505689 -0.03835750 -0.00701348
+v -0.00509530 -0.03833505 -0.00701348
+v -0.00624620 -0.03764668 -0.00701348
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 19
+f 2 19 25
+f 2 25 28
+f 2 28 22
+f 2 22 20
+f 2 20 12
+f 2 12 5
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 12 8
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 13 20 14
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 21
+f 17 24 18
+f 18 25 19
+f 18 24 26
+f 18 26 27
+f 18 27 23
+f 18 23 28
+f 18 28 25
+f 21 23 27
+f 21 27 26
+f 22 28 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_155.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16af9f60d722b58733a2fd0ffaf8b30b3d4c854a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_155.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00950666 0.02937794 0.00177813
+v -0.00950666 0.03492846 0.00177813
+v -0.00907299 0.02937794 0.00177813
+v -0.00950666 0.02937794 0.00781465
+v -0.00907299 0.03523689 0.00232272
+v -0.00907299 0.03525645 0.00177813
+v -0.00950666 0.03489624 0.00266922
+v -0.00907299 0.03522366 0.00268957
+v -0.00907299 0.02937794 0.00789185
+v -0.00945924 0.02937794 0.00782363
+v -0.00950666 0.02995451 0.00769616
+v -0.00950666 0.03480878 0.00321919
+v -0.00907299 0.03520467 0.00280686
+v -0.00907299 0.03030092 0.00770394
+v -0.00907299 0.03038090 0.00768718
+v -0.00907299 0.03044477 0.00766444
+v -0.00950666 0.03050232 0.00749867
+v -0.00950666 0.03444051 0.00463870
+v -0.00907299 0.03477540 0.00458185
+v -0.00907299 0.03276373 0.00678592
+v -0.00950666 0.03261297 0.00669855
+v -0.00950666 0.03427881 0.00501512
+v -0.00925896 0.03456768 0.00478652
+v -0.00907299 0.03470060 0.00478353
+v -0.00907299 0.03282472 0.00676258
+v -0.00925896 0.03284774 0.00669197
+v -0.00950666 0.03275107 0.00662674
+v -0.00950666 0.03385818 0.00578532
+v -0.00907299 0.03402735 0.00600016
+v -0.00907299 0.03301058 0.00667581
+v -0.00907299 0.03324363 0.00655492
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 21
+f 1 21 27
+f 1 27 28
+f 1 28 22
+f 1 22 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 8
+f 3 8 13
+f 3 13 19
+f 3 19 24
+f 3 24 29
+f 3 29 31
+f 3 31 30
+f 3 30 25
+f 3 25 20
+f 3 20 16
+f 3 16 15
+f 3 15 14
+f 3 14 9
+f 4 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 11
+f 11 15 16
+f 11 16 17
+f 11 14 15
+f 12 18 19
+f 12 19 13
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 22 28 24
+f 22 24 23
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 27
+f 27 31 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_156.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1fe5772933d4d16362dfe647d6a7380db638f1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_156.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03781137 -0.00255073
+v -0.00505689 0.03781137 -0.00380202
+v -0.00619405 0.03713122 -0.00255073
+v -0.00505689 -0.03237519 -0.00255073
+v -0.00505689 0.03777015 -0.00476043
+v -0.00624620 0.03706252 -0.00470549
+v -0.00624620 0.03709687 -0.00382148
+v -0.00624620 0.03709687 -0.00255073
+v -0.00624620 -0.03237519 -0.00255073
+v -0.00505689 -0.03237519 -0.00476043
+v -0.00624620 0.03705565 -0.00476043
+v -0.00624620 -0.03237519 -0.00476043
+f 1 2 3
+f 1 3 8
+f 1 8 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 12
+f 4 12 10
+f 5 10 12
+f 5 12 11
+f 5 11 6
+f 6 11 12
+f 6 12 9
+f 6 9 8
+f 6 8 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_157.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60882ba0555b54054a7eae32f12ada7ef5849c05
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_157.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 0.00260479 -0.01892166
+v -0.00854170 0.00270494 -0.01892411
+v -0.00740928 0.00260479 -0.01892166
+v -0.00854170 0.00260479 0.00613499
+v -0.00740928 0.00275346 -0.01892411
+v -0.00854170 0.00595695 -0.01892411
+v -0.00740928 0.00260479 0.00613499
+v -0.00854170 0.00595695 0.00613499
+v -0.00740928 0.00595695 -0.01892411
+v -0.00854170 0.01315062 -0.01892166
+v -0.00740928 0.00595695 0.00613499
+v -0.00854170 0.01315062 0.00613254
+v -0.00740928 0.01315062 -0.01892166
+v -0.00740928 0.01315062 0.00613254
+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 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 14
+f 3 14 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 13
+f 6 13 9
+f 8 11 14
+f 8 14 12
+f 10 12 14
+f 10 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_158.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a063abb45d31e5e31cafa7490d5b2816ddc716a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_158.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 -0.02448181 0.00068569
+v -0.00740928 -0.02448181 0.00068569
+v -0.00854170 -0.02448181 0.00166598
+v -0.00854170 0.00260479 0.00068569
+v -0.00740928 -0.02448181 0.00166598
+v -0.00740928 0.00260479 0.00068569
+v -0.00854170 0.00260479 0.00166598
+v -0.00740928 0.00260479 0.00166598
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_159.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e696edb7f810b9907d261f03815312b54f3a67e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_159.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 0.00275572 0.01306511
+v 0.00290743 0.00275572 0.01550536
+v 0.00290743 0.00467477 0.01306511
+v 0.01588995 0.00275572 0.01306511
+v 0.00406652 0.00467477 0.01714993
+v 0.00395722 0.00467477 0.01705734
+v 0.00290743 0.00467477 0.01614467
+v 0.00447067 0.00275572 0.01680087
+v 0.01531676 0.00467477 0.01306511
+v 0.01582767 0.00307656 0.01306511
+v 0.01578192 0.00275572 0.01342917
+v 0.00597926 0.00275572 0.01798503
+v 0.00546453 0.00467477 0.01823212
+v 0.01521000 0.00467477 0.01345044
+v 0.01537649 0.00355107 0.01403971
+v 0.01515662 0.00275572 0.01544906
+v 0.00598434 0.00275572 0.01798878
+v 0.00678757 0.00346409 0.01874194
+v 0.00652449 0.00467477 0.01885517
+v 0.01516806 0.00467477 0.01357180
+v 0.01450591 0.00467477 0.01546658
+v 0.01512231 0.00280362 0.01549786
+v 0.01512866 0.00275572 0.01552100
+v 0.00785769 0.00275572 0.01900154
+v 0.00786404 0.00275572 0.01900405
+v 0.00796826 0.00467477 0.01928429
+v 0.01369633 0.00467477 0.01710614
+v 0.01389332 0.00275572 0.01764348
+v 0.01011994 0.00275572 0.01941566
+v 0.01011994 0.00467477 0.01945569
+v 0.01287022 0.00467477 0.01815956
+v 0.01368743 0.00275572 0.01789745
+v 0.01228687 0.00275572 0.01899216
+v 0.01182044 0.00467477 0.01901656
+v 0.01308501 0.00319885 0.01846045
+v 0.01253216 0.00275572 0.01884766
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 16
+f 1 16 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 7 6
+f 3 6 5
+f 3 5 13
+f 3 13 19
+f 3 19 26
+f 3 26 30
+f 3 30 34
+f 3 34 31
+f 3 31 27
+f 3 27 21
+f 3 21 20
+f 3 20 14
+f 3 14 9
+f 4 10 11
+f 5 8 12
+f 5 12 13
+f 9 14 10
+f 10 15 16
+f 10 16 11
+f 10 14 15
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 20 16
+f 14 16 15
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 21 27 23
+f 21 23 22
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 31 34 35
+f 32 35 36
+f 33 36 34
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_16.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616f770b39c362c2c1b7c1fba4ef05d8d52d57c9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.00505698 0.02887643 0.00819604
+v -0.00505698 0.03183477 0.00799860
+v -0.00603788 0.03172243 0.00798934
+v -0.00546543 0.02843455 0.00819604
+v -0.00505698 -0.03291171 0.00819604
+v -0.00505698 0.03273351 0.00783432
+v -0.00505698 0.03289079 0.00778650
+v -0.00603788 0.03270355 0.00768855
+v -0.00603788 0.02843455 0.00813588
+v -0.00603788 0.02698908 0.00819604
+v -0.00576519 -0.03238745 0.00819604
+v -0.00505698 -0.03307648 0.00814282
+v -0.00505698 0.03462834 0.00724199
+v -0.00603788 0.03348995 0.00744329
+v -0.00603788 -0.03210285 0.00819604
+v -0.00603788 -0.03327869 0.00781581
+v -0.00505698 -0.03577269 0.00713401
+v -0.00505698 0.03486052 0.00713556
+v -0.00603788 0.03487550 0.00679466
+v -0.00603788 -0.03370559 0.00765461
+v -0.00603788 -0.03576520 0.00677229
+v -0.00505698 -0.03727807 0.00625632
+v -0.00505698 0.03628352 0.00631648
+v -0.00603788 0.03554955 0.00640594
+v -0.00603788 -0.03700845 0.00602031
+v -0.00505698 -0.03816183 0.00468217
+v -0.00505698 0.03637339 0.00625169
+v -0.00603788 0.03608130 0.00601414
+v -0.00603788 -0.03757016 0.00473230
+v -0.00505698 -0.03852881 0.00313039
+v -0.00603788 0.03616369 0.00588997
+v -0.00505698 0.03714481 0.00498990
+v -0.00603788 -0.03804200 0.00261982
+v -0.00516068 -0.03858124 0.00261982
+v -0.00505698 -0.03863366 0.00261982
+v -0.00505698 0.03726464 0.00473770
+v -0.00603788 0.03667297 0.00475004
+v -0.00603788 -0.03810940 0.00048034
+v -0.00521906 -0.03861869 0.00048034
+v -0.00505698 -0.03870107 0.00048034
+v -0.00505698 0.03772150 0.00281340
+v -0.00603788 0.03715230 0.00265067
+v -0.00603788 -0.03810940 0.00031683
+v -0.00521906 -0.03861869 0.00031683
+v -0.00505698 -0.03870107 0.00031683
+v -0.00505698 0.03774397 0.00261982
+v -0.00522808 0.03764660 0.00261982
+v -0.00603788 0.03715979 0.00253266
+v -0.00603788 0.03721221 0.00031683
+v -0.00505698 0.03781137 0.00031683
+v -0.00505698 0.03781137 0.00048111
+v -0.00603788 0.03719724 0.00135495
+v -0.00603788 0.03721221 0.00048111
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 35
+f 1 35 40
+f 1 40 45
+f 1 45 50
+f 1 50 51
+f 1 51 46
+f 1 46 41
+f 1 41 36
+f 1 36 32
+f 1 32 27
+f 1 27 23
+f 1 23 18
+f 1 18 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 14
+f 3 14 19
+f 3 19 24
+f 3 24 28
+f 3 28 31
+f 3 31 37
+f 3 37 42
+f 3 42 48
+f 3 48 52
+f 3 52 53
+f 3 53 49
+f 3 49 43
+f 3 43 38
+f 3 38 33
+f 3 33 29
+f 3 29 25
+f 3 25 21
+f 3 21 20
+f 3 20 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 7 13 14
+f 7 14 8
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 17
+f 17 21 22
+f 17 20 21
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 27 32 31
+f 29 33 34
+f 29 34 30
+f 30 34 35
+f 31 32 36
+f 31 36 37
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 41 46 47
+f 41 47 42
+f 42 47 48
+f 43 49 50
+f 43 50 45
+f 43 45 44
+f 46 51 47
+f 47 51 52
+f 47 52 48
+f 49 53 51
+f 49 51 50
+f 51 53 52
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_160.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f1002ce9c174ff7085dd2aa03b05b8d8f82a42
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_160.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.02721197 -0.00470351
+v -0.00740928 0.02930219 -0.00470351
+v -0.00697561 0.02721197 -0.00470351
+v -0.00740928 0.02721197 0.00803571
+v -0.00697561 0.02930219 -0.00470351
+v -0.00740928 0.02930219 0.00801700
+v -0.00697561 0.02721197 0.00804070
+v -0.00740928 0.02803406 0.00803446
+v -0.00697561 0.02930219 0.00802323
+v -0.00740928 0.02841299 0.00802947
+v -0.00697561 0.02843897 0.00803820
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 8
+f 6 10 11
+f 6 11 9
+f 7 11 8
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_161.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9dc0abafa33b18c27502137fc6dcbdadb398f87
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_161.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00124309 0.02400160 -0.01892197
+v -0.00124309 0.02843906 -0.01892413
+v -0.00060100 0.02839776 -0.01892413
+v -0.00060100 0.02400160 -0.01892197
+v -0.00124309 0.02400160 0.00311957
+v -0.00060100 0.02843906 -0.01892413
+v -0.00124309 0.02908500 -0.01888529
+v -0.00060100 0.02908500 -0.01891550
+v -0.00060100 0.02400160 0.00311957
+v -0.00124309 0.02908500 0.00311957
+v -0.00060100 0.02908500 0.00311957
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 8
+f 3 8 11
+f 3 11 9
+f 3 9 4
+f 5 9 11
+f 5 11 10
+f 7 10 11
+f 7 11 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_162.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8943a93e1a78712a3e82ea7ba1fc0b4d3b4400f6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_162.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.03899852 -0.00497427
+v -0.00285283 0.03896241 -0.00594261
+v -0.00340497 0.03870366 -0.00497427
+v -0.00285283 -0.02247694 -0.00497427
+v -0.00398662 0.03835464 -0.00594261
+v -0.00285283 0.03876985 -0.00681474
+v -0.00398662 0.03822827 -0.00681474
+v -0.00398662 0.03839075 -0.00497427
+v -0.00398662 -0.02247694 -0.00497427
+v -0.00285283 -0.02247694 -0.00681474
+v -0.00398662 -0.02247694 -0.00681474
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 11
+f 4 11 10
+f 5 7 11
+f 5 11 9
+f 5 9 8
+f 6 10 11
+f 6 11 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_163.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83bb62e7dcd69191a397b315552fd57001051451
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_163.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00505678 0.03151676 -0.00918973
+v -0.00505678 0.03677773 -0.00918973
+v -0.00398662 0.03151676 -0.00918973
+v -0.00505678 0.03151676 0.00801034
+v -0.00493547 0.03685022 -0.00918973
+v -0.00505678 0.03723500 -0.00804103
+v -0.00475988 0.03741588 -0.00803428
+v -0.00398662 0.03740843 -0.00918973
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+v -0.00505678 0.03184600 0.00799851
+v -0.00483793 0.03690848 -0.00918973
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+v -0.00398662 0.03817122 -0.00729607
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+v -0.00398662 0.03770853 -0.00844815
+v -0.00398662 0.03217184 0.00804075
+v -0.00398662 0.03266705 0.00795459
+v -0.00398662 0.03313787 0.00786844
+v -0.00505678 0.03274089 0.00783466
+v -0.00505678 0.03756288 -0.00664908
+v -0.00505678 0.03772818 -0.00594128
+v -0.00398662 0.03818544 -0.00720823
+v -0.00398662 0.03351114 0.00779411
+v -0.00398662 0.03363782 0.00776878
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+v -0.00413832 0.03827690 -0.00594128
+v -0.00398662 0.03835751 -0.00594128
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+v -0.00505678 0.03463704 0.00724173
+v -0.00505678 0.03781082 -0.00380098
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+v -0.00398662 0.03843678 -0.00380098
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+v -0.00505678 0.03781082 0.00047792
+v -0.00420746 0.03831822 0.00047792
+v -0.00398662 0.03843678 0.00047792
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+v -0.00398662 0.03672286 0.00643595
+v -0.00505678 0.03629337 0.00631601
+v -0.00505678 0.03779931 0.00090023
+v -0.00505678 0.03775121 0.00261821
+v -0.00415781 0.03828774 0.00261821
+v -0.00398662 0.03837919 0.00261821
+v -0.00398662 0.03677299 0.00638358
+v -0.00486360 0.03643902 0.00629743
+v -0.00505678 0.03638143 0.00625182
+v -0.00505678 0.03772547 0.00281248
+v -0.00400318 0.03819493 0.00400172
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+v -0.00398662 0.03739420 0.00573321
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+v -0.00505678 0.03727091 0.00473655
+v -0.00477539 0.03744026 0.00473317
+v -0.00398662 0.03773360 0.00516900
+v -0.00398662 0.03820035 0.00401186
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
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+f 1 19 25
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+f 1 30 36
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+f 1 42 49
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+f 21 27 22
+f 22 27 28
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+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 29 34 30
+f 30 34 35
+f 30 35 36
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 32 39 33
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 36 41 42
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 41 47 48
+f 41 48 42
+f 42 48 49
+f 44 50 45
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 53 48
+f 48 53 49
+f 49 53 54
+f 50 55 51
+f 51 55 56
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 53 57 54
+f 54 57 55
+f 55 57 56
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_164.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef193c1aaead9a9dbea49b5f9fdb249ed6ab75cc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_164.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00580218 -0.00791309 -0.01892412
+v 0.00585155 -0.00791309 -0.01892412
+v 0.00409441 -0.00791309 -0.01892072
+v 0.00549534 -0.00546585 -0.01892412
+v 0.00585155 -0.00546801 -0.01892412
+v 0.00585155 -0.00791309 0.01554801
+v 0.00409441 -0.00546585 -0.01892072
+v 0.00409441 -0.00791309 0.01493942
+v 0.00583882 -0.00546585 -0.01892412
+v 0.00585155 -0.00546585 -0.01801633
+v 0.00585155 -0.00584602 0.01579961
+v 0.00409441 -0.00546585 0.01473882
+v 0.00409441 -0.00756694 0.01498022
+v 0.00585155 -0.00546585 0.01580981
+v 0.00409441 -0.00547017 0.01475242
+v 0.00410714 -0.00546585 0.01475922
+v 0.00438646 -0.00546585 0.01493262
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 11
+f 2 11 6
+f 3 7 4
+f 3 8 13
+f 3 13 15
+f 3 15 12
+f 3 12 7
+f 4 7 12
+f 4 12 16
+f 4 16 17
+f 4 17 14
+f 4 14 10
+f 4 10 9
+f 5 9 10
+f 6 11 8
+f 8 11 13
+f 11 14 13
+f 12 15 16
+f 13 14 17
+f 13 17 15
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_165.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8de0ba6d1e6ada3ef34eed4d2e4fdbba67b8493
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_165.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.02937794 -0.01778575
+v -0.00950666 0.02937794 -0.01759042
+v -0.00950666 0.03013243 -0.01708102
+v -0.00907299 0.03046621 -0.01699868
+v -0.00907299 0.02937794 0.00177813
+v -0.00950666 0.02937794 0.00177813
+v -0.00907299 0.03065049 -0.01683207
+v -0.00950666 0.03040305 -0.01663291
+v -0.00907299 0.03074553 -0.01668653
+v -0.00907299 0.03525624 0.00177813
+v -0.00950666 0.03492825 0.00177813
+v -0.00950666 0.03149538 -0.01450340
+v -0.00907299 0.03187147 -0.01450340
+v -0.00907299 0.03526088 0.00165366
+v -0.00950666 0.03495839 0.00095084
+v -0.00950666 0.03313475 -0.01088592
+v -0.00907299 0.03262885 -0.01282776
+v -0.00907299 0.03529449 0.00066742
+v -0.00920607 0.03520235 0.00047783
+v -0.00950666 0.03497229 0.00047783
+v -0.00950666 0.03342854 -0.01022332
+v -0.00907299 0.03285543 -0.01232219
+v -0.00907299 0.03529797 0.00047783
+v -0.00920607 0.03520235 -0.00380225
+v -0.00950666 0.03497229 -0.00380225
+v -0.00950666 0.03440846 -0.00792912
+v -0.00907299 0.03378029 -0.01022332
+v -0.00907299 0.03529797 -0.00380225
+v -0.00907299 0.03524987 -0.00493403
+v -0.00907299 0.03520351 -0.00593750
+v -0.00950666 0.03487552 -0.00593941
+v -0.00907299 0.03511253 -0.00630518
+v -0.00907299 0.03498910 -0.00680309
+v -0.00907299 0.03466285 -0.00808616
+v -0.00924788 0.03453942 -0.00808616
+v -0.00907299 0.03444323 -0.00864917
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 27
+f 1 27 36
+f 1 36 34
+f 1 34 33
+f 1 33 32
+f 1 32 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 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
+f 2 11 15
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+f 2 20 25
+f 2 25 31
+f 2 31 26
+f 2 26 21
+f 2 21 16
+f 2 16 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 5 10 11
+f 5 11 6
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 28
+f 19 28 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 26 31 30
+f 26 30 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_166.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c36724d3b165bc5ab22bd3b4d89e26c6ed8c42
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_166.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02441905 0.00923874 0.00401451
+v -0.02606219 0.00923874 0.00401451
+v -0.02441905 0.00840654 0.00401451
+v -0.02441905 0.00923874 -0.01194388
+v -0.02625215 0.00923874 0.00261837
+v -0.02606935 0.00921642 0.00401451
+v -0.02625852 0.00840654 0.00401451
+v -0.02441905 0.00840654 -0.01239855
+v -0.02441905 0.00921161 -0.01196637
+v -0.02451542 0.00923874 -0.01167558
+v -0.02608270 0.00917430 0.00401451
+v -0.02630332 0.00923874 0.00047838
+v -0.02626947 0.00917430 0.00261837
+v -0.02644111 0.00840654 0.00261837
+v -0.02528442 0.00840654 -0.00999668
+v -0.02535312 0.00878675 -0.00959984
+v -0.02506440 0.00923874 -0.01012520
+v -0.02630332 0.00923874 -0.00380322
+v -0.02632064 0.00917430 0.00047838
+v -0.02645107 0.00840654 0.00047838
+v -0.02588517 0.00840654 -0.00820049
+v -0.02570875 0.00923874 -0.00827279
+v -0.02560720 0.00923874 -0.00857965
+v -0.02632064 0.00917430 -0.00380322
+v -0.02622945 0.00923874 -0.00594161
+v -0.02645306 0.00840654 -0.00028958
+v -0.02622148 0.00840654 -0.00670957
+v -0.02606020 0.00923874 -0.00671439
+v -0.02645306 0.00840654 -0.00380322
+v -0.02624677 0.00917430 -0.00594161
+v -0.02637978 0.00840654 -0.00594161
+v -0.02642717 0.00840654 -0.00456957
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 23
+f 1 23 22
+f 1 22 28
+f 1 28 25
+f 1 25 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 20
+f 3 20 26
+f 3 26 29
+f 3 29 32
+f 3 32 31
+f 3 31 27
+f 3 27 21
+f 3 21 15
+f 3 15 8
+f 4 9 10
+f 5 11 6
+f 5 12 19
+f 5 19 13
+f 5 13 11
+f 7 11 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 12 18 24
+f 12 24 19
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 25 30
+f 18 30 24
+f 19 26 20
+f 19 24 29
+f 19 29 26
+f 21 27 22
+f 22 27 28
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 25 28 30
+f 27 31 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_167.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6384068a584374fcb95c670344b1d439f335b999
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_167.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.01713133 0.01700656 0.00834773
+v -0.01713133 0.01778874 0.00802611
+v -0.01746685 0.01778874 0.00801042
+v -0.01757544 0.01700656 0.00830590
+v -0.01713133 0.01700656 -0.01836536
+v -0.01713133 0.01778874 -0.01829738
+v -0.01834793 0.01778874 0.00789798
+v -0.01945140 0.01778874 0.00759989
+v -0.01984480 0.01700656 0.00763650
+v -0.01777247 0.01700656 -0.01826338
+v -0.01713133 0.01777090 -0.01829999
+v -0.01780823 0.01778583 -0.01811695
+v -0.01781148 0.01778874 -0.01811434
+v -0.01968744 0.01778874 0.00749791
+v -0.01965103 0.01755483 0.00757897
+v -0.02030517 0.01700656 0.00740640
+v -0.01888439 0.01700656 -0.01788423
+v -0.01896632 0.01710525 -0.01783978
+v -0.01937597 0.01778874 -0.01673632
+v -0.02083967 0.01700656 0.00712922
+v -0.02179228 0.01778874 0.00640492
+v -0.02198410 0.01700656 0.00653566
+v -0.01898843 0.01700656 -0.01784763
+v -0.01975767 0.01700656 -0.01672587
+v -0.01937922 0.01778583 -0.01673371
+v -0.01937857 0.01778874 -0.01673109
+v -0.02189047 0.01778874 0.00634739
+v -0.02198280 0.01754335 0.00637092
+v -0.02233524 0.01700656 0.00628986
+v -0.02062444 0.01700656 -0.01493732
+v -0.02037410 0.01778874 -0.01453725
+v -0.02300174 0.01700656 0.00562831
+v -0.02284828 0.01700656 0.00582704
+v -0.02267922 0.01700656 0.00604407
+v -0.02281382 0.01778874 0.00504782
+v -0.02255242 0.01700656 0.00613559
+v -0.02104840 0.01700656 -0.01388616
+v -0.02041766 0.01770490 -0.01454248
+v -0.02045213 0.01778874 -0.01433853
+v -0.02303295 0.01700656 0.00554725
+v -0.02292306 0.01778874 0.00475757
+v -0.02327809 0.01710824 0.00475757
+v -0.02275660 0.01700656 -0.00949586
+v -0.02220584 0.01778874 -0.00983056
+v -0.02322737 0.01700656 0.00503213
+v -0.02313374 0.01778874 0.00379532
+v -0.02331646 0.01700656 0.00475757
+v -0.02350048 0.01755062 0.00261864
+v -0.02338473 0.01700656 0.00441242
+v -0.02334637 0.01700656 0.00461376
+v -0.02322802 0.01700656 -0.00824859
+v -0.02288079 0.01778874 -0.00808124
+v -0.02245488 0.01778874 -0.00918993
+v -0.02337953 0.01778874 0.00261864
+v -0.02352909 0.01760361 0.00047710
+v -0.02377423 0.01700656 0.00047710
+v -0.02373781 0.01700656 0.00202246
+v -0.02372221 0.01700656 0.00261864
+v -0.02328199 0.01700656 -0.00808124
+v -0.02325859 0.01706728 -0.00808124
+v -0.02335807 0.01778874 -0.00594231
+v -0.02343480 0.01778874 0.00047710
+v -0.02352909 0.01760361 -0.00380338
+v -0.02377423 0.01700656 -0.00380338
+v -0.02370335 0.01700656 -0.00594231
+v -0.02349072 0.01752873 -0.00594231
+v -0.02343480 0.01778874 -0.00380338
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 20
+f 1 20 22
+f 1 22 29
+f 1 29 36
+f 1 36 34
+f 1 34 33
+f 1 33 32
+f 1 32 40
+f 1 40 45
+f 1 45 47
+f 1 47 50
+f 1 50 49
+f 1 49 58
+f 1 58 57
+f 1 57 56
+f 1 56 64
+f 1 64 65
+f 1 65 59
+f 1 59 51
+f 1 51 43
+f 1 43 37
+f 1 37 30
+f 1 30 24
+f 1 24 23
+f 1 23 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 19
+f 2 19 26
+f 2 26 31
+f 2 31 39
+f 2 39 44
+f 2 44 53
+f 2 53 52
+f 2 52 61
+f 2 61 67
+f 2 67 62
+f 2 62 54
+f 2 54 46
+f 2 46 41
+f 2 41 35
+f 2 35 27
+f 2 27 21
+f 2 21 14
+f 2 14 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 6 11 10
+f 6 10 12
+f 6 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 10 17 18
+f 10 18 12
+f 12 18 13
+f 13 18 19
+f 14 20 16
+f 14 21 22
+f 14 22 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 24 30 25
+f 25 30 31
+f 25 31 26
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 27 35 32
+f 28 34 36
+f 28 36 29
+f 30 37 38
+f 30 38 31
+f 31 38 39
+f 32 35 40
+f 35 41 42
+f 35 42 40
+f 37 43 39
+f 37 39 38
+f 39 43 44
+f 40 42 45
+f 41 46 42
+f 42 47 45
+f 42 46 48
+f 42 48 49
+f 42 49 50
+f 42 50 47
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 46 54 48
+f 48 54 55
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 54 62 55
+f 55 62 67
+f 55 67 63
+f 55 63 64
+f 55 64 56
+f 59 65 60
+f 60 65 66
+f 60 66 61
+f 61 66 67
+f 63 67 66
+f 63 66 64
+f 64 66 65
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_168.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6579baa00945a0f54b5294735c406dec892b4cea
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_168.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.02623474 0.00475998
+v 0.01706343 -0.02721442 0.00475998
+v 0.01706343 -0.02623474 -0.01450416
+v 0.01703614 -0.02623474 0.00519442
+v 0.01706148 -0.02766105 0.00475998
+v 0.01706343 -0.02766105 0.00261847
+v 0.01703614 -0.02721442 0.00519442
+v 0.01706343 -0.02766105 -0.01450416
+v 0.01700299 -0.02623474 -0.01664331
+v 0.00158427 -0.02623474 0.00519678
+v 0.01697570 -0.02766105 0.00519442
+v 0.00158427 -0.02766105 0.00519678
+v 0.01700299 -0.02766105 -0.01664331
+v 0.01620564 -0.02623474 -0.01831969
+v -0.00285283 -0.02623474 0.00519678
+v -0.00285283 -0.02766105 0.00519678
+v 0.01620564 -0.02766105 -0.01831969
+v 0.01537905 -0.02623474 -0.01859594
+v -0.00285283 -0.02623474 -0.01891941
+v -0.00285283 -0.02766105 -0.01892177
+v 0.01477665 -0.02766105 -0.01879663
+v 0.01440039 -0.02623474 -0.01892177
+v 0.00969036 -0.02623474 -0.01892177
+v 0.01011925 -0.02721442 -0.01892413
+v 0.01011925 -0.02766105 -0.01892413
+v 0.01440039 -0.02766105 -0.01892177
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 23
+f 1 23 19
+f 1 19 15
+f 1 15 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 13
+f 3 13 9
+f 4 10 12
+f 4 12 7
+f 5 7 11
+f 5 11 12
+f 5 12 16
+f 5 16 20
+f 5 20 25
+f 5 25 26
+f 5 26 21
+f 5 21 17
+f 5 17 13
+f 5 13 8
+f 5 8 6
+f 7 12 11
+f 9 13 17
+f 9 17 14
+f 10 15 16
+f 10 16 12
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 21 26 22
+f 22 26 25
+f 22 25 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_169.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a731a8b1d62eb4cfde38686ce379cc7b838f63
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_169.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.01706081 0.03790444 -0.00380111
+v 0.01706081 0.03716436 -0.00380111
+v 0.01706081 0.03790444 -0.01021845
+v 0.01705290 0.03790444 0.00475794
+v 0.01705422 0.03716436 0.00475794
+v 0.01706081 0.03716436 -0.01021845
+v 0.01705685 0.03716436 -0.01236278
+v 0.01703445 0.03716436 -0.01450450
+v 0.01703314 0.03790444 -0.01236278
+v 0.01673534 0.03790444 0.00599335
+v 0.01654692 0.03716436 0.00673511
+v 0.01683153 0.03716436 -0.01663839
+v 0.01691586 0.03790444 -0.01450450
+v 0.01670108 0.03790444 0.00607693
+v 0.01647576 0.03716436 0.00690750
+v 0.01677092 0.03716436 -0.01678727
+v 0.01625307 0.03790444 -0.01737232
+v 0.01655746 0.03790444 -0.01661227
+v 0.01633741 0.03790444 0.00695712
+v 0.01580375 0.03716436 0.00805149
+v 0.01606597 0.03716436 -0.01814543
+v 0.01622672 0.03790444 -0.01743501
+v 0.01590389 0.03790444 0.00769367
+v 0.01580375 0.03743822 0.00798097
+v 0.01576027 0.03723855 0.00810373
+v 0.01576949 0.03716436 0.00810373
+v 0.01439780 0.03716436 -0.01857378
+v 0.01592102 0.03790444 -0.01802006
+v 0.01580375 0.03790444 0.00779814
+v 0.01556130 0.03790437 0.00805149
+v 0.01580375 0.03782511 0.00783210
+v 0.01560083 0.03766477 0.00810373
+v 0.00479200 0.03716436 0.00810373
+v 0.01225922 0.03716436 -0.01853460
+v 0.01439780 0.03790444 -0.01830476
+v 0.00360346 0.03790437 0.00757613
+v 0.00420695 0.03790437 0.00769105
+v 0.00750112 0.03790437 0.00810373
+v 0.01545720 0.03790437 0.00810373
+v 0.00360214 0.03790444 -0.01327693
+v 0.00584086 0.03763616 0.00810373
+v 0.00370097 0.03716436 0.00793657
+v 0.01012196 0.03716436 -0.01843796
+v 0.01225922 0.03790444 -0.01825513
+v 0.00360346 0.03749278 0.00776941
+v 0.00739439 0.03789343 0.00810373
+v 0.00360346 0.03716436 0.00791045
+v 0.00360214 0.03790444 -0.01641638
+v 0.00360214 0.03716436 -0.01327693
+v 0.00798207 0.03716436 -0.01831782
+v 0.00860928 0.03790444 -0.01806185
+v 0.01012196 0.03790444 -0.01814282
+v 0.00373391 0.03790444 -0.01657309
+v 0.00360214 0.03777396 -0.01670891
+v 0.00360214 0.03716436 -0.01736449
+v 0.00776993 0.03716436 -0.01830214
+v 0.00798207 0.03790444 -0.01802529
+v 0.00477091 0.03790444 -0.01743762
+v 0.00360214 0.03771803 -0.01681339
+v 0.00507661 0.03790444 -0.01760739
+v 0.00361268 0.03716436 -0.01736971
+v 0.00580265 0.03716436 -0.01809320
+v 0.00628887 0.03790444 -0.01787902
+v 0.00681066 0.03790444 -0.01793387
+v 0.00576443 0.03716436 -0.01808536
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 17
+f 1 17 22
+f 1 22 28
+f 1 28 35
+f 1 35 44
+f 1 44 52
+f 1 52 51
+f 1 51 57
+f 1 57 64
+f 1 64 63
+f 1 63 60
+f 1 60 58
+f 1 58 53
+f 1 53 48
+f 1 48 40
+f 1 40 29
+f 1 29 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 20
+f 2 20 26
+f 2 26 33
+f 2 33 42
+f 2 42 47
+f 2 47 49
+f 2 49 55
+f 2 55 61
+f 2 61 65
+f 2 65 62
+f 2 62 56
+f 2 56 50
+f 2 50 43
+f 2 43 34
+f 2 34 27
+f 2 27 21
+f 2 21 16
+f 2 16 12
+f 2 12 8
+f 2 8 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 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 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 25
+f 25 31 32
+f 25 32 39
+f 25 39 38
+f 25 38 46
+f 25 46 41
+f 25 41 33
+f 25 33 26
+f 27 34 35
+f 27 35 28
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 29 40 36
+f 30 39 32
+f 30 32 31
+f 33 41 42
+f 34 43 44
+f 34 44 35
+f 36 45 37
+f 36 40 45
+f 37 45 42
+f 37 42 41
+f 37 41 46
+f 37 46 38
+f 40 47 45
+f 40 48 54
+f 40 54 59
+f 40 59 55
+f 40 55 49
+f 40 49 47
+f 42 45 47
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 48 53 54
+f 50 56 57
+f 50 57 51
+f 53 58 54
+f 54 58 59
+f 55 59 58
+f 55 58 60
+f 55 60 61
+f 56 62 63
+f 56 63 64
+f 56 64 57
+f 60 63 65
+f 60 65 61
+f 62 65 63
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_17.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d1c687063e15520afe266c98e8d2ababe333dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.02766105 0.00261911
+v 0.01706148 -0.02766105 0.00475777
+v 0.01706343 -0.03144236 0.00261911
+v 0.01706343 -0.02766105 -0.01450387
+v 0.01687433 -0.02766105 0.00689917
+v 0.01706148 -0.02935516 0.00475777
+v 0.01703809 -0.03144236 0.00475777
+v 0.01706343 -0.03144236 -0.01450387
+v 0.01700299 -0.02766105 -0.01664253
+v 0.01638110 -0.03144236 0.00689917
+v 0.01618615 -0.02766105 0.00910655
+v 0.01700299 -0.03144236 -0.01664253
+v 0.01698350 -0.03144236 -0.01668651
+v 0.01637330 -0.02766105 -0.01797025
+v 0.01560909 -0.03144236 0.00806746
+v 0.01614326 -0.02766105 0.00915878
+v 0.01620564 -0.03144236 -0.01831937
+v 0.01620564 -0.02766105 -0.01831937
+v 0.01528937 -0.02935516 0.00915878
+v 0.01442768 -0.03071431 0.00915878
+v 0.01408067 -0.03117550 0.00915878
+v 0.01521334 -0.03144236 0.00831212
+v -0.00285283 -0.02766105 0.00915878
+v 0.01440039 -0.03144236 -0.01892138
+v 0.01477665 -0.02766105 -0.01879768
+v 0.01371611 -0.03144236 0.00915878
+v 0.01422103 -0.03144236 0.00892238
+v -0.00285283 -0.03144236 0.00915878
+v -0.00285283 -0.02766105 -0.01892138
+v 0.01011925 -0.03144236 -0.01892413
+v 0.01056569 -0.02766105 -0.01892413
+v 0.01440039 -0.02766105 -0.01892138
+v -0.00285283 -0.03144236 -0.01878668
+v 0.00842512 -0.02766105 -0.01892413
+v -0.00285283 -0.02922562 -0.01892413
+v 0.00150629 -0.03144236 -0.01892413
+v -0.00285283 -0.03136575 -0.01879768
+v -0.00277485 -0.03144236 -0.01879493
+v -0.00272221 -0.02935516 -0.01892413
+v -0.00285283 -0.02935516 -0.01891863
+v -0.00063428 -0.03144236 -0.01890214
+v -0.00272221 -0.03144236 -0.01879768
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 25
+f 1 25 32
+f 1 32 31
+f 1 31 34
+f 1 34 29
+f 1 29 23
+f 1 23 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 3 7 10
+f 3 10 15
+f 3 15 22
+f 3 22 27
+f 3 27 26
+f 3 26 28
+f 3 28 33
+f 3 33 38
+f 3 38 42
+f 3 42 41
+f 3 41 36
+f 3 36 30
+f 3 30 24
+f 3 24 17
+f 3 17 13
+f 3 13 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 7
+f 5 7 6
+f 5 11 10
+f 9 12 13
+f 9 13 14
+f 10 11 15
+f 11 16 15
+f 13 17 14
+f 14 17 18
+f 15 16 19
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 16 23 28
+f 16 28 26
+f 16 26 21
+f 16 21 20
+f 16 20 19
+f 17 24 25
+f 17 25 18
+f 21 26 27
+f 21 27 22
+f 23 29 35
+f 23 35 40
+f 23 40 37
+f 23 37 33
+f 23 33 28
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 29 34 35
+f 30 36 39
+f 30 39 35
+f 30 35 34
+f 30 34 31
+f 33 37 38
+f 35 39 40
+f 36 41 39
+f 37 41 42
+f 37 42 38
+f 37 40 41
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_170.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0953ca2374390a2f545ebb891242a3c4a4c0e191
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_170.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00603797 0.02852120 0.00812860
+v -0.00697561 0.02852120 0.00803455
+v -0.00603797 0.02852120 0.00031683
+v -0.00603797 0.03172728 0.00798943
+v -0.00604256 0.03172643 0.00798943
+v -0.00697561 0.03036578 0.00800625
+v -0.00697561 0.03031892 0.00800778
+v -0.00697561 0.02852120 0.00031683
+v -0.00603797 0.03722524 0.00031683
+v -0.00603797 0.03173154 0.00798867
+v -0.00685519 0.03255287 0.00760939
+v -0.00697561 0.03225893 0.00765833
+v -0.00697561 0.03128764 0.00790379
+v -0.00697561 0.03666377 0.00031683
+v -0.00687327 0.03672597 0.00031683
+v -0.00603797 0.03722524 0.00047970
+v -0.00603797 0.03271134 0.00768892
+v -0.00697561 0.03243444 0.00761322
+v -0.00603797 0.03349859 0.00744270
+v -0.00697561 0.03256735 0.00756352
+v -0.00697561 0.03666377 0.00047970
+v -0.00603797 0.03716304 0.00265057
+v -0.00697561 0.03660157 0.00268728
+v -0.00603797 0.03487968 0.00679427
+v -0.00697561 0.03462408 0.00659622
+v -0.00603797 0.03667996 0.00475109
+v -0.00697561 0.03622925 0.00443070
+v -0.00603797 0.03555532 0.00640658
+v -0.00691705 0.03489417 0.00648840
+v -0.00697561 0.03484305 0.00649299
+v -0.00697561 0.03611679 0.00475951
+v -0.00614563 0.03605715 0.00598984
+v -0.00603797 0.03616535 0.00589044
+v -0.00603797 0.03608867 0.00601584
+v -0.00697561 0.03487031 0.00647923
+v -0.00697561 0.03586119 0.00532459
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 22
+f 1 22 26
+f 1 26 33
+f 1 33 34
+f 1 34 28
+f 1 28 24
+f 1 24 19
+f 1 19 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 20
+f 2 20 25
+f 2 25 30
+f 2 30 35
+f 2 35 36
+f 2 36 31
+f 2 31 27
+f 2 27 23
+f 2 23 21
+f 2 21 14
+f 2 14 8
+f 3 8 14
+f 3 14 15
+f 3 15 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 9 15 16
+f 10 17 11
+f 11 18 12
+f 11 17 19
+f 11 19 20
+f 11 20 18
+f 14 21 15
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 19 24 20
+f 20 24 25
+f 22 23 27
+f 22 27 26
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 27 31
+f 26 31 32
+f 26 32 33
+f 28 34 32
+f 28 32 35
+f 28 35 29
+f 29 35 30
+f 31 36 32
+f 32 34 33
+f 32 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_171.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9a4267deb28a4936212c2545ed9dce29aaeafa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_171.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.02351458 -0.01225387 0.00680669
+v -0.02394736 -0.01225387 0.00657740
+v -0.02364394 -0.01427171 0.00641363
+v -0.02351458 -0.01427171 0.00648107
+v -0.02351458 -0.01225387 -0.01287695
+v -0.02501678 -0.01225387 0.00535199
+v -0.02419441 -0.01427171 0.00547338
+v -0.02351458 -0.01427171 -0.01033749
+v -0.02351458 -0.01254857 -0.01268042
+v -0.02538585 -0.01225387 -0.00754949
+v -0.02502520 -0.01225387 0.00533080
+v -0.02525757 -0.01347493 0.00385877
+v -0.02467989 -0.01426144 0.00464680
+v -0.02458314 -0.01427171 0.00480865
+v -0.02375235 -0.01427171 -0.01036640
+v -0.02351458 -0.01427013 -0.01110049
+v -0.02351458 -0.01345675 -0.01190201
+v -0.02524397 -0.01343424 -0.00714295
+v -0.02564500 -0.01225387 -0.00596378
+v -0.02540529 -0.01225387 0.00428072
+v -0.02508524 -0.01427171 0.00261794
+v -0.02468572 -0.01427171 0.00459864
+v -0.02467794 -0.01427171 0.00463717
+v -0.02467557 -0.01427171 0.00464680
+v -0.02566638 -0.01225387 0.00261794
+v -0.02531372 -0.01363650 0.00261794
+v -0.02454772 -0.01427171 -0.00822193
+v -0.02351458 -0.01351542 -0.01184421
+v -0.02464598 -0.01427171 -0.00795026
+v -0.02466110 -0.01423715 -0.00794640
+v -0.02502412 -0.01427171 -0.00633179
+v -0.02530379 -0.01360608 -0.00594066
+v -0.02564694 -0.01225387 -0.00594066
+v -0.02513923 -0.01427171 0.00047540
+v -0.02572058 -0.01225387 0.00047540
+v -0.02534050 -0.01371116 0.00047540
+v -0.02506364 -0.01427171 -0.00594066
+v -0.02510705 -0.01427171 -0.00472874
+v -0.02534050 -0.01371116 -0.00380005
+v -0.02571972 -0.01225387 -0.00383473
+v -0.02513923 -0.01427171 -0.00380005
+v -0.02572058 -0.01225387 -0.00380005
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 28
+f 1 28 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 19
+f 1 19 33
+f 1 33 40
+f 1 40 42
+f 1 42 35
+f 1 35 25
+f 1 25 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 14
+f 3 14 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 34
+f 3 34 41
+f 3 41 38
+f 3 38 37
+f 3 37 31
+f 3 31 29
+f 3 29 27
+f 3 27 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 20 25
+f 12 25 26
+f 12 26 21
+f 13 24 14
+f 15 27 16
+f 16 27 29
+f 16 29 30
+f 16 30 18
+f 16 18 28
+f 17 28 18
+f 18 30 29
+f 18 29 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 21 26 34
+f 25 35 26
+f 26 35 36
+f 26 36 34
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 34 36 39
+f 34 39 41
+f 35 42 39
+f 35 39 36
+f 38 41 39
+f 39 42 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_172.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551adf862691d5b142e8eedcb31ad98cdf66cd34
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_172.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 -0.01279685 0.00130619
+v -0.00697561 -0.01279685 -0.00988408
+v -0.00740928 -0.01279685 0.00130619
+v -0.00697561 -0.03749929 0.00130619
+v -0.00740928 -0.01279685 -0.00988408
+v -0.00697561 -0.02562130 -0.00988408
+v -0.00740928 -0.03719672 0.00130619
+v -0.00712308 -0.03739763 0.00130619
+v -0.00697561 -0.03752592 0.00047691
+v -0.00740928 -0.02562130 -0.00988408
+v -0.00697561 -0.03609775 -0.00988189
+v -0.00697663 -0.03616069 -0.00988189
+v -0.00740928 -0.03722092 0.00047691
+v -0.00697561 -0.03752592 -0.00380420
+v -0.00699119 -0.03615101 -0.00988189
+v -0.00740928 -0.03584601 -0.00988189
+v -0.00697561 -0.03668354 -0.00864620
+v -0.00740928 -0.03722092 -0.00380420
+v -0.00697561 -0.03743878 -0.00594147
+v -0.00740928 -0.03717735 -0.00494349
+v -0.00740928 -0.03638823 -0.00860785
+v -0.00697561 -0.03691592 -0.00808203
+v -0.00740928 -0.03654073 -0.00824087
+v -0.00697561 -0.03708779 -0.00739078
+v -0.00740928 -0.03713620 -0.00594147
+v -0.00740928 -0.03694013 -0.00674664
+v -0.00740928 -0.03660608 -0.00808203
+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 19
+f 1 19 24
+f 1 24 22
+f 1 22 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 21
+f 3 21 23
+f 3 23 27
+f 3 27 26
+f 3 26 25
+f 3 25 20
+f 3 20 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 13 9
+f 7 9 8
+f 9 13 18
+f 9 18 14
+f 10 12 15
+f 10 15 16
+f 11 17 12
+f 12 17 15
+f 14 18 20
+f 14 20 19
+f 15 21 16
+f 15 17 21
+f 17 22 23
+f 17 23 21
+f 19 20 25
+f 19 25 24
+f 22 24 26
+f 22 26 27
+f 22 27 23
+f 24 25 26
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_173.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e859d2b3bda1b93b971fd5150b1550cdad07c2d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_173.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.01315062 0.00819584
+v -0.00740928 0.01315062 0.00613499
+v -0.00854170 0.01315062 0.00819584
+v -0.00740928 0.00260479 0.00819584
+v -0.00854170 0.01315062 0.00613499
+v -0.00740928 0.00260479 0.00613499
+v -0.00854170 0.00260479 0.00819584
+v -0.00854170 0.00260479 0.00613499
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_174.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055467746db15c5091505791710c1da6561b7461
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_174.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 0.02240049 0.00819604
+v -0.00398662 0.02240049 0.00460042
+v -0.00505678 0.02240049 0.00819604
+v -0.00398662 -0.00191171 0.00819604
+v -0.00505678 0.02240049 0.00460042
+v -0.00398662 -0.00191171 0.00460042
+v -0.00505678 -0.00191171 0.00819604
+v -0.00505678 -0.00191171 0.00460042
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_175.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a16265c845c4ecc169c03f818339738973d79b0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_175.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00591362 0.00872423 0.01335886
+v -0.00561614 0.00844085 0.01335886
+v -0.00488656 0.01250546 0.01084698
+v -0.00591362 0.00935867 0.01288992
+v -0.00591362 -0.02438481 0.01335886
+v -0.00488656 0.00763723 0.01335886
+v -0.00488656 0.01250546 0.00970183
+v -0.00591362 0.01250546 0.00976412
+v -0.00591362 0.01139732 0.01128299
+v -0.00591362 -0.02610201 0.01225631
+v -0.00546413 -0.02530262 0.01335886
+v -0.00488656 -0.02628388 0.01335886
+v -0.00591362 0.01250546 0.00970183
+v -0.00488656 -0.03070378 0.00970183
+v -0.00591362 -0.02920228 0.00996100
+v -0.00488656 -0.02715094 0.01271559
+v -0.00591362 -0.02944337 0.00970183
+v -0.00591362 -0.02922766 0.00993845
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 13
+f 1 13 17
+f 1 17 18
+f 1 18 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 13
+f 3 13 8
+f 3 8 9
+f 3 9 4
+f 3 6 12
+f 3 12 16
+f 3 16 14
+f 3 14 7
+f 5 10 11
+f 7 14 17
+f 7 17 13
+f 10 12 11
+f 10 15 12
+f 12 15 16
+f 14 16 15
+f 14 15 18
+f 14 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_176.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75db98065b8c45762b602851c50ed5a3b05a3023
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_176.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01342677 0.01647846 -0.01892341
+v -0.01556729 0.01647846 -0.01880978
+v -0.01342677 0.01700651 -0.01892341
+v -0.01149484 0.01647846 -0.01892341
+v -0.01556729 0.01700651 -0.01877556
+v -0.01774729 0.01647846 -0.01836302
+v -0.01149484 0.01700651 -0.01892341
+v -0.01149484 0.01647846 -0.01232849
+v -0.01777159 0.01700651 -0.01826359
+v -0.01844290 0.01647846 -0.01812608
+v -0.01888336 0.01700651 -0.01788527
+v -0.01149484 0.01700651 -0.01232849
+v -0.02183897 0.01647846 -0.01232849
+v -0.01910612 0.01647846 -0.01789882
+v -0.01898765 0.01700651 -0.01784911
+v -0.02159798 0.01700651 -0.01232849
+v -0.02160709 0.01698743 -0.01232849
+v -0.02108057 0.01697043 -0.01385471
+v -0.02119701 0.01647846 -0.01411167
+v -0.02001335 0.01647846 -0.01672123
+v -0.01975718 0.01700651 -0.01672639
+v -0.02109171 0.01700651 -0.01377530
+v -0.02104817 0.01700651 -0.01388828
+v -0.02083857 0.01647846 -0.01509816
+v -0.02078086 0.01647846 -0.01524019
+v -0.02062392 0.01700651 -0.01493999
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 24
+f 1 24 25
+f 1 25 20
+f 1 20 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 9
+f 3 9 11
+f 3 11 15
+f 3 15 21
+f 3 21 26
+f 3 26 23
+f 3 23 22
+f 3 22 16
+f 3 16 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 6 9
+f 6 10 11
+f 6 11 9
+f 8 12 16
+f 8 16 17
+f 8 17 13
+f 10 14 11
+f 11 14 15
+f 13 17 18
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 16 22 17
+f 17 22 18
+f 18 23 24
+f 18 24 19
+f 18 22 23
+f 20 25 21
+f 21 25 26
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_177.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc69bc28dd79e39b3ef3e9b018597184aa1e7c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_177.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 -0.00224764 -0.01892411
+v 0.00290743 0.00061825 -0.01892411
+v 0.00411933 -0.00224764 -0.01892411
+v 0.00290743 -0.00224764 0.01459787
+v 0.00369832 0.00061825 -0.01892411
+v 0.00290743 0.00061825 0.01501000
+v 0.00411933 0.00061685 -0.01892411
+v 0.00411933 -0.00224764 0.01528929
+v 0.00290743 -0.00222379 0.01461490
+v 0.00411933 0.00061825 -0.01816798
+v 0.00290743 -0.00045786 0.01512921
+v 0.00378041 0.00061825 0.01566396
+v 0.00411933 -0.00093981 0.01556859
+v 0.00290743 -0.00174549 0.01480223
+v 0.00411933 0.00061825 0.01587172
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 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 7 10
+f 3 10 15
+f 3 15 13
+f 3 13 8
+f 4 8 9
+f 5 10 7
+f 6 11 12
+f 8 13 11
+f 8 11 14
+f 8 14 9
+f 11 13 15
+f 11 15 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_178.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c996a376c4ff609cdb888610e65df66a4f03ee8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_178.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00430027 0.03424781 0.00810634
+v -0.00080269 0.03424781 0.00810634
+v 0.00430027 0.03334942 0.00810634
+v 0.00430027 0.03424781 -0.01869026
+v -0.00284863 0.03424781 0.00777952
+v -0.00084540 0.03421694 0.00810634
+v -0.00181516 0.03334942 0.00810634
+v 0.00430027 0.03334942 -0.01881940
+v 0.00430027 0.03388998 -0.01874297
+v 0.00369811 0.03424781 -0.01868498
+v -0.00285213 0.03424781 0.00720759
+v -0.00285213 0.03348071 0.00794030
+v -0.00285213 0.03334942 0.00796138
+v 0.00369811 0.03334942 -0.01881150
+v 0.00155764 0.03334942 -0.01869289
+v 0.00155764 0.03424781 -0.01851103
+v -0.00285213 0.03424781 -0.01760437
+v -0.00285213 0.03334942 -0.01812096
+v -0.00055692 0.03334942 -0.01847677
+v -0.00052051 0.03424781 -0.01822111
+v -0.00282202 0.03424781 -0.01762809
+v -0.00285213 0.03408213 -0.01786794
+v -0.00232769 0.03424781 -0.01791010
+v -0.00272260 0.03334942 -0.01814468
+v -0.00270929 0.03424781 -0.01771243
+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 16
+f 1 16 20
+f 1 20 23
+f 1 23 25
+f 1 25 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 18
+f 3 18 24
+f 3 24 19
+f 3 19 15
+f 3 15 14
+f 3 14 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 10 15 16
+f 11 17 22
+f 11 22 18
+f 11 18 13
+f 11 13 12
+f 15 19 16
+f 16 19 20
+f 17 21 22
+f 18 22 23
+f 18 23 24
+f 19 24 20
+f 20 24 23
+f 21 25 22
+f 22 25 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_179.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86f72fc3d585d6efe32f9ec35a0236373e4d0bd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_179.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.00923874 0.00401451
+v -0.02441885 0.00923874 0.00401451
+v -0.01149485 0.00840654 0.00401451
+v -0.01149485 0.00923874 -0.01465120
+v -0.02441885 0.00840654 0.00401451
+v -0.02441885 0.00923874 -0.01194553
+v -0.01149485 0.00840654 -0.01465120
+v -0.01149611 0.00923874 -0.01892188
+v -0.02441885 0.00840654 -0.01239910
+v -0.02356999 0.00923874 -0.01434583
+v -0.02441885 0.00921153 -0.01196574
+v -0.01149611 0.00840654 -0.01892188
+v -0.01556965 0.00923874 -0.01892413
+v -0.02318287 0.00858282 -0.01591983
+v -0.02320058 0.00840654 -0.01596025
+v -0.02347131 0.00923874 -0.01462425
+v -0.01556965 0.00840654 -0.01892188
+v -0.01556965 0.00917422 -0.01892413
+v -0.01770763 0.00840654 -0.01890616
+v -0.01770763 0.00917422 -0.01889718
+v -0.01770763 0.00923874 -0.01889493
+v -0.02257943 0.00923874 -0.01662936
+v -0.02313606 0.00840654 -0.01608150
+v -0.01984561 0.00840654 -0.01861202
+v -0.01984561 0.00917422 -0.01857609
+v -0.01984561 0.00923874 -0.01857160
+v -0.02257184 0.00923874 -0.01664059
+v -0.02264522 0.00840654 -0.01690330
+v -0.02152689 0.00840654 -0.01802373
+v -0.02143074 0.00917422 -0.01799679
+v -0.02142062 0.00923874 -0.01799230
+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 21
+f 1 21 26
+f 1 26 31
+f 1 31 27
+f 1 27 22
+f 1 22 16
+f 1 16 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 15
+f 3 15 23
+f 3 23 28
+f 3 28 29
+f 3 29 24
+f 3 24 19
+f 3 19 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 8 12 18
+f 8 18 13
+f 9 11 14
+f 9 14 15
+f 10 16 14
+f 10 14 11
+f 12 17 18
+f 13 19 20
+f 13 20 21
+f 13 18 19
+f 14 22 23
+f 14 23 15
+f 14 16 22
+f 17 19 18
+f 19 24 20
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 31 28
+f 28 31 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_18.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f252cdc7ecf3b4010ec4f68bfd9a1dbf3bc0629a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01012967 0.03715258 0.00909247
+v 0.01012089 0.03715199 0.00909247
+v 0.01012089 0.03632504 0.01024662
+v 0.01061717 0.03631380 0.01024662
+v 0.01226853 0.03710349 0.00909247
+v 0.00798204 0.03698341 0.00909247
+v 0.00853761 0.03612451 0.01024662
+v 0.01225974 0.03617538 0.01024662
+v 0.01421962 0.03595592 0.01024662
+v 0.01421962 0.03678169 0.00909247
+v 0.00583989 0.03645636 0.00909247
+v 0.00583989 0.03550991 0.01024662
+v 0.00730898 0.03585063 0.01024662
+v 0.01614547 0.03459837 0.01024662
+v 0.01520670 0.03625228 0.00909247
+v 0.00582562 0.03528454 0.00909247
+v 0.00582452 0.03644748 0.00909450
+v 0.00582452 0.03550341 0.01024662
+v 0.01619597 0.03490182 0.00909247
+v 0.01659454 0.03367796 0.01024662
+v 0.01621684 0.03486042 0.00909247
+v 0.00582562 0.03110955 0.00909247
+v 0.00582452 0.03528454 0.00925165
+v 0.00582452 0.03528454 0.01024662
+v 0.01693162 0.03272027 0.01024662
+v 0.01697114 0.03272027 0.00909247
+v 0.00582562 0.03110955 0.01024662
+v 0.01704141 0.03110955 0.00909247
+v 0.01702275 0.03151534 0.01024662
+v 0.01697444 0.03266940 0.00909247
+v 0.01704141 0.03110955 0.01024662
+v 0.01697663 0.03262918 0.00909247
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 21
+f 1 21 26
+f 1 26 30
+f 1 30 32
+f 1 32 28
+f 1 28 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 12
+f 3 12 18
+f 3 18 24
+f 3 24 27
+f 3 27 31
+f 3 31 29
+f 3 29 25
+f 3 25 20
+f 3 20 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 9 10
+f 5 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 19 15
+f 14 20 21
+f 14 21 19
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 25 26
+f 20 26 21
+f 22 27 24
+f 22 24 23
+f 22 28 31
+f 22 31 27
+f 25 29 26
+f 26 29 30
+f 28 32 31
+f 29 31 32
+f 29 32 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_180.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce85629feb48512348e85f2e90edd2a1599af39
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_180.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00371250 0.00686940 0.01335900
+v -0.00330425 0.00660562 0.01335900
+v -0.00285291 0.00846024 0.01273637
+v -0.00371250 0.00721436 0.01316585
+v -0.00371250 -0.02805194 0.01335900
+v -0.00285291 0.00592383 0.01335900
+v -0.00285291 0.00846024 0.00927373
+v -0.00371250 0.00846024 0.01211774
+v -0.00371250 -0.02806006 0.01335340
+v -0.00365166 -0.02813717 0.01335900
+v -0.00285291 -0.02899751 0.01335900
+v -0.00371250 0.00846024 0.00927373
+v -0.00285291 -0.03299490 0.00927373
+v -0.00371250 -0.02821021 0.01323823
+v -0.00371250 -0.02878649 0.01273157
+v -0.00285291 -0.02920449 0.01317585
+v -0.00371250 -0.03236182 0.00927373
+v -0.00285291 -0.02948045 0.01292952
+v -0.00369331 -0.03238211 0.00927373
+v -0.00371250 -0.02987004 0.01169666
+v -0.00342435 -0.03004861 0.01187421
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 20
+f 1 20 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 3 6 11
+f 3 11 16
+f 3 16 18
+f 3 18 13
+f 3 13 7
+f 5 9 10
+f 7 13 19
+f 7 19 17
+f 7 17 12
+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 13 18 19
+f 15 20 21
+f 15 21 18
+f 15 18 16
+f 17 19 21
+f 17 21 20
+f 18 21 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_181.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0058e7a1a8061998755ead77577aef1e9c122422
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_181.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 -0.03558205 0.00423379
+v -0.00919456 -0.03549410 0.00423379
+v -0.00907299 -0.03346290 0.00423379
+v -0.00907299 -0.03546505 0.00472353
+v -0.00950666 -0.03523086 0.00453270
+v -0.00927832 -0.03543332 0.00423379
+v -0.00950666 -0.03346290 0.00423379
+v -0.00907299 -0.03346290 0.00679560
+v -0.00907299 -0.03530139 0.00501367
+v -0.00950666 -0.03503670 0.00498960
+v -0.00950666 -0.03526716 0.00423379
+v -0.00950666 -0.03346290 0.00664565
+v -0.00918743 -0.03346290 0.00676601
+v -0.00907299 -0.03372468 0.00669781
+v -0.00907299 -0.03400720 0.00654710
+v -0.00950666 -0.03404973 0.00615916
+v -0.00950666 -0.03362781 0.00657945
+v -0.00946213 -0.03346290 0.00666245
+v -0.00920959 -0.03374189 0.00664565
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 18
+f 3 18 13
+f 3 13 8
+f 4 9 10
+f 4 10 5
+f 5 11 6
+f 5 10 16
+f 5 16 17
+f 5 17 12
+f 5 12 7
+f 5 7 11
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 12 17 18
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 15 19 17
+f 15 17 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_182.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e29ba483e4de05c0a90fbe55bd618e937c844c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_182.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00603797 -0.00582686 0.00819604
+v -0.00697561 -0.00582686 0.00819604
+v -0.00603797 -0.03210021 0.00819604
+v -0.00603797 -0.00582686 0.00031683
+v -0.00697561 -0.00582686 0.00031683
+v -0.00697561 -0.03114269 0.00819604
+v -0.00697561 -0.03302297 0.00763610
+v -0.00681325 -0.03343379 0.00755744
+v -0.00603797 -0.03327262 0.00781581
+v -0.00603797 -0.03658444 0.00031683
+v -0.00697561 -0.03587657 0.00031683
+v -0.00697561 -0.03345275 0.00749573
+v -0.00603797 -0.03369608 0.00765461
+v -0.00603797 -0.03576913 0.00677229
+v -0.00603797 -0.03811078 0.00031760
+v -0.00697451 -0.03658444 0.00031683
+v -0.00697561 -0.03752300 0.00047956
+v -0.00690283 -0.03563956 0.00650929
+v -0.00697561 -0.03573436 0.00643756
+v -0.00690788 -0.03576281 0.00644990
+v -0.00603797 -0.03700790 0.00601954
+v -0.00603797 -0.03811078 0.00047956
+v -0.00694193 -0.03754828 0.00031760
+v -0.00697304 -0.03752616 0.00031760
+v -0.00697561 -0.03746296 0.00262059
+v -0.00694193 -0.03754828 0.00047956
+v -0.00697561 -0.03696050 0.00475853
+v -0.00613021 -0.03698262 0.00599794
+v -0.00638491 -0.03658444 0.00614603
+v -0.00603797 -0.03757040 0.00473230
+v -0.00603797 -0.03804758 0.00262059
+v -0.00689925 -0.03751668 0.00262059
+v -0.00654222 -0.03726703 0.00475853
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 13
+f 1 13 14
+f 1 14 21
+f 1 21 30
+f 1 30 31
+f 1 31 22
+f 1 22 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
+f 2 17 25
+f 2 25 27
+f 2 27 19
+f 2 19 12
+f 2 12 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 16
+f 4 16 11
+f 4 11 5
+f 7 12 8
+f 8 13 9
+f 8 12 14
+f 8 14 13
+f 10 15 16
+f 11 16 17
+f 12 18 14
+f 12 19 18
+f 14 20 21
+f 14 18 20
+f 15 22 26
+f 15 26 23
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 26
+f 17 26 25
+f 18 19 20
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 21
+f 21 29 28
+f 21 28 30
+f 22 31 32
+f 22 32 26
+f 23 26 24
+f 25 26 32
+f 25 32 33
+f 25 33 27
+f 27 33 28
+f 28 33 30
+f 30 33 31
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_183.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee27a315c89d1011790380bdc4d26e7c2a7d3157
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_183.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00742042 -0.02654108 0.00970183
+v -0.00733738 -0.02678746 0.00970183
+v -0.00742042 -0.02468916 0.01070990
+v -0.00742042 0.01250547 0.00970183
+v -0.00728959 -0.02692707 0.00970183
+v -0.00698325 -0.02593746 0.01070990
+v -0.00742042 0.01239049 0.01070990
+v -0.00742042 0.01250547 0.01059405
+v -0.00591362 0.01250547 0.00970183
+v -0.00663428 -0.02845050 0.00970183
+v -0.00692292 -0.02605244 0.01070990
+v -0.00591362 0.01169242 0.01070990
+v -0.00591362 0.01250547 0.00976400
+v -0.00591362 -0.02944422 0.00970183
+v -0.00618619 -0.02920606 0.00970183
+v -0.00591362 -0.02794543 0.01070990
+v -0.00631023 -0.02721451 0.01070990
+v -0.00591362 -0.02923069 0.00993816
+v -0.00614607 -0.02924301 0.00970183
+v -0.00591362 -0.02921016 0.00996076
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 17
+f 3 17 16
+f 3 16 12
+f 3 12 7
+f 4 8 13
+f 4 13 9
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 13 12
+f 9 12 16
+f 9 16 20
+f 9 20 18
+f 9 18 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 14 18 19
+f 15 19 20
+f 15 20 16
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_184.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e329be55e52dd6f7eeac26c5ba1fa8f7226fc559
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_184.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 -0.02953474 0.00762547
+v -0.00950681 -0.03095142 0.00762547
+v -0.01106117 -0.02926537 0.00772316
+v -0.01106117 0.02000924 0.00762547
+v -0.00950681 -0.03019319 0.00783877
+v -0.00950681 0.02000924 0.00762547
+v -0.00964953 -0.02985399 0.00788518
+v -0.01035322 -0.02842733 0.00799241
+v -0.01106117 -0.02913068 0.00774499
+v -0.01106117 0.02000924 0.00803497
+v -0.00950681 -0.02970933 0.00792517
+v -0.00950681 0.02000924 0.00803609
+v -0.00950681 -0.02796840 0.00819604
+v -0.00971252 -0.02778384 0.00819604
+v -0.01068536 -0.02661158 0.00819604
+v -0.01106117 -0.02698571 0.00804748
+v -0.01106117 0.01756995 0.00819604
+v -0.00950681 0.01750011 0.00819604
+v -0.01101872 -0.02483075 0.00819604
+v -0.01106117 -0.02487066 0.00817214
+v -0.01106117 -0.02414735 0.00819604
+v -0.01106117 -0.02453145 0.00818342
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 20
+f 1 20 22
+f 1 22 21
+f 1 21 17
+f 1 17 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 18
+f 2 18 13
+f 2 13 11
+f 2 11 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 12
+f 4 12 6
+f 5 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 12
+f 12 17 18
+f 13 18 17
+f 13 17 21
+f 13 21 19
+f 13 19 15
+f 13 15 14
+f 15 19 16
+f 16 19 20
+f 19 21 22
+f 19 22 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_185.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc702b0ff203f56ae6dbfca61366c4b7564dfec8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_185.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.03907705 0.00355199
+v -0.00285283 -0.03952174 0.00355199
+v -0.00398662 -0.03907705 0.00357495
+v -0.00398662 0.03825973 0.00355199
+v -0.00285283 -0.03936073 0.00432627
+v -0.00324504 -0.03923040 0.00432627
+v -0.00395233 -0.03906172 0.00389065
+v -0.00285283 0.03878876 0.00355199
+v -0.00398662 -0.03903106 0.00392416
+v -0.00398662 0.03820607 0.00398328
+v -0.00358687 0.03847441 0.00355199
+v -0.00285283 0.03862775 0.00432627
+v -0.00381316 -0.03896205 0.00432627
+v -0.00398662 -0.03887005 0.00432627
+v -0.00398662 0.03819840 0.00401292
+v -0.00343227 0.03837474 0.00432627
+v -0.00398662 0.03806039 0.00432627
+v -0.00349386 0.03834407 0.00432627
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 17
+f 1 17 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 12
+f 2 12 5
+f 3 7 9
+f 4 10 11
+f 5 12 16
+f 5 16 18
+f 5 18 17
+f 5 17 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 13 9
+f 8 11 12
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 12
+f 15 17 18
+f 15 18 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_186.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79d944785c16a6a8cb4854ae7aff5003ecda0b8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_186.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00286278 -0.00359809 -0.01892412
+v 0.00290743 -0.00359809 -0.01892412
+v 0.00211141 -0.00359809 -0.01892078
+v 0.00211141 -0.00052499 -0.01892078
+v 0.00290743 -0.00052499 -0.01892078
+v 0.00290743 -0.00359809 0.01435725
+v 0.00211141 -0.00359809 0.01443388
+v 0.00211141 -0.00052499 0.01453717
+v 0.00290743 -0.00052499 0.01511357
+v 0.00285289 -0.00052499 0.01509691
+v 0.00211141 -0.00295014 0.01451718
+v 0.00211141 -0.00143916 0.01464045
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 4 9 5
+f 6 9 7
+f 7 9 10
+f 7 10 11
+f 8 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_187.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a7f55587bb422079fe06db869ee3212184dc29
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_187.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.01770136 -0.00367378 0.00811817
+v -0.01984814 -0.00367378 0.00842910
+v -0.01770136 -0.00575969 0.00803706
+v -0.01770136 -0.00367378 -0.01891601
+v -0.02197361 -0.00367378 0.00869676
+v -0.01984814 -0.00575969 0.00804518
+v -0.01770136 -0.00575969 -0.01892413
+v -0.01770136 -0.00367439 -0.01892142
+v -0.01770229 -0.00367378 -0.01892142
+v -0.02412779 -0.00367378 0.00822632
+v -0.02233850 -0.00575969 0.00790188
+v -0.02129475 -0.00575969 0.00801814
+v -0.01770692 -0.00575969 -0.01892413
+v -0.01770692 -0.00367378 -0.01892142
+v -0.02618102 -0.00367378 0.00676633
+v -0.02571610 -0.00575969 0.00640133
+v -0.02412779 -0.00575969 0.00739088
+v -0.01984814 -0.00367378 -0.01876461
+v -0.01984814 -0.00575969 -0.01872946
+v -0.02716272 -0.00367378 0.00499271
+v -0.02658759 -0.00575969 0.00480345
+v -0.02198842 -0.00367378 -0.01823198
+v -0.01989722 -0.00575969 -0.01871865
+v -0.02716272 -0.00392617 0.00475749
+v -0.02660889 -0.00575969 0.00475749
+v -0.02716272 -0.00367378 -0.00473246
+v -0.02214494 -0.00575969 -0.01806976
+v -0.02309608 -0.00508726 -0.01775072
+v -0.02313312 -0.00367378 -0.01778587
+v -0.02716272 -0.00531862 0.00265943
+v -0.02709233 -0.00575969 0.00248098
+v -0.02712197 -0.00367378 -0.00594101
+v -0.02697842 -0.00575969 -0.00594101
+v -0.02716272 -0.00412302 -0.00380239
+v -0.02220699 -0.00575969 -0.01804543
+v -0.02303588 -0.00575969 -0.01768854
+v -0.02340911 -0.00575969 -0.01685851
+v -0.02366102 -0.00367378 -0.01664492
+v -0.02716272 -0.00547687 0.00231876
+v -0.02709511 -0.00575969 0.00236472
+v -0.02712104 -0.00367378 -0.00594642
+v -0.02668391 -0.00367378 -0.00808233
+v -0.02653480 -0.00575969 -0.00808233
+v -0.02704973 -0.00575969 -0.00380239
+v -0.02716272 -0.00553548 0.00062084
+v -0.02345171 -0.00575969 -0.01675306
+v -0.02447971 -0.00367378 -0.01450900
+v -0.02716272 -0.00555304 0.00069925
+v -0.02711734 -0.00575969 0.00061273
+v -0.02595041 -0.00367378 -0.01022365
+v -0.02502428 -0.00367378 -0.01292464
+v -0.02530953 -0.00575969 -0.01161605
+v -0.02705065 -0.00575969 -0.00375643
+v -0.02430653 -0.00575969 -0.01450359
+v -0.02493815 -0.00575969 -0.01268671
+v -0.02711734 -0.00575969 0.00049648
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 29
+f 1 29 38
+f 1 38 47
+f 1 47 51
+f 1 51 50
+f 1 50 42
+f 1 42 41
+f 1 41 32
+f 1 32 26
+f 1 26 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 11
+f 3 11 17
+f 3 17 16
+f 3 16 21
+f 3 21 25
+f 3 25 31
+f 3 31 40
+f 3 40 49
+f 3 49 56
+f 3 56 53
+f 3 53 44
+f 3 44 33
+f 3 33 43
+f 3 43 52
+f 3 52 55
+f 3 55 54
+f 3 54 46
+f 3 46 37
+f 3 37 36
+f 3 36 35
+f 3 35 27
+f 3 27 23
+f 3 23 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 14
+f 13 19 18
+f 15 20 16
+f 16 20 21
+f 18 19 23
+f 18 23 22
+f 20 24 25
+f 20 25 21
+f 20 26 34
+f 20 34 45
+f 20 45 48
+f 20 48 39
+f 20 39 30
+f 20 30 24
+f 22 23 27
+f 22 27 28
+f 22 28 29
+f 24 30 31
+f 24 31 25
+f 26 32 33
+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 30 39 31
+f 31 39 40
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 44 34
+f 34 44 45
+f 37 46 38
+f 38 46 47
+f 39 48 49
+f 39 49 40
+f 42 50 43
+f 43 50 51
+f 43 51 47
+f 43 47 52
+f 44 53 48
+f 44 48 45
+f 46 54 47
+f 47 54 55
+f 47 55 52
+f 48 53 56
+f 48 56 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_188.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb290309d41f61af166ccf5c793583ba742ce215
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_188.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.02000924 -0.00600977
+v -0.01106117 0.02000924 -0.01085148
+v -0.01149480 0.02000924 -0.00600977
+v -0.01106117 -0.02916039 -0.00600977
+v -0.01149480 0.02000924 -0.01085148
+v -0.01106117 -0.02916039 -0.01085148
+v -0.01149480 -0.02916039 -0.00600977
+v -0.01149480 -0.02916039 -0.01085148
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_189.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7245c8b48a037ad1c6b5227291653e9c069a144c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_189.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.03204400 -0.00591539
+v -0.00697561 0.03204400 -0.00856716
+v -0.00740928 0.03204400 -0.00591539
+v -0.00697561 -0.01105444 -0.00591539
+v -0.00740928 0.03204400 -0.00856716
+v -0.00697561 -0.01105444 -0.00856716
+v -0.00740928 -0.01105444 -0.00591539
+v -0.00740928 -0.01105444 -0.00856716
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_19.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf9422b454a1d5250ed0f54baa6d7950a788b8f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.00976659 0.01024662
+v -0.00285283 0.00976659 0.01272932
+v -0.00285283 0.01233598 0.01024662
+v 0.01654233 0.00976659 0.01024662
+v -0.00207586 0.01233598 0.01420924
+v -0.00285283 0.01233598 0.01329297
+v -0.00207200 0.00976659 0.01347917
+v -0.00194250 0.01186813 0.01420924
+v 0.01689215 0.01233598 0.01024662
+v 0.01686896 0.01131476 0.01024662
+v 0.01673946 0.01131476 0.01118190
+v 0.01630073 0.00976659 0.01121138
+v 0.01307304 0.01233598 0.01420924
+v -0.00126797 0.00976659 0.01420924
+v -0.00154629 0.01059362 0.01420924
+v 0.01689022 0.01233598 0.01031373
+v 0.01686509 0.01233598 0.01118190
+v 0.01616157 0.01233598 0.01319444
+v 0.01596830 0.01131476 0.01284764
+v 0.01584074 0.00976659 0.01195968
+v 0.01361034 0.01051212 0.01420924
+v 0.01404521 0.01233598 0.01418015
+v 0.01365673 0.00976659 0.01420924
+v 0.01541360 0.01233598 0.01361301
+v 0.01464629 0.00976659 0.01328289
+v 0.01507730 0.00976659 0.01282359
+v 0.01566292 0.01004604 0.01237476
+v 0.01557402 0.00976659 0.01229368
+v 0.01440084 0.01233598 0.01404670
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 20
+f 1 20 28
+f 1 28 26
+f 1 26 25
+f 1 25 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 13
+f 3 13 22
+f 3 22 29
+f 3 29 24
+f 3 24 18
+f 3 18 17
+f 3 17 16
+f 3 16 9
+f 4 10 11
+f 4 11 12
+f 5 8 15
+f 5 15 14
+f 5 14 23
+f 5 23 21
+f 5 21 13
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 21 22
+f 18 24 23
+f 18 23 19
+f 19 23 25
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 21 23 22
+f 22 23 29
+f 23 24 29
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_190.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa507b55f3f4703618d142fe329807c170c07446
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_190.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01295951 0.03934881 0.00773392
+v 0.01295951 0.03989761 0.00750304
+v 0.01289129 0.03989761 0.00750304
+v 0.01229234 0.03934881 0.00772905
+v 0.01295951 0.03934881 -0.01649566
+v 0.01295951 0.03989761 -0.01645677
+v 0.01077066 0.03989761 0.00741798
+v 0.01018095 0.03934881 0.00765858
+v 0.01032202 0.03934881 0.00766344
+v 0.01235477 0.03934881 -0.01705705
+v 0.01295951 0.03935053 -0.01709350
+v 0.01295951 0.03984610 -0.01653940
+v 0.01233281 0.03989761 -0.01634741
+v 0.00670746 0.03989761 0.00707046
+v 0.00607612 0.03934881 0.00732563
+v 0.01218711 0.03934881 -0.01704489
+v 0.01295951 0.03973554 -0.01671438
+v 0.01215011 0.03973989 -0.01656614
+v 0.01187145 0.03989761 -0.01618702
+v 0.01013932 0.03934881 -0.01664147
+v 0.00583909 0.03934881 0.00730133
+v 0.00583909 0.03989761 0.00697568
+v 0.00794469 0.03934881 -0.01584678
+v 0.01011967 0.03989761 -0.01553814
+v 0.00428503 0.03934881 0.00701213
+v 0.00467123 0.03989761 0.00675695
+v 0.00583330 0.03934881 -0.01475560
+v 0.00788919 0.03989761 -0.01451744
+v 0.00396590 0.03934881 0.00695138
+v 0.00369879 0.03989761 0.00653337
+v 0.00369879 0.03934881 0.00689062
+v 0.00554192 0.03934881 -0.01452230
+v 0.00583909 0.03945190 -0.01450285
+v 0.00776546 0.03989761 -0.01444939
+v 0.00275757 0.03989761 0.00630250
+v 0.00205686 0.03934881 0.00648720
+v 0.00374620 0.03934881 -0.01297666
+v 0.00416015 0.03989761 -0.01190249
+v 0.00583909 0.03989761 -0.01326343
+v 0.00725323 0.03989761 -0.01413589
+v 0.00220834 0.03989761 0.00610565
+v 0.00178398 0.03934881 0.00640943
+v 0.00188458 0.03934881 0.00644345
+v 0.00309637 0.03934881 -0.01231320
+v 0.00383986 0.03966017 -0.01222328
+v 0.00281192 0.03989761 -0.01051968
+v 0.00114802 0.03934881 0.00611051
+v 0.00114802 0.03989761 0.00540331
+v 0.00114802 0.03934881 -0.01031311
+v 0.00114802 0.03964460 -0.00950383
+v 0.00125440 0.03989761 -0.00892058
+v 0.00114802 0.03989761 -0.00881121
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 15
+f 1 15 21
+f 1 21 25
+f 1 25 29
+f 1 29 31
+f 1 31 36
+f 1 36 43
+f 1 43 42
+f 1 42 47
+f 1 47 49
+f 1 49 44
+f 1 44 37
+f 1 37 32
+f 1 32 27
+f 1 27 23
+f 1 23 20
+f 1 20 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 24
+f 2 24 28
+f 2 28 34
+f 2 34 40
+f 2 40 39
+f 2 39 38
+f 2 38 46
+f 2 46 51
+f 2 51 52
+f 2 52 48
+f 2 48 41
+f 2 41 35
+f 2 35 30
+f 2 30 26
+f 2 26 22
+f 2 22 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 12 17 18
+f 13 18 20
+f 13 20 19
+f 14 21 15
+f 14 22 21
+f 16 20 18
+f 16 18 17
+f 19 20 23
+f 19 23 24
+f 21 22 25
+f 22 26 25
+f 23 27 28
+f 23 28 24
+f 25 26 29
+f 26 30 31
+f 26 31 29
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 37 44 45
+f 37 45 38
+f 38 45 44
+f 38 44 46
+f 41 47 42
+f 41 48 47
+f 44 49 46
+f 46 49 50
+f 46 50 51
+f 47 48 52
+f 47 52 50
+f 47 50 49
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_191.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d935f969813549ea862a1c86cef78fdd708ed58c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_191.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 0.00061825 0.00935440
+v 0.00290743 0.00061825 0.01501069
+v 0.00290743 0.00275572 0.00935440
+v 0.01701870 0.00061825 0.00935440
+v 0.00378179 0.00061825 0.01566644
+v 0.00290743 0.00176043 0.01528616
+v 0.00290743 0.00275572 0.01550474
+v 0.00364504 0.00275572 0.00935440
+v 0.01697036 0.00244000 0.00935440
+v 0.01683775 0.00061825 0.01117591
+v 0.00407738 0.00074107 0.01588310
+v 0.00396550 0.00103169 0.01588310
+v 0.00339503 0.00272559 0.01588310
+v 0.00339226 0.00273396 0.01588310
+v 0.00413402 0.00061825 0.01588310
+v 0.00338674 0.00275258 0.01588310
+v 0.00339779 0.00275572 0.01588310
+v 0.01648829 0.00275572 0.01117911
+v 0.01691925 0.00275258 0.00935440
+v 0.01645928 0.00061825 0.01331572
+v 0.01562084 0.00061825 0.01588310
+v 0.01491223 0.00275572 0.01588310
+v 0.01515672 0.00275572 0.01544849
+v 0.01562084 0.00212385 0.01480681
+v 0.01585566 0.00061825 0.01547214
+v 0.01645790 0.00061825 0.01332211
+v 0.01583770 0.00061825 0.01552391
+v 0.01558907 0.00095950 0.01588310
+v 0.01523960 0.00201359 0.01588310
+v 0.01512910 0.00275572 0.01552072
+v 0.01541364 0.00149806 0.01588310
+v 0.01585151 0.00061825 0.01548620
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 26
+f 1 26 25
+f 1 25 32
+f 1 32 27
+f 1 27 21
+f 1 21 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 22
+f 3 22 30
+f 3 30 23
+f 3 23 18
+f 3 18 8
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 15 11
+f 6 14 16
+f 6 16 7
+f 7 16 17
+f 8 18 19
+f 9 19 20
+f 9 20 10
+f 11 15 21
+f 11 21 28
+f 11 28 31
+f 11 31 29
+f 11 29 22
+f 11 22 17
+f 11 17 16
+f 11 16 14
+f 11 14 13
+f 11 13 12
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 20
+f 21 27 28
+f 22 29 30
+f 23 30 24
+f 24 31 27
+f 24 27 32
+f 24 32 25
+f 24 30 29
+f 24 29 31
+f 27 31 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_192.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c52f171e52a62ee7d0053e07ed3ee8874d6263
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_192.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01305688 0.03859125 0.00793849
+v 0.01305688 0.03863789 0.00792832
+v 0.01296128 0.03859125 0.00794103
+v 0.01305688 0.03859125 -0.01801817
+v 0.01305688 0.03930981 0.00775045
+v 0.01084188 0.03859125 0.00792832
+v 0.01275145 0.03859125 -0.01800547
+v 0.01305688 0.03860356 -0.01801055
+v 0.01305688 0.03934881 0.00773266
+v 0.01237152 0.03934881 0.00773012
+v 0.01225978 0.03931856 0.00774029
+v 0.01011990 0.03859125 0.00790799
+v 0.01225854 0.03859125 -0.01797752
+v 0.01305688 0.03934881 -0.01711102
+v 0.01225978 0.03934881 0.00772758
+v 0.01011990 0.03929134 0.00768438
+v 0.00927127 0.03859125 0.00787496
+v 0.01011990 0.03859125 -0.01769038
+v 0.01218715 0.03934881 -0.01704496
+v 0.01032290 0.03934881 0.00766405
+v 0.00799616 0.03896795 0.00767676
+v 0.01018198 0.03934881 0.00765643
+v 0.00671484 0.03934881 0.00737184
+v 0.00671484 0.03922587 0.00744044
+v 0.00671484 0.03907110 0.00752430
+v 0.00771060 0.03859125 0.00778602
+v 0.00798002 0.03859125 -0.01735751
+v 0.01013914 0.03934881 -0.01664348
+v 0.00671484 0.03874430 0.00764881
+v 0.00722451 0.03859125 0.00775045
+v 0.00671484 0.03934881 -0.01520271
+v 0.00671484 0.03859125 -0.01696365
+v 0.00671484 0.03873770 -0.01671971
+v 0.00798002 0.03901897 -0.01664348
+v 0.00794588 0.03934881 -0.01584305
+v 0.00671484 0.03859125 0.00770471
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 17
+f 1 17 26
+f 1 26 30
+f 1 30 36
+f 1 36 32
+f 1 32 27
+f 1 27 18
+f 1 18 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 14 19
+f 9 19 28
+f 9 28 35
+f 9 35 31
+f 9 31 23
+f 9 23 22
+f 9 22 20
+f 9 20 15
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 21 17
+f 16 20 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 17 21 26
+f 18 27 19
+f 19 27 28
+f 21 29 30
+f 21 30 26
+f 21 25 29
+f 23 31 33
+f 23 33 32
+f 23 32 36
+f 23 36 29
+f 23 29 25
+f 23 25 24
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 29 36 30
+f 31 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_193.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a5a941bac1bd407ca5719abab9e50d6c12e9bc2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_193.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 -0.02273430 -0.00988408
+v -0.00697561 -0.02273430 -0.01833464
+v -0.00740928 -0.02273430 -0.00988408
+v -0.00697561 -0.03609796 -0.00988408
+v -0.00740928 -0.02273430 -0.01833464
+v -0.00697561 -0.02995974 -0.01833464
+v -0.00740928 -0.03584817 -0.00988408
+v -0.00697663 -0.03616369 -0.00988408
+v -0.00697561 -0.03616237 -0.00988822
+v -0.00740928 -0.03022268 -0.01833464
+v -0.00697561 -0.03150974 -0.01808152
+v -0.00697926 -0.03055398 -0.01833464
+v -0.00740928 -0.03571407 -0.01020255
+v -0.00697561 -0.03613871 -0.00994529
+v -0.00699110 -0.03615317 -0.00988408
+v -0.00697561 -0.03151632 -0.01807987
+v -0.00740928 -0.03113506 -0.01809228
+v -0.00740928 -0.03551161 -0.01068149
+v -0.00697561 -0.03592442 -0.01045153
+v -0.00740928 -0.03472675 -0.01253688
+v -0.00740928 -0.03132963 -0.01803107
+v -0.00697561 -0.03152158 -0.01807739
+v -0.00697561 -0.03480826 -0.01308696
+v -0.00740928 -0.03431526 -0.01350800
+v -0.00697561 -0.03249969 -0.01756205
+v -0.00740928 -0.03233536 -0.01739578
+v -0.00697561 -0.03468337 -0.01338144
+v -0.00740928 -0.03385381 -0.01459492
+v -0.00697561 -0.03415224 -0.01463297
+v -0.00697561 -0.03266008 -0.01733044
+v -0.00697561 -0.03316229 -0.01660499
+v -0.00740928 -0.03259172 -0.01702438
+v -0.00740928 -0.03366186 -0.01503995
+v -0.00740928 -0.03300190 -0.01635601
+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 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 29
+f 1 29 31
+f 1 31 30
+f 1 30 25
+f 1 25 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 21
+f 3 21 26
+f 3 26 32
+f 3 32 34
+f 3 34 33
+f 3 33 28
+f 3 28 24
+f 3 24 20
+f 3 20 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 9
+f 10 12 16
+f 10 16 17
+f 11 16 12
+f 13 18 14
+f 14 18 20
+f 14 20 19
+f 16 21 17
+f 16 22 21
+f 19 20 23
+f 20 24 23
+f 21 22 25
+f 21 25 26
+f 23 24 27
+f 24 28 29
+f 24 29 27
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 31
+f 31 34 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_194.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e751fec27445ed7c075b1fec3a6f1b4b7a0f31eb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_194.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00705151 -0.01279559 0.00387702
+v -0.00740928 -0.01279559 0.00387702
+v -0.00697561 -0.01279801 0.00387702
+v -0.00697561 -0.01279559 0.00384006
+v -0.00740928 -0.01279559 0.00130838
+v -0.00740928 -0.03686161 0.00387702
+v -0.00697561 -0.03716875 0.00387702
+v -0.00697561 -0.01279559 0.00130838
+v -0.00740928 -0.03719777 0.00130838
+v -0.00740928 -0.03716150 0.00261923
+v -0.00733207 -0.03691723 0.00387702
+v -0.00719894 -0.03701155 0.00387702
+v -0.00697561 -0.03741060 0.00284831
+v -0.00697561 -0.03750250 0.00130838
+v -0.00734510 -0.03724372 0.00130838
+v -0.00713471 -0.03739125 0.00130838
+v -0.00697561 -0.03746380 0.00261923
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 7 13
+f 3 13 17
+f 3 17 14
+f 3 14 8
+f 3 8 4
+f 5 8 14
+f 5 14 16
+f 5 16 15
+f 5 15 9
+f 6 10 11
+f 7 12 10
+f 7 10 13
+f 9 15 10
+f 10 12 11
+f 10 15 16
+f 10 16 14
+f 10 14 17
+f 10 17 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_195.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c61a78ad186fc91c3e7256cb05087c0fac53659
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_195.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 -0.03456802 -0.00380080
+v -0.01106117 -0.03456802 0.00047926
+v -0.01149480 -0.03423636 -0.00380080
+v -0.01149480 -0.03422579 -0.00405037
+v -0.01106117 -0.03452250 -0.00487081
+v -0.01149480 -0.03423636 0.00047926
+v -0.01106117 -0.03450055 0.00261929
+v -0.01149480 -0.03414287 -0.00594220
+v -0.01106117 -0.03447535 -0.00594220
+v -0.01149480 -0.03416807 0.00261929
+v -0.01106117 -0.03402744 0.00460075
+v -0.01149480 -0.03413312 -0.00600977
+v -0.01106117 -0.03446559 -0.00600977
+v -0.01149480 -0.03359498 0.00480206
+v -0.01106117 -0.03386243 0.00497580
+v -0.01134742 -0.03368928 0.00486273
+v -0.01149480 -0.02626430 -0.00600977
+v -0.01106117 -0.02626430 -0.00600977
+v -0.01149480 -0.03351126 0.00499786
+v -0.01106117 -0.03332429 0.00573281
+v -0.01149480 -0.02626430 0.00801624
+v -0.01106117 -0.02626430 0.00807691
+v -0.01106117 -0.03267316 0.00641536
+v -0.01149480 -0.03170663 0.00672147
+v -0.01149480 -0.02687885 0.00800521
+v -0.01106117 -0.02699103 0.00804658
+v -0.01106117 -0.03162778 0.00690486
+v -0.01147260 -0.03168468 0.00674905
+v -0.01149480 -0.03167574 0.00674215
+v -0.01149480 -0.02742430 0.00793765
+v -0.01149480 -0.02840384 0.00780114
+v -0.01106117 -0.02913707 0.00774460
+v -0.01106117 -0.02926876 0.00772254
+v -0.01115431 -0.02922974 0.00771151
+v -0.01149480 -0.02927120 0.00757776
+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 22
+f 1 22 26
+f 1 26 32
+f 1 32 33
+f 1 33 27
+f 1 27 23
+f 1 23 20
+f 1 20 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 6
+f 3 6 10
+f 3 10 14
+f 3 14 19
+f 3 19 24
+f 3 24 29
+f 3 29 35
+f 3 35 31
+f 3 31 30
+f 3 30 25
+f 3 25 21
+f 3 21 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 7 10
+f 7 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 11 15 16
+f 11 16 14
+f 12 17 18
+f 12 18 13
+f 14 16 19
+f 15 20 19
+f 15 19 16
+f 17 21 22
+f 17 22 18
+f 19 20 23
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 28 35 29
+f 31 35 34
+f 31 34 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_196.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23afbefd1dbbe2331a292214db60eb8d890df26f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_196.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.02286046 -0.00868372 0.00741881
+v -0.02290324 -0.00745254 0.00758843
+v -0.02286046 -0.00957439 0.00737519
+v -0.02286046 -0.00868372 -0.01665978
+v -0.02412883 -0.00745254 0.00719103
+v -0.02290324 -0.00763122 0.00757631
+v -0.02286046 -0.01017342 0.00734369
+v -0.02286046 -0.01013595 0.00734611
+v -0.02290324 -0.00745254 -0.01681970
+v -0.02286046 -0.00970229 -0.01613881
+v -0.02290324 -0.00795001 -0.01697236
+v -0.02290324 -0.00745471 -0.01716621
+v -0.02290324 -0.00795001 0.00755450
+v -0.02556369 -0.00745254 0.00626540
+v -0.02412883 -0.00795001 0.00713288
+v -0.02286046 -0.01022637 0.00733642
+v -0.02290363 -0.00745254 -0.01716379
+v -0.02286046 -0.00982448 -0.01607580
+v -0.02333335 -0.00745254 -0.01634235
+v -0.02314065 -0.00937997 -0.01579230
+v -0.02322043 -0.00868372 -0.01599584
+v -0.02330368 -0.00795001 -0.01620423
+v -0.02552090 -0.00795001 0.00622663
+v -0.02630751 -0.00745254 0.00475822
+v -0.02419126 -0.00868372 0.00696326
+v -0.02332719 -0.01022637 0.00710380
+v -0.02286046 -0.01022637 -0.01586499
+v -0.02353607 -0.00745254 -0.01580926
+v -0.02304430 -0.01022637 -0.01552575
+v -0.02332719 -0.00904053 -0.01548941
+v -0.02352297 -0.00868372 -0.01516713
+v -0.02392610 -0.00795001 -0.01450077
+v -0.02543689 -0.00868372 0.00613455
+v -0.02432268 -0.01022637 0.00660221
+v -0.02622080 -0.00795001 0.00475822
+v -0.02675111 -0.00745254 0.00258710
+v -0.02401398 -0.00745254 -0.01450077
+v -0.02332950 -0.01022637 -0.01472128
+v -0.02374959 -0.00868372 -0.01452985
+v -0.02476320 -0.00782401 -0.01220607
+v -0.02498095 -0.00745254 -0.01182564
+v -0.02533167 -0.00960508 0.00601340
+v -0.02564154 -0.01022637 0.00492057
+v -0.02603503 -0.00868372 0.00480668
+v -0.02603388 -0.00868372 0.00481153
+v -0.02665091 -0.00795001 0.00261860
+v -0.02612907 -0.01022637 0.00261618
+v -0.02679274 -0.00745254 0.00090545
+v -0.02339694 -0.01022637 -0.01452985
+v -0.02419088 -0.01009006 -0.01236115
+v -0.02535480 -0.00745254 -0.01076189
+v -0.02526538 -0.00868372 -0.01021669
+v -0.02578683 -0.00868372 -0.00873131
+v -0.02618226 -0.00795001 -0.00808192
+v -0.02670371 -0.00795001 0.00047656
+v -0.02653644 -0.00868372 0.00047656
+v -0.02618419 -0.01022637 0.00047656
+v -0.02679775 -0.00745254 0.00050806
+v -0.02415966 -0.01022637 -0.01236115
+v -0.02524226 -0.01022637 -0.00927652
+v -0.02626319 -0.00745254 -0.00808192
+v -0.02560916 -0.01022637 -0.00822973
+v -0.02561494 -0.01022637 -0.00821277
+v -0.02609323 -0.01022637 -0.00604165
+v -0.02663048 -0.00795001 -0.00593988
+v -0.02670371 -0.00795001 -0.00380510
+v -0.02653644 -0.00868372 -0.00380753
+v -0.02618419 -0.01022637 -0.00380753
+v -0.02679775 -0.00745254 -0.00117117
+v -0.02671065 -0.00745254 -0.00593988
+v -0.02646283 -0.00868372 -0.00593988
+v -0.02611019 -0.01022637 -0.00593988
+v -0.02678349 -0.00745254 -0.00380510
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 16
+f 1 16 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 17
+f 2 17 19
+f 2 19 28
+f 2 28 37
+f 2 37 41
+f 2 41 51
+f 2 51 61
+f 2 61 70
+f 2 70 73
+f 2 73 69
+f 2 69 58
+f 2 58 48
+f 2 48 36
+f 2 36 24
+f 2 24 14
+f 2 14 5
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 5 7 13
+f 5 13 6
+f 5 14 15
+f 5 15 7
+f 6 13 7
+f 7 15 16
+f 9 12 17
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 12 19 17
+f 14 23 15
+f 14 24 23
+f 15 23 25
+f 15 25 26
+f 15 26 16
+f 16 26 34
+f 16 34 43
+f 16 43 47
+f 16 47 57
+f 16 57 68
+f 16 68 72
+f 16 72 64
+f 16 64 63
+f 16 63 62
+f 16 62 60
+f 16 60 59
+f 16 59 49
+f 16 49 38
+f 16 38 29
+f 16 29 27
+f 18 27 20
+f 19 22 28
+f 20 29 30
+f 20 30 21
+f 20 27 29
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 28
+f 23 33 34
+f 23 34 25
+f 23 24 35
+f 23 35 33
+f 24 36 35
+f 25 34 26
+f 28 32 37
+f 29 38 39
+f 29 39 30
+f 30 39 31
+f 31 39 32
+f 32 40 41
+f 32 41 37
+f 32 39 40
+f 33 42 34
+f 33 35 42
+f 34 42 43
+f 35 44 45
+f 35 45 42
+f 35 36 46
+f 35 46 47
+f 35 47 44
+f 36 48 46
+f 38 49 39
+f 39 49 50
+f 39 50 40
+f 40 51 41
+f 40 50 52
+f 40 52 53
+f 40 53 54
+f 40 54 51
+f 42 45 43
+f 43 45 44
+f 43 44 47
+f 46 48 55
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 48 58 55
+f 49 59 50
+f 50 59 60
+f 50 60 53
+f 50 53 52
+f 51 54 61
+f 53 60 62
+f 53 62 54
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 65 61
+f 55 58 69
+f 55 69 66
+f 55 66 67
+f 55 67 56
+f 56 67 68
+f 56 68 57
+f 61 65 70
+f 64 71 65
+f 64 72 71
+f 65 71 68
+f 65 68 67
+f 65 67 66
+f 65 66 70
+f 66 69 73
+f 66 73 70
+f 68 71 72
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_197.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b961f0676292964ac4d4b911e0883343fc222a3e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_197.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.02018426 0.01512599 0.00802555
+v -0.02018426 0.01559590 0.00786771
+v -0.02030866 0.01569064 0.00777399
+v -0.02177822 0.01569064 0.00704150
+v -0.02199868 0.01512599 0.00710316
+v -0.02018426 0.01512599 -0.01717003
+v -0.02018426 0.01569064 0.00781591
+v -0.02187512 0.01569064 0.00699218
+v -0.02198810 0.01559590 0.00696258
+v -0.02320040 0.01569064 0.00609198
+v -0.02324652 0.01569064 0.00605992
+v -0.02326260 0.01559590 0.00607718
+v -0.02334003 0.01512599 0.00615364
+v -0.02051938 0.01512599 -0.01697519
+v -0.02018426 0.01564178 -0.01697519
+v -0.02018426 0.01569064 -0.01694807
+v -0.02198768 0.01569064 0.00693298
+v -0.02355033 0.01512599 0.00577383
+v -0.02378814 0.01569064 0.00485390
+v -0.02402129 0.01512599 0.00472566
+v -0.02095268 0.01512599 -0.01619092
+v -0.02041444 0.01565377 -0.01671377
+v -0.02039625 0.01569064 -0.01671377
+v -0.02381860 0.01569064 0.00475772
+v -0.02385457 0.01559590 0.00475772
+v -0.02429760 0.01559590 0.00261945
+v -0.02445204 0.01512599 0.00261945
+v -0.02116552 0.01512599 -0.01571739
+v -0.02136312 0.01569064 -0.01457797
+v -0.02043349 0.01569064 -0.01664225
+v -0.02043095 0.01569064 -0.01664718
+v -0.02421381 0.01569064 0.00284881
+v -0.02423370 0.01569064 0.00275263
+v -0.02425909 0.01569064 0.00261945
+v -0.02435303 0.01559590 0.00047871
+v -0.02450663 0.01512599 0.00047871
+v -0.02315935 0.01512599 -0.01033595
+v -0.02322748 0.01569064 -0.00962320
+v -0.02286188 0.01569064 -0.01059984
+v -0.02431156 0.01569064 0.00058230
+v -0.02431410 0.01569064 0.00047871
+v -0.02435303 0.01559590 -0.00380276
+v -0.02450663 0.01512599 -0.00380276
+v -0.02376825 0.01512599 -0.00864408
+v -0.02381522 0.01559590 -0.00808177
+v -0.02324356 0.01559590 -0.00966759
+v -0.02377967 0.01569064 -0.00808177
+v -0.02431410 0.01569064 -0.00380276
+v -0.02423878 0.01569064 -0.00594103
+v -0.02427729 0.01559590 -0.00594103
+v -0.02448886 0.01512599 -0.00432068
+v -0.02398320 0.01512599 -0.00804477
+v -0.02435134 0.01512599 -0.00633810
+v -0.02443131 0.01512599 -0.00594103
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 18
+f 1 18 20
+f 1 20 27
+f 1 27 36
+f 1 36 43
+f 1 43 51
+f 1 51 54
+f 1 54 53
+f 1 53 52
+f 1 52 44
+f 1 44 37
+f 1 37 28
+f 1 28 21
+f 1 21 14
+f 1 14 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 7 16
+f 3 16 23
+f 3 23 31
+f 3 31 30
+f 3 30 29
+f 3 29 39
+f 3 39 38
+f 3 38 47
+f 3 47 49
+f 3 49 48
+f 3 48 41
+f 3 41 40
+f 3 40 34
+f 3 34 33
+f 3 33 32
+f 3 32 24
+f 3 24 19
+f 3 19 11
+f 3 11 10
+f 3 10 17
+f 3 17 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 8 17 9
+f 9 17 10
+f 11 18 12
+f 11 19 20
+f 11 20 18
+f 12 18 13
+f 14 21 22
+f 14 22 23
+f 14 23 16
+f 14 16 15
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 23
+f 21 23 22
+f 24 32 26
+f 24 26 25
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 34 40 35
+f 35 41 48
+f 35 48 42
+f 35 42 43
+f 35 43 36
+f 35 40 41
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 38 46 45
+f 38 45 47
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 44 52 45
+f 45 52 50
+f 45 50 47
+f 47 50 49
+f 50 52 53
+f 50 53 54
+f 50 54 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_198.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a19913501c85b908d9f978016bbd830a9949b3b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_198.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00488656 0.00954199 0.00819604
+v -0.00390666 0.00954199 0.00819604
+v -0.00488656 0.00954199 0.01200220
+v -0.00488656 0.01250518 0.00819604
+v -0.00390666 0.01250518 0.00819604
+v -0.00390666 0.00954199 0.01201986
+v -0.00460070 0.00954199 0.01202025
+v -0.00390666 0.01231546 0.01211854
+v -0.00390666 0.01244716 0.01208706
+v -0.00390666 0.01250518 0.01207247
+v -0.00456866 0.01250518 0.01130609
+v -0.00488656 0.01250518 0.01084649
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 9
+f 2 9 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 12 11
+f 4 11 10
+f 4 10 5
+f 6 8 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_199.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26da31795717e06dcdf6db1d91581dc86ca3c2a1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_199.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.01556608 -0.00795001 0.00806504
+v -0.01556680 -0.00745254 0.00809413
+v -0.01556608 -0.01009006 0.00803595
+v -0.01556608 -0.00745254 0.00778734
+v -0.01984657 -0.00745254 0.00803330
+v -0.01984657 -0.00868372 0.00803330
+v -0.01984513 -0.01022637 0.00803066
+v -0.01570254 -0.01022637 0.00803595
+v -0.01556680 -0.01022637 0.00803595
+v -0.01556608 -0.01022637 0.00679823
+v -0.01556608 -0.00745254 -0.01890297
+v -0.02114436 -0.00745254 0.00800156
+v -0.02108619 -0.00868372 0.00800156
+v -0.01995789 -0.01022637 0.00802801
+v -0.01556608 -0.01022637 -0.01702259
+v -0.01556608 -0.00795110 -0.01892148
+v -0.01556680 -0.00745254 -0.01892148
+v -0.02221520 -0.00745254 0.00782437
+v -0.02104453 -0.01022637 0.00799892
+v -0.01556680 -0.01022637 -0.01892148
+v -0.01556608 -0.01009114 -0.01892148
+v -0.01770776 -0.00745254 -0.01892413
+v -0.02290252 -0.00745254 0.00758635
+v -0.02211968 -0.01009006 0.00772652
+v -0.02210029 -0.01022637 0.00772387
+v -0.01757130 -0.01022637 -0.01890297
+v -0.01770776 -0.00795001 -0.01892413
+v -0.01820548 -0.00745254 -0.01887917
+v -0.02290252 -0.00745254 -0.01681895
+v -0.02290252 -0.00763122 0.00757577
+v -0.02290252 -0.00795001 0.00755461
+v -0.02285943 -0.01013622 0.00734832
+v -0.02285943 -0.01022637 0.00733775
+v -0.01770704 -0.01022637 -0.01889768
+v -0.01770704 -0.01009006 -0.01890297
+v -0.01984657 -0.00745254 -0.01867817
+v -0.02282137 -0.00745254 -0.01739285
+v -0.02290252 -0.00745471 -0.01716540
+v -0.02290252 -0.00821449 0.00750172
+v -0.02290252 -0.00868372 0.00740651
+v -0.02285943 -0.01022637 -0.01586685
+v -0.01984657 -0.00795001 -0.01866495
+v -0.01971011 -0.01022637 -0.01858296
+v -0.02037948 -0.00745254 -0.01852478
+v -0.02212112 -0.00745254 -0.01790592
+v -0.02136413 -0.01022637 -0.01797468
+v -0.02274380 -0.00795001 -0.01727383
+v -0.02248740 -0.01022637 -0.01656770
+v -0.02285943 -0.00982476 -0.01607843
+v -0.02290252 -0.00795001 -0.01697234
+v -0.02290252 -0.00868372 -0.01658357
+v -0.01984657 -0.01009006 -0.01856709
+v -0.01984657 -0.01022637 -0.01855651
+v -0.02178356 -0.00745254 -0.01806195
+v -0.02137778 -0.01009006 -0.01798261
+v -0.02128082 -0.01022637 -0.01800906
+v -0.02243641 -0.01022637 -0.01664704
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 21
+f 1 21 16
+f 1 16 11
+f 1 11 4
+f 1 4 2
+f 2 4 11
+f 2 11 17
+f 2 17 22
+f 2 22 28
+f 2 28 36
+f 2 36 44
+f 2 44 54
+f 2 54 45
+f 2 45 37
+f 2 37 29
+f 2 29 23
+f 2 23 18
+f 2 18 12
+f 2 12 5
+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 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 19
+f 7 19 25
+f 7 25 33
+f 7 33 41
+f 7 41 48
+f 7 48 57
+f 7 57 46
+f 7 46 56
+f 7 56 53
+f 7 53 43
+f 7 43 34
+f 7 34 26
+f 7 26 20
+f 7 20 15
+f 7 15 10
+f 7 10 9
+f 7 9 8
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 13 19 14
+f 15 20 21
+f 16 21 27
+f 16 27 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 22 27 28
+f 23 29 38
+f 23 38 50
+f 23 50 51
+f 23 51 40
+f 23 40 39
+f 23 39 31
+f 23 31 30
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 36
+f 29 37 38
+f 31 39 33
+f 31 33 32
+f 33 39 40
+f 33 40 51
+f 33 51 41
+f 34 42 35
+f 34 43 42
+f 35 42 36
+f 36 42 44
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 41 51 50
+f 41 50 49
+f 41 49 48
+f 42 43 52
+f 42 52 44
+f 43 53 52
+f 44 52 54
+f 45 55 46
+f 45 54 55
+f 46 55 56
+f 46 57 47
+f 47 57 48
+f 52 53 54
+f 53 56 54
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_2.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff54a37899661c4b6659e13e13a596c3d8d8d6ae
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01705301 0.01631364 0.01024662
+v 0.01705142 0.01631364 0.01118210
+v 0.01705301 0.01559567 0.01024662
+v 0.01297793 0.01631364 0.01024662
+v 0.01704543 0.01559567 0.01118210
+v 0.01702030 0.01631364 0.01332258
+v 0.01702868 0.01345576 0.01024662
+v 0.01297793 0.01631364 0.01641480
+v 0.01297793 0.01233598 0.01024662
+v 0.01699836 0.01559567 0.01332258
+v 0.01700155 0.01345576 0.01118210
+v 0.01641751 0.01631364 0.01550308
+v 0.01689184 0.01233598 0.01024662
+v 0.01686511 0.01233598 0.01118210
+v 0.01297793 0.01628210 0.01640479
+v 0.01472924 0.01631364 0.01663429
+v 0.01297793 0.01233598 0.01438000
+v 0.01633932 0.01326732 0.01351080
+v 0.01577803 0.01631364 0.01658801
+v 0.01622882 0.01563694 0.01552246
+v 0.01616300 0.01233598 0.01319501
+v 0.01297793 0.01440579 0.01574695
+v 0.01560170 0.01631364 0.01663429
+v 0.01404706 0.01233598 0.01417990
+v 0.01297793 0.01368704 0.01530985
+v 0.01593920 0.01385524 0.01484899
+v 0.01541500 0.01233598 0.01361273
+v 0.01440132 0.01233598 0.01404670
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 23
+f 1 23 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 9 17
+f 4 17 25
+f 4 25 22
+f 4 22 15
+f 4 15 8
+f 5 6 7
+f 6 10 11
+f 6 11 7
+f 6 12 10
+f 7 11 14
+f 7 14 13
+f 8 15 16
+f 9 13 14
+f 9 14 21
+f 9 21 27
+f 9 27 28
+f 9 28 24
+f 9 24 17
+f 10 12 18
+f 10 18 14
+f 10 14 11
+f 12 19 20
+f 12 20 18
+f 14 18 21
+f 15 22 16
+f 16 22 23
+f 17 24 23
+f 17 23 25
+f 18 20 26
+f 18 26 21
+f 19 23 26
+f 19 26 20
+f 21 26 27
+f 22 25 23
+f 23 24 26
+f 24 28 26
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_20.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e4093b2757e74c694b09536bdcff0b7ff767a0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.01706255 0.00827640 0.00689683
+v 0.01696140 0.00827640 0.00903497
+v 0.01706255 0.00703300 0.00689683
+v 0.01706255 0.00827640 -0.01449664
+v 0.01692538 0.00554583 0.00904102
+v 0.01696694 0.00554583 0.00838778
+v 0.01705978 0.00554583 0.00689683
+v 0.01706116 0.00619747 0.00689683
+v 0.01614668 0.00827640 0.01106121
+v 0.01631711 0.00554583 0.01063782
+v 0.01706116 0.00554583 0.00475869
+v 0.01706255 0.00703300 -0.01449664
+v 0.01700158 0.00827640 -0.01664082
+v 0.01574070 0.00827640 0.01153601
+v 0.01550931 0.00554583 0.01197151
+v 0.01607878 0.00554583 0.01117915
+v 0.01706116 0.00554583 -0.01449664
+v 0.01700158 0.00703300 -0.01664082
+v 0.01654018 0.00827640 -0.01761463
+v 0.01520310 0.00827640 0.01197151
+v 0.00290882 0.00554583 0.01197151
+v 0.01699881 0.00554583 -0.01663175
+v 0.01700020 0.00619747 -0.01663780
+v 0.01651524 0.00619747 -0.01765999
+v 0.01620626 0.00703300 -0.01831625
+v 0.01620626 0.00827640 -0.01831625
+v 0.00290743 0.00827640 0.01197151
+v 0.00290743 0.00703300 0.01197151
+v 0.00290743 0.00554583 0.00902892
+v 0.01620210 0.00554583 -0.01830718
+v 0.01620210 0.00619747 -0.01831323
+v 0.01439530 0.00554583 -0.01891807
+v 0.01439669 0.00703300 -0.01892412
+v 0.01439669 0.00827640 -0.01892412
+v 0.00290743 0.00827640 0.01040192
+v 0.00290743 0.00554583 0.00833032
+v 0.00567998 0.00554583 -0.01892110
+v 0.00518949 0.00554583 -0.01892110
+v 0.00453688 0.00619747 -0.01892110
+v 0.00800915 0.00827640 -0.01892110
+v 0.00290882 0.00827640 -0.01891807
+v 0.00290743 0.00703300 -0.01891505
+v 0.00290743 0.00619747 -0.01891505
+v 0.00290882 0.00554583 -0.01891807
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 13
+f 1 13 19
+f 1 19 26
+f 1 26 34
+f 1 34 40
+f 1 40 41
+f 1 41 35
+f 1 35 27
+f 1 27 20
+f 1 20 14
+f 1 14 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 5
+f 3 8 11
+f 3 11 17
+f 3 17 12
+f 4 12 18
+f 4 18 13
+f 5 10 16
+f 5 16 15
+f 5 15 21
+f 5 21 29
+f 5 29 36
+f 5 36 44
+f 5 44 38
+f 5 38 37
+f 5 37 32
+f 5 32 30
+f 5 30 22
+f 5 22 17
+f 5 17 11
+f 5 11 7
+f 5 7 6
+f 7 11 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 18
+f 13 18 19
+f 14 20 15
+f 15 20 27
+f 15 27 28
+f 15 28 21
+f 17 22 23
+f 17 23 18
+f 18 24 25
+f 18 25 19
+f 18 23 24
+f 19 25 26
+f 21 28 29
+f 22 30 24
+f 22 24 23
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 42
+f 27 42 43
+f 27 43 36
+f 27 36 29
+f 27 29 28
+f 30 32 31
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 35 41 42
+f 36 43 44
+f 38 44 39
+f 39 44 41
+f 39 41 40
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_200.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c165e9b523527348072d11dfe62217af964ea7ef
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_200.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00488656 0.00764099 0.01335900
+v -0.00371259 0.00686965 0.01335900
+v -0.00371259 0.00721336 0.01316585
+v -0.00488656 0.00846430 0.01275916
+v -0.00488656 -0.02628237 0.01335900
+v -0.00371259 -0.02805288 0.01335900
+v -0.00371259 0.00846430 0.01211774
+v -0.00488656 0.00846430 0.00927373
+v -0.00488656 -0.02632634 0.01332940
+v -0.00442460 -0.02706971 0.01335900
+v -0.00371259 -0.02806087 0.01335340
+v -0.00371259 0.00846430 0.00927373
+v -0.00488656 -0.03123020 0.00927373
+v -0.00488656 -0.02715364 0.01271557
+v -0.00445471 -0.02711767 0.01328822
+v -0.00405975 -0.02862040 0.01255202
+v -0.00371259 -0.02820875 0.01323823
+v -0.00371259 -0.03236524 0.00927373
+v -0.00480601 -0.03135009 0.00927373
+v -0.00371259 -0.02878826 0.01273157
+v -0.00371259 -0.02986735 0.01169666
+v -0.00471867 -0.03143802 0.00927373
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 20
+f 2 20 21
+f 2 21 18
+f 2 18 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 6 10 11
+f 8 12 18
+f 8 18 22
+f 8 22 19
+f 8 19 13
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 13 19 16
+f 13 16 14
+f 14 16 15
+f 16 19 20
+f 16 20 17
+f 18 21 22
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_201.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6569d4aa48f2648d486e185b54c4109ed54c35
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_201.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00697727 -0.01279559 0.00819604
+v -0.00740928 -0.01279559 0.00819604
+v -0.00697561 -0.01280036 0.00819604
+v -0.00697561 -0.01279559 0.00806837
+v -0.00740928 -0.01279559 0.00387727
+v -0.00740928 -0.03076859 0.00819604
+v -0.00697561 -0.03114795 0.00819604
+v -0.00697561 -0.01279559 0.00415671
+v -0.00705151 -0.01279559 0.00387727
+v -0.00740928 -0.03686219 0.00387727
+v -0.00740928 -0.03134360 0.00803878
+v -0.00697561 -0.03302804 0.00763675
+v -0.00697561 -0.01279798 0.00387727
+v -0.00733207 -0.03691706 0.00387727
+v -0.00740928 -0.03665462 0.00476039
+v -0.00740928 -0.03195439 0.00784220
+v -0.00697561 -0.03345751 0.00749597
+v -0.00697561 -0.03716997 0.00387727
+v -0.00697561 -0.03696240 0.00476039
+v -0.00740928 -0.03554279 0.00636175
+v -0.00740928 -0.03351238 0.00733068
+v -0.00697561 -0.03573366 0.00643911
+f 1 2 6
+f 1 6 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 15
+f 2 15 20
+f 2 20 21
+f 2 21 16
+f 2 16 11
+f 2 11 6
+f 3 7 12
+f 3 12 17
+f 3 17 22
+f 3 22 19
+f 3 19 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 5 9 13
+f 5 13 18
+f 5 18 14
+f 5 14 10
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_202.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c238bc7037c2d8f389dcf90041fb9c8b730fc2e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_202.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.00892016 0.00819604
+v -0.00907299 0.00892016 0.00423418
+v -0.00950666 0.00892016 0.00819604
+v -0.00907299 -0.02778748 0.00819604
+v -0.00950666 0.00892016 0.00423418
+v -0.00907299 -0.03346290 0.00423418
+v -0.00950666 -0.02797417 0.00819604
+v -0.00907299 -0.02836830 0.00819565
+v -0.00950666 -0.03346290 0.00423418
+v -0.00907299 -0.03346290 0.00679552
+v -0.00950666 -0.02971662 0.00792494
+v -0.00907299 -0.02928101 0.00804672
+v -0.00950666 -0.03346290 0.00664581
+v -0.00907299 -0.03201915 0.00738815
+v -0.00918743 -0.03346290 0.00676605
+v -0.00950666 -0.03019372 0.00783844
+v -0.00907299 -0.03121845 0.00769727
+v -0.00907299 -0.02933494 0.00803741
+v -0.00950666 -0.03140929 0.00749520
+v -0.00907299 -0.03135121 0.00765965
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 18
+f 1 18 17
+f 1 17 20
+f 1 20 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 19
+f 3 19 16
+f 3 16 11
+f 3 11 7
+f 4 7 8
+f 6 10 15
+f 6 15 13
+f 6 13 9
+f 7 11 8
+f 8 11 12
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 15 19
+f 14 20 15
+f 15 20 19
+f 16 19 17
+f 17 19 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_203.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8a0ebe7f6464b0c9e06983b43842fdd5ad848a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_203.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 -0.00367378 0.00902641
+v -0.01469470 -0.00367378 0.00902641
+v -0.01149485 -0.00575969 0.00902641
+v -0.01149485 -0.00367378 -0.01892139
+v -0.01770076 -0.00367378 0.00811808
+v -0.01770076 -0.00575418 0.00803873
+v -0.01455619 -0.00442667 0.00902641
+v -0.01408839 -0.00575969 0.00902641
+v -0.01149485 -0.00575969 -0.01892139
+v -0.01770076 -0.00575969 -0.01892413
+v -0.01556590 -0.00367378 -0.01892139
+v -0.01770076 -0.00367378 -0.01891592
+v -0.01770076 -0.00575969 0.00803600
+v -0.01770076 -0.00367439 -0.01892139
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 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 3 8 13
+f 3 13 10
+f 3 10 9
+f 4 9 10
+f 4 10 11
+f 5 12 14
+f 5 14 10
+f 5 10 13
+f 5 13 6
+f 6 13 8
+f 6 8 7
+f 10 14 11
+f 11 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_204.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df05d069aa2f16fa82620f47bc0ef377f35120ed
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_204.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.00578786 0.03790620 0.00788166
+v 0.00577940 0.03790466 0.00787917
+v 0.00578786 0.03790466 0.00787418
+v 0.00578786 0.03859125 0.00762466
+v 0.00420452 0.03790466 0.00769203
+v 0.00578786 0.03790466 -0.01737689
+v 0.00511122 0.03859125 0.00754232
+v 0.00578786 0.03859125 -0.01662834
+v 0.00250700 0.03790466 0.00739261
+v 0.00507400 0.03790466 -0.01760894
+v 0.00578786 0.03852646 -0.01678554
+v 0.00316842 0.03859125 0.00718800
+v 0.00578786 0.03853016 -0.01677805
+v 0.00578447 0.03853056 -0.01677805
+v 0.00413770 0.03830824 -0.01615426
+v 0.00363868 0.03859125 -0.01492664
+v 0.00025971 0.03790466 0.00696843
+v 0.00503425 0.03794720 -0.01757900
+v 0.00476782 0.03790466 -0.01743677
+v -0.00058186 0.03790466 0.00680126
+v 0.00023349 0.03790466 0.00696344
+v -0.00058186 0.03859125 0.00639953
+v 0.00270999 0.03804055 -0.01549055
+v 0.00345260 0.03859125 -0.01474699
+v 0.00304577 0.03790466 -0.01601453
+v -0.00162135 0.03790466 0.00649934
+v -0.00061992 0.03859125 0.00638955
+v 0.00177115 0.03790466 -0.01489919
+v 0.00140323 0.03790466 -0.01452242
+v 0.00201305 0.03830212 -0.01406331
+v 0.00148950 0.03859125 -0.01273589
+v -0.00168563 0.03790466 0.00647938
+v -0.00070450 0.03859125 0.00636211
+v -0.00208738 0.03830125 0.00610760
+v -0.00231575 0.03790466 0.00628226
+v 0.00116556 0.03790466 -0.01427790
+v 0.00058704 0.03803437 -0.01333223
+v 0.00119263 0.03859125 -0.01243147
+v -0.00173637 0.03859125 0.00579071
+v -0.00276910 0.03857895 0.00473276
+v -0.00285198 0.03809096 0.00574331
+v -0.00285198 0.03790466 0.00590050
+v -0.00104789 0.03790466 -0.01198234
+v -0.00153507 0.03802449 -0.01117142
+v -0.00077386 0.03859125 -0.01041289
+v -0.00065967 0.03859125 -0.01053016
+v -0.00274288 0.03859125 0.00473027
+v -0.00285198 0.03850435 0.00481011
+v -0.00285198 0.03855314 0.00468286
+v -0.00285198 0.03790466 -0.00959447
+v -0.00193937 0.03790466 -0.01090443
+v -0.00248745 0.03790466 -0.01012594
+v -0.00206285 0.03828841 -0.00974418
+v -0.00086689 0.03859125 -0.01029811
+v -0.00277248 0.03859125 0.00467038
+v -0.00285198 0.03859125 0.00450570
+v -0.00285198 0.03852397 -0.00797262
+v -0.00275472 0.03855375 -0.00803250
+v -0.00267437 0.03859125 -0.00803000
+v -0.00285198 0.03859125 -0.00762579
+v -0.00283761 0.03859125 -0.00766322
+v -0.00275218 0.03859125 -0.00787031
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 17
+f 2 17 21
+f 2 21 20
+f 2 20 26
+f 2 26 32
+f 2 32 35
+f 2 35 42
+f 2 42 50
+f 2 50 52
+f 2 52 51
+f 2 51 43
+f 2 43 36
+f 2 36 29
+f 2 29 28
+f 2 28 25
+f 2 25 19
+f 2 19 10
+f 2 10 6
+f 2 6 3
+f 4 7 5
+f 4 8 16
+f 4 16 24
+f 4 24 31
+f 4 31 38
+f 4 38 46
+f 4 46 45
+f 4 45 54
+f 4 54 59
+f 4 59 62
+f 4 62 61
+f 4 61 60
+f 4 60 56
+f 4 56 55
+f 4 55 47
+f 4 47 39
+f 4 39 33
+f 4 33 27
+f 4 27 22
+f 4 22 12
+f 4 12 7
+f 5 7 9
+f 6 10 11
+f 7 12 9
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 12 17
+f 10 18 11
+f 10 19 18
+f 11 18 14
+f 11 14 13
+f 12 20 21
+f 12 21 17
+f 12 22 20
+f 14 18 15
+f 15 23 16
+f 15 18 23
+f 16 23 24
+f 18 19 23
+f 19 25 23
+f 20 22 27
+f 20 27 26
+f 23 25 28
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 26 27 32
+f 27 33 34
+f 27 34 35
+f 27 35 32
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 31
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 39 47 40
+f 40 48 41
+f 40 47 49
+f 40 49 48
+f 41 48 49
+f 41 49 56
+f 41 56 60
+f 41 60 57
+f 41 57 50
+f 41 50 42
+f 43 51 44
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 47 55 49
+f 49 55 56
+f 50 57 53
+f 50 53 52
+f 53 57 58
+f 53 58 59
+f 53 59 54
+f 57 60 61
+f 57 61 62
+f 57 62 59
+f 57 59 58
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_205.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af502d1a867c61ff84f0d094d223e72bce7d5a8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_205.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01040509 0.02000924 0.00117977
+v -0.01040509 0.02000924 -0.00612591
+v -0.01106117 0.02000924 0.00117977
+v -0.01040509 0.00873314 0.00117977
+v -0.01106117 0.02000924 -0.00612591
+v -0.01040509 0.00873314 -0.00612591
+v -0.01106117 0.00873314 0.00117977
+v -0.01106117 0.00873314 -0.00612591
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_206.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7c5a427a8a332347b4e54fc7cfd47777f931db
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_206.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00505678 -0.00814269 -0.00724703
+v -0.00398662 -0.00814269 -0.00724703
+v -0.00505678 -0.00814269 0.00819604
+v -0.00505678 -0.00191232 -0.00724703
+v -0.00398662 -0.00191232 -0.00724703
+v -0.00398662 -0.00814269 0.00819604
+v -0.00505678 -0.00191232 0.00819604
+v -0.00398662 -0.00191232 0.00819604
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_207.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d49cff32f6612261bcd763edacf78f1fd29392d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_207.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00232362 0.03334942 0.00426117
+v 0.00232362 0.03334942 -0.01872214
+v 0.00118136 0.03334942 0.00426117
+v 0.00232362 0.03181549 0.00426117
+v 0.00155794 0.03334942 -0.01869264
+v 0.00232362 0.03271866 -0.01884696
+v 0.00118136 0.03334942 -0.01862909
+v 0.00118136 0.03181549 0.00426117
+v 0.00232362 0.00827640 0.00425890
+v 0.00118136 0.03271866 -0.01879023
+v 0.00155794 0.03271866 -0.01881746
+v 0.00232362 0.03057852 -0.01892186
+v 0.00155794 0.03057852 -0.01892186
+v 0.00118136 0.03057852 -0.01891732
+v 0.00118136 0.00827640 0.00425890
+v 0.00232362 0.00827640 -0.01892186
+v 0.00118136 0.02843348 -0.01892413
+v 0.00118136 0.00827640 -0.01892186
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 10
+f 3 10 14
+f 3 14 17
+f 3 17 18
+f 3 18 15
+f 3 15 8
+f 4 8 15
+f 4 15 9
+f 5 10 7
+f 5 11 10
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 9 15 18
+f 9 18 16
+f 10 11 14
+f 12 16 17
+f 12 17 13
+f 13 17 14
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_208.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a40217a5f677b328ee6bd8f7d0600b7c8d5cc7a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_208.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.03877040 -0.00681474
+v -0.00285283 0.03851917 -0.00797502
+v -0.00398662 0.03817088 -0.00729725
+v -0.00397719 0.03817659 -0.00728828
+v -0.00398662 0.03818230 -0.00720958
+v -0.00398662 0.03822797 -0.00681474
+v -0.00285283 -0.01956040 -0.00681474
+v -0.00285283 0.03766842 -0.01020691
+v -0.00398662 0.03770839 -0.00844922
+v -0.00398662 -0.01956040 -0.00681474
+v -0.00285283 -0.01956040 -0.01020691
+v -0.00398662 0.03700038 -0.01020691
+v -0.00398662 -0.01956040 -0.01020691
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 8
+f 1 8 2
+f 2 8 3
+f 3 5 4
+f 3 8 9
+f 3 9 12
+f 3 12 13
+f 3 13 10
+f 3 10 6
+f 3 6 5
+f 7 10 13
+f 7 13 11
+f 8 12 9
+f 8 11 13
+f 8 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_209.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b50f112b17d52188312ef860d8f42e462279e9e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_209.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01149540 0.01700656 0.00851833
+v -0.01149540 0.01778874 0.00811216
+v -0.01212768 0.01700656 0.00853447
+v -0.01149540 0.01700656 -0.01892137
+v -0.01337404 0.01778874 0.00814443
+v -0.01225734 0.01700656 0.00853716
+v -0.01149540 0.01778874 -0.01892137
+v -0.01342590 0.01700656 -0.01892137
+v -0.01149540 0.01773644 -0.01892406
+v -0.01342590 0.01778874 0.00814443
+v -0.01342590 0.01700656 0.00855599
+v -0.01342590 0.01778874 -0.01892137
+v -0.01556607 0.01700656 -0.01877342
+v -0.01556882 0.01778874 0.00810139
+v -0.01556607 0.01700656 0.00848874
+v -0.01556607 0.01773644 -0.01872769
+v -0.01556607 0.01778874 -0.01871962
+v -0.01713133 0.01700656 -0.01836456
+v -0.01713133 0.01778874 0.00802608
+v -0.01627338 0.01700656 0.00842687
+v -0.01713133 0.01777090 -0.01830000
+v -0.01713133 0.01778874 -0.01829731
+v -0.01713133 0.01700656 0.00834618
+v -0.01673408 0.01700656 0.00838383
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 15
+f 1 15 20
+f 1 20 24
+f 1 24 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 12
+f 2 12 17
+f 2 17 22
+f 2 22 19
+f 2 19 14
+f 2 14 10
+f 2 10 5
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 9 12
+f 8 12 9
+f 8 13 12
+f 10 14 11
+f 11 14 15
+f 12 13 16
+f 12 16 17
+f 13 18 16
+f 14 19 15
+f 15 19 20
+f 16 18 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 18 19 22
+f 18 22 21
+f 19 23 24
+f 19 24 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_21.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb47d819487b0ea0dce9e771115889e42507103d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.01199458 0.02629926 0.02185981
+v 0.01012020 0.02629926 0.02180298
+v 0.00986126 0.02604045 0.02176432
+v 0.00986126 0.02415850 0.02143694
+v 0.01199458 0.02415850 0.02148468
+v 0.01199458 0.02823872 0.02128347
+v 0.01012020 0.02824831 0.02126187
+v 0.00986126 0.02629926 0.02177228
+v 0.00986126 0.02821156 0.02124369
+v 0.00986126 0.02393005 0.02138351
+v 0.00986126 0.02285168 0.02090379
+v 0.01199458 0.02400833 0.02141761
+v 0.01199458 0.02930910 0.02066394
+v 0.01012020 0.02931869 0.02069008
+v 0.00986126 0.02915254 0.02074010
+v 0.01199458 0.02295872 0.02090834
+v 0.00986126 0.02272068 0.02083218
+v 0.01199458 0.03033954 0.01959310
+v 0.01012020 0.03039705 0.01962039
+v 0.00986126 0.02928194 0.02066507
+v 0.00986126 0.03037469 0.01959538
+v 0.01199458 0.02282612 0.02081513
+v 0.00986126 0.02000639 0.01916795
+v 0.01199458 0.03226462 0.01745598
+v 0.01012020 0.03146743 0.01845520
+v 0.00986126 0.03131566 0.01857115
+v 0.01199458 0.02000639 0.01855183
+v 0.00986126 0.02000639 0.01024662
+v 0.01199458 0.03238284 0.01732298
+v 0.01199458 0.03331903 0.01626693
+v 0.01012020 0.03241320 0.01738437
+v 0.00986126 0.03227741 0.01748895
+v 0.00986126 0.03144507 0.01843019
+v 0.01199458 0.02000639 0.01024662
+v 0.00986126 0.03629053 0.01024662
+v 0.01199458 0.03345322 0.01611460
+v 0.00986126 0.03239083 0.01735936
+v 0.01012020 0.03348358 0.01615666
+v 0.00986126 0.03346121 0.01613279
+v 0.01199458 0.03619627 0.01024662
+v 0.00986126 0.03514187 0.01332270
+v 0.01012020 0.03632568 0.01024662
+v 0.01199458 0.03421527 0.01504490
+v 0.01012020 0.03426000 0.01508696
+v 0.00986126 0.03424403 0.01506309
+v 0.01061615 0.03631289 0.01024662
+v 0.01199458 0.03508116 0.01332270
+v 0.01012020 0.03516903 0.01332270
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 16
+f 1 16 22
+f 1 22 27
+f 1 27 34
+f 1 34 40
+f 1 40 47
+f 1 47 43
+f 1 43 36
+f 1 36 30
+f 1 30 29
+f 1 29 24
+f 1 24 18
+f 1 18 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 9
+f 3 9 15
+f 3 15 20
+f 3 20 21
+f 3 21 26
+f 3 26 33
+f 3 33 32
+f 3 32 37
+f 3 37 39
+f 3 39 45
+f 3 45 41
+f 3 41 35
+f 3 35 28
+f 3 28 23
+f 3 23 17
+f 3 17 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 9
+f 9 14 15
+f 11 16 12
+f 11 17 16
+f 13 18 19
+f 13 19 14
+f 14 20 15
+f 14 19 21
+f 14 21 20
+f 16 17 23
+f 16 23 22
+f 18 24 25
+f 18 25 19
+f 19 26 21
+f 19 25 26
+f 22 23 27
+f 23 28 34
+f 23 34 27
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 28 35 42
+f 28 42 46
+f 28 46 40
+f 28 40 34
+f 30 36 31
+f 31 37 32
+f 31 36 38
+f 31 38 39
+f 31 39 37
+f 35 41 42
+f 36 43 44
+f 36 44 38
+f 38 44 45
+f 38 45 39
+f 40 46 47
+f 41 45 44
+f 41 44 48
+f 41 48 42
+f 42 48 46
+f 43 47 48
+f 43 48 44
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_210.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c621a74d6b1e9095b443a4dd5d10a2b5516a4cc4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_210.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.03204445 -0.00856716
+v -0.00740928 0.03562062 -0.00856716
+v -0.00697561 0.03204445 -0.00856716
+v -0.00740928 0.03204445 0.00761578
+v -0.00740928 0.03581332 -0.00808271
+v -0.00697561 0.03607251 -0.00808271
+v -0.00729195 0.03569074 -0.00856716
+v -0.00697561 0.03587936 -0.00856716
+v -0.00697561 0.03204445 0.00771299
+v -0.00737384 0.03204445 0.00762693
+v -0.00697561 0.03243391 0.00761418
+v -0.00740928 0.03262027 0.00739746
+v -0.00740928 0.03630999 -0.00612100
+v -0.00697561 0.03654022 -0.00611940
+v -0.00734892 0.03204445 0.00763331
+v -0.00697561 0.03256645 0.00756319
+v -0.00697561 0.03484351 0.00649389
+v -0.00740928 0.03446445 0.00653054
+v -0.00697561 0.03658320 -0.00593614
+v -0.00740928 0.03633713 -0.00576403
+v -0.00697561 0.03487110 0.00647955
+v -0.00740928 0.03469514 0.00641102
+v -0.00697561 0.03666507 -0.00380073
+v -0.00740928 0.03640498 -0.00380073
+v -0.00697561 0.03586217 0.00532419
+v -0.00740928 0.03575995 0.00497679
+v -0.00697561 0.03666507 0.00047807
+v -0.00740928 0.03640498 0.00047807
+v -0.00697561 0.03592686 0.00518077
+v -0.00740928 0.03585855 0.00475846
+v -0.00740928 0.03639593 0.00104380
+v -0.00697561 0.03660219 0.00268520
+v -0.00697561 0.03611729 0.00475846
+v -0.00740928 0.03610372 0.00403816
+v -0.00740928 0.03635070 0.00254496
+v -0.00740928 0.03633306 0.00287802
+v -0.00697561 0.03622902 0.00443018
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 12
+f 1 12 18
+f 1 18 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
+f 1 34 36
+f 1 36 35
+f 1 35 31
+f 1 31 28
+f 1 28 24
+f 1 24 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 6
+f 3 6 14
+f 3 14 19
+f 3 19 23
+f 3 23 27
+f 3 27 32
+f 3 32 37
+f 3 37 33
+f 3 33 29
+f 3 29 25
+f 3 25 21
+f 3 21 17
+f 3 17 16
+f 3 16 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 8 7
+f 6 13 14
+f 9 11 15
+f 10 15 11
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 13 19 14
+f 13 20 19
+f 17 21 22
+f 17 22 18
+f 19 20 23
+f 20 24 23
+f 21 25 22
+f 22 25 26
+f 23 24 28
+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 32 36 34
+f 32 34 37
+f 33 37 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_211.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f9c1940549973b6aa63619478d0389c7f737e7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_211.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02716272 -0.00367358 -0.00016547
+v -0.01772172 -0.00367358 -0.00016547
+v -0.02716272 -0.00367358 0.00499422
+v -0.02716272 0.00407751 -0.00016547
+v -0.01772172 -0.00367358 0.00811937
+v -0.01772172 0.00840654 -0.00016547
+v -0.02618036 -0.00367358 0.00676781
+v -0.02716272 -0.00285176 0.00611363
+v -0.02716272 0.00472551 0.00081536
+v -0.02705552 0.00481656 -0.00016547
+v -0.02197922 -0.00321951 0.00902551
+v -0.01984816 -0.00367358 0.00842892
+v -0.01772172 -0.00176980 0.00902551
+v -0.01984816 -0.00265547 0.00902551
+v -0.02645205 0.00840654 -0.00016547
+v -0.01772172 0.00840654 0.00902551
+v -0.02412785 -0.00367358 0.00822556
+v -0.02544290 -0.00284230 0.00817246
+v -0.02608610 -0.00129327 0.00884465
+v -0.02716272 -0.00073514 0.00823635
+v -0.02716272 -0.00239533 0.00657794
+v -0.02716272 0.00549175 0.00261954
+v -0.02668586 0.00703369 -0.00016547
+v -0.02197460 -0.00367358 0.00869617
+v -0.02412785 -0.00265665 0.00902551
+v -0.02716272 0.00618468 0.00432564
+v -0.02716272 0.00641762 0.00518049
+v -0.02716272 0.00642945 0.00590576
+v -0.02716272 0.00644482 0.00689919
+v -0.02645021 0.00840654 0.00047972
+v -0.02567393 0.00840654 0.00902551
+v -0.02266124 -0.00367358 0.00854680
+v -0.02464721 -0.00231610 0.00902551
+v -0.02598074 -0.00119394 0.00902551
+v -0.02716272 -0.00064645 0.00830024
+v -0.02716272 0.00638688 0.00764066
+v -0.02644096 0.00840654 0.00261954
+v -0.02567578 0.00840654 0.00902012
+v -0.02648163 0.00700413 0.00902551
+v -0.02701855 0.00017773 0.00902551
+v -0.02716272 -0.00010134 0.00869077
+v -0.02716272 0.00622725 0.00825525
+v -0.02608240 0.00840654 0.00678671
+v -0.02629125 0.00840654 0.00476926
+v -0.02662764 0.00684095 0.00886354
+v -0.02655279 0.00684568 0.00902551
+v -0.02716272 0.00053010 0.00902551
+v -0.02716272 0.00025577 0.00888064
+v -0.02716272 0.00534512 0.00902551
+v -0.02674501 0.00638333 0.00902551
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 32
+f 1 32 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 21
+f 1 21 20
+f 1 20 35
+f 1 35 41
+f 1 41 48
+f 1 48 47
+f 1 47 49
+f 1 49 42
+f 1 42 36
+f 1 36 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 6 16
+f 2 16 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 5 13 14
+f 5 14 11
+f 6 15 30
+f 6 30 37
+f 6 37 44
+f 6 44 43
+f 6 43 38
+f 6 38 31
+f 6 31 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 15
+f 9 15 23
+f 9 23 10
+f 11 24 12
+f 11 14 13
+f 11 13 16
+f 11 16 31
+f 11 31 39
+f 11 39 46
+f 11 46 50
+f 11 50 49
+f 11 49 47
+f 11 47 40
+f 11 40 34
+f 11 34 33
+f 11 33 25
+f 11 25 24
+f 15 22 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 17 32 25
+f 17 25 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 24 25 32
+f 29 36 37
+f 29 37 30
+f 31 38 39
+f 34 40 41
+f 34 41 35
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 38 43 42
+f 38 42 45
+f 38 45 39
+f 39 45 46
+f 40 47 48
+f 40 48 41
+f 42 49 50
+f 42 50 46
+f 42 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_212.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5daaa3c3756cc2db3ac0d7024614158da9c783aa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_212.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.01646246 0.01584418 0.00902642
+v -0.01646246 0.01569064 0.00902642
+v -0.01646246 0.01647846 0.00868977
+v -0.01734328 0.01569627 0.00902642
+v -0.01737479 0.01569064 0.00902642
+v -0.01646246 0.01569064 -0.01870881
+v -0.01678681 0.01647846 0.00865991
+v -0.01646246 0.01647846 -0.01856492
+v -0.01757924 0.01647846 0.00858660
+v -0.01755003 0.01569064 0.00901013
+v -0.01771144 0.01569064 -0.01851063
+v -0.01646246 0.01647044 -0.01856764
+v -0.01647015 0.01647846 -0.01856492
+v -0.02003107 0.01647846 0.00769069
+v -0.01758539 0.01569064 0.00900470
+v -0.01928322 0.01569064 -0.01797037
+v -0.01844391 0.01647846 -0.01812511
+v -0.01774833 0.01647846 -0.01836131
+v -0.01923250 0.01569064 0.00831512
+v -0.01800889 0.01569064 0.00882823
+v -0.01778753 0.01569064 0.00892053
+v -0.02093495 0.01647846 0.00724002
+v -0.02039616 0.01569064 -0.01671338
+v -0.01910645 0.01647846 -0.01789706
+v -0.02198716 0.01569064 0.00693324
+v -0.02198485 0.01647846 0.00669433
+v -0.02043074 0.01569064 -0.01664550
+v -0.02080275 0.01640574 -0.01527992
+v -0.02001416 0.01647846 -0.01671880
+v -0.02320001 0.01569064 0.00609163
+v -0.02268197 0.01647846 0.00620837
+v -0.02136306 0.01569064 -0.01457676
+v -0.02302169 0.01647846 -0.00945107
+v -0.02083810 0.01647846 -0.01509531
+v -0.02078123 0.01647846 -0.01523919
+v -0.02324613 0.01569064 0.00605905
+v -0.02311316 0.01647846 0.00589887
+v -0.02286951 0.01569064 -0.01057774
+v -0.02309548 0.01647846 -0.00925560
+v -0.02378722 0.01569064 0.00485364
+v -0.02323229 0.01647846 0.00563281
+v -0.02322768 0.01569064 -0.00962211
+v -0.02377953 0.01569064 -0.00808005
+v -0.02348132 0.01647846 -0.00808005
+v -0.02381873 0.01569064 0.00475862
+v -0.02351821 0.01647846 0.00475862
+v -0.02423839 0.01569064 -0.00594073
+v -0.02391788 0.01647846 -0.00594073
+v -0.02370267 0.01647846 0.00386543
+v -0.02421302 0.01569064 0.00284735
+v -0.02431371 0.01569064 -0.00380411
+v -0.02399013 0.01647846 -0.00380411
+v -0.02393710 0.01647846 0.00261658
+v -0.02425837 0.01569064 0.00261658
+v -0.02423301 0.01569064 0.00274961
+v -0.02431371 0.01569064 0.00047454
+v -0.02399013 0.01647846 0.00047454
+v -0.02396784 0.01647846 0.00144375
+v -0.02430833 0.01569064 0.00070530
+f 1 2 6
+f 1 6 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 21
+f 2 21 20
+f 2 20 19
+f 2 19 25
+f 2 25 30
+f 2 30 36
+f 2 36 40
+f 2 40 45
+f 2 45 50
+f 2 50 55
+f 2 55 54
+f 2 54 59
+f 2 59 56
+f 2 56 51
+f 2 51 47
+f 2 47 43
+f 2 43 42
+f 2 42 38
+f 2 38 32
+f 2 32 27
+f 2 27 23
+f 2 23 16
+f 2 16 11
+f 2 11 6
+f 3 7 4
+f 3 8 13
+f 3 13 18
+f 3 18 17
+f 3 17 24
+f 3 24 29
+f 3 29 35
+f 3 35 34
+f 3 34 33
+f 3 33 39
+f 3 39 44
+f 3 44 48
+f 3 48 52
+f 3 52 57
+f 3 57 58
+f 3 58 53
+f 3 53 49
+f 3 49 46
+f 3 46 41
+f 3 41 37
+f 3 37 31
+f 3 31 26
+f 3 26 22
+f 3 22 14
+f 3 14 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 14 22 19
+f 16 23 24
+f 16 24 17
+f 19 22 25
+f 22 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 26 30
+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 31 36
+f 31 37 36
+f 32 38 39
+f 32 39 33
+f 36 37 40
+f 37 41 40
+f 38 42 39
+f 39 42 43
+f 39 43 44
+f 40 41 45
+f 41 46 45
+f 43 47 44
+f 44 47 48
+f 45 49 50
+f 45 46 49
+f 47 51 48
+f 48 51 52
+f 49 53 54
+f 49 54 55
+f 49 55 50
+f 51 56 57
+f 51 57 52
+f 53 58 54
+f 54 58 59
+f 56 59 58
+f 56 58 57
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_213.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d861ae0a01246736ace850d3bfcd2c424675e6b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_213.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00488656 0.00846430 0.00819649
+v -0.00488656 0.00954199 0.00819649
+v -0.00390666 0.00846430 0.00819649
+v -0.00488656 0.00846430 0.01275942
+v -0.00390666 0.00954199 0.00819649
+v -0.00488656 0.00954199 0.01200228
+v -0.00390666 0.00846430 0.01212110
+v -0.00469883 0.00846430 0.01264149
+v -0.00390666 0.00954199 0.01201970
+v -0.00460070 0.00954199 0.01202059
+v -0.00488656 0.00934979 0.01214522
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 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 9
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_214.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2716b9c3407b861eac5b2daec54f1127592600cb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_214.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 -0.00230888 -0.01892411
+v -0.00854170 0.00260454 -0.01892411
+v -0.00836401 -0.00230888 -0.01892411
+v -0.00854170 -0.00230888 0.00068367
+v -0.00740928 0.00260454 -0.01892411
+v -0.00854170 0.00260454 0.00068367
+v -0.00740928 -0.00230888 -0.01892219
+v -0.00740928 -0.00230888 0.00068367
+v -0.00740928 0.00260454 0.00068367
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_215.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40323691ac1aba77cbd18a5b26e726269f1043b5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_215.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 -0.00794558 -0.01085190
+v -0.01106117 -0.00794558 -0.01523101
+v -0.01149480 -0.00794558 -0.01085190
+v -0.01106117 -0.02915831 -0.01085190
+v -0.01149480 -0.00794558 -0.01523101
+v -0.01106117 -0.02915831 -0.01523101
+v -0.01149480 -0.02915831 -0.01085190
+v -0.01149480 -0.02915831 -0.01523101
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_216.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebc4c366dbc96d8c44d325c901be68f4d4accda
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_216.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00898878 -0.03692024 0.00810265
+v 0.00804293 -0.03692024 0.00825529
+v 0.00898878 -0.03743645 0.00805528
+v 0.00898878 -0.03692024 -0.01862494
+v 0.00808003 -0.03759750 0.00807370
+v 0.00898878 -0.03759750 0.00803949
+v 0.00164341 -0.03692024 0.00806581
+v 0.00898878 -0.03739031 -0.01852494
+v 0.00698234 -0.03692024 -0.01851178
+v 0.00369738 -0.03759750 0.00787106
+v 0.00898878 -0.03759750 -0.01847757
+v 0.00164341 -0.03759750 0.00775000
+v -0.00058211 -0.03692024 0.00761315
+v -0.00058211 -0.03759750 0.00734998
+v 0.00482868 -0.03692024 -0.01831703
+v 0.00765926 -0.03759750 -0.01839335
+v -0.00273112 -0.03692024 0.00709734
+v -0.00285283 -0.03692024 0.00706576
+v -0.00285283 -0.03759750 0.00672364
+v 0.00549866 -0.03759750 -0.01815650
+v 0.00507210 -0.03759750 -0.01810913
+v 0.00303900 -0.03692024 -0.01811439
+v -0.00285283 -0.03692024 -0.01412736
+v -0.00285283 -0.03759750 -0.01234569
+v 0.00433953 -0.03759750 -0.01802491
+v 0.00369738 -0.03742936 -0.01801175
+v 0.00155880 -0.03692024 -0.01792754
+v -0.00255493 -0.03692024 -0.01450369
+v -0.00285283 -0.03697262 -0.01399051
+v -0.00285283 -0.03753338 -0.01251676
+v -0.00272069 -0.03759750 -0.01251412
+v 0.00392804 -0.03759750 -0.01794859
+v 0.00155880 -0.03708453 -0.01786701
+v 0.00055036 -0.03692024 -0.01776964
+v -0.00089507 -0.03759750 -0.01482213
+v -0.00114776 -0.03759750 -0.01450369
+v -0.00180498 -0.03692024 -0.01544847
+v 0.00388863 -0.03759750 -0.01794070
+v 0.00041590 -0.03692024 -0.01772227
+v 0.00223341 -0.03759750 -0.01746962
+v -0.00167516 -0.03692024 -0.01561164
+v 0.00012032 -0.03759750 -0.01594850
+v 0.00028724 -0.03692024 -0.01760121
+v 0.00121685 -0.03759750 -0.01696697
+v -0.00150593 -0.03692024 -0.01579586
+v -0.00043026 -0.03712067 -0.01648010
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 34
+f 1 34 39
+f 1 39 43
+f 1 43 45
+f 1 45 41
+f 1 41 37
+f 1 37 28
+f 1 28 23
+f 1 23 18
+f 1 18 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 12
+f 5 12 14
+f 5 14 19
+f 5 19 24
+f 5 24 31
+f 5 31 36
+f 5 36 35
+f 5 35 42
+f 5 42 44
+f 5 44 40
+f 5 40 38
+f 5 38 32
+f 5 32 25
+f 5 25 21
+f 5 21 20
+f 5 20 16
+f 5 16 11
+f 5 11 6
+f 7 12 10
+f 7 13 14
+f 7 14 12
+f 8 11 9
+f 9 11 16
+f 9 16 15
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 21
+f 15 21 22
+f 15 16 20
+f 18 23 29
+f 18 29 30
+f 18 30 24
+f 18 24 19
+f 21 25 26
+f 21 26 22
+f 22 26 27
+f 23 28 29
+f 24 30 31
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 34
+f 28 35 36
+f 28 36 29
+f 28 37 35
+f 29 36 30
+f 30 36 31
+f 32 38 33
+f 33 38 34
+f 34 38 40
+f 34 40 39
+f 35 37 41
+f 35 41 42
+f 39 40 44
+f 39 44 42
+f 39 42 43
+f 41 45 42
+f 42 46 43
+f 42 45 46
+f 43 46 45
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_217.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a29d18deaa2ff31aedfb3311f2534ee6bcd4af
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_217.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01057221 -0.00146849 0.01117815
+v 0.00562844 -0.00146849 0.01118109
+v 0.01057221 -0.00224764 0.01117815
+v 0.01057221 -0.00146849 -0.01892117
+v 0.00562844 -0.00224764 0.01118109
+v 0.00412010 -0.00146849 0.01118109
+v 0.01057221 -0.00224764 -0.01892117
+v 0.00562844 -0.00146849 -0.01892412
+v 0.00412010 -0.00224764 0.01118109
+v 0.00412010 -0.00146849 -0.01892117
+v 0.00562844 -0.00224764 -0.01892412
+v 0.00412010 -0.00224764 -0.01892117
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 12
+f 6 12 9
+f 8 11 12
+f 8 12 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_218.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1143b855ae0358912ef54bf358d32ba93d4b46
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_218.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.03722251 -0.00380399
+v -0.00801233 -0.03680157 -0.00380399
+v -0.00740928 -0.03717793 -0.00494203
+v -0.00740928 -0.03722251 0.00047710
+v -0.00907299 -0.03603100 -0.00380399
+v -0.00795207 -0.03675792 -0.00594087
+v -0.00801233 -0.03680157 0.00047710
+v -0.00740928 -0.03713757 -0.00594087
+v -0.00740928 -0.03719530 0.00145151
+v -0.00907299 -0.03594841 -0.00580655
+v -0.00907299 -0.03603100 0.00047710
+v -0.00907299 -0.03594278 -0.00594087
+v -0.00907299 -0.03548007 -0.00781155
+v -0.00907299 -0.03542704 -0.00802402
+v -0.00757995 -0.03648762 -0.00808263
+v -0.00740928 -0.03660869 -0.00808263
+v -0.00740928 -0.03694188 -0.00674677
+v -0.00796966 -0.03677059 0.00261886
+v -0.00907299 -0.03602725 0.00060897
+v -0.00740928 -0.03716198 0.00261886
+v -0.00907299 -0.03477239 -0.00957234
+v -0.00810352 -0.03472780 -0.01134289
+v -0.00740928 -0.03551198 -0.01068107
+v -0.00740928 -0.03638907 -0.00860769
+v -0.00740928 -0.03654346 -0.00824137
+v -0.00740928 -0.03665562 0.00475818
+v -0.00761285 -0.03651108 0.00475818
+v -0.00907299 -0.03546505 0.00472155
+v -0.00907299 -0.03596765 0.00261886
+v -0.00907299 -0.03362640 -0.01228068
+v -0.00740928 -0.03452695 -0.01300844
+v -0.00740928 -0.03501172 -0.01186307
+v -0.00740928 -0.03554342 0.00636023
+v -0.00853915 -0.03504410 0.00615997
+v -0.00907299 -0.03530127 0.00501216
+v -0.00907299 -0.03356633 -0.01242232
+v -0.00740928 -0.03431577 -0.01350664
+v -0.00740928 -0.03351471 0.00732976
+v -0.00907299 -0.03372495 0.00669724
+v -0.00907299 -0.03400746 0.00654583
+v -0.00907299 -0.03283941 -0.01413427
+v -0.00865462 -0.03298770 -0.01450303
+v -0.00740928 -0.03385400 -0.01459339
+v -0.00740928 -0.03242879 0.00768631
+v -0.00907299 -0.03242879 0.00721986
+v -0.00907299 -0.03242879 -0.01507449
+v -0.00825270 -0.03269581 -0.01586331
+v -0.00740928 -0.03366347 -0.01503786
+v -0.00740928 -0.03242879 -0.01726266
+v -0.00903195 -0.03242879 -0.01514288
+v -0.00845366 -0.03242879 -0.01605624
+v -0.00753354 -0.03242879 -0.01714544
+v -0.00740928 -0.03300272 -0.01635418
+v -0.00740928 -0.03259304 -0.01702333
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 25
+f 1 25 24
+f 1 24 23
+f 1 23 32
+f 1 32 31
+f 1 31 37
+f 1 37 43
+f 1 43 48
+f 1 48 53
+f 1 53 54
+f 1 54 49
+f 1 49 44
+f 1 44 38
+f 1 38 33
+f 1 33 26
+f 1 26 20
+f 1 20 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 5
+f 3 6 8
+f 4 9 7
+f 5 10 6
+f 5 11 19
+f 5 19 29
+f 5 29 28
+f 5 28 35
+f 5 35 40
+f 5 40 39
+f 5 39 45
+f 5 45 46
+f 5 46 41
+f 5 41 36
+f 5 36 30
+f 5 30 21
+f 5 21 14
+f 5 14 13
+f 5 13 12
+f 5 12 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 9 18
+f 7 18 19
+f 7 19 11
+f 9 20 18
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 18 20 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 28
+f 30 36 37
+f 30 37 31
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 34 40 35
+f 36 41 42
+f 36 42 37
+f 37 42 43
+f 38 44 45
+f 38 45 39
+f 41 46 47
+f 41 47 42
+f 42 47 48
+f 42 48 43
+f 44 49 52
+f 44 52 51
+f 44 51 50
+f 44 50 46
+f 44 46 45
+f 46 50 47
+f 47 50 51
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 49 54 52
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_219.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374b2b93280250801966a68b94ca36880be988e1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_219.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00043591 0.00827722 -0.01892147
+v 0.00043591 0.01662453 -0.01892147
+v 0.00118136 0.00827722 -0.01892147
+v 0.00043591 0.00827722 0.00810370
+v 0.00118136 0.01662453 -0.01892147
+v 0.00043591 0.01662453 0.00810370
+v 0.00118136 0.00827722 0.00810370
+v 0.00118136 0.01662453 0.00810370
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_22.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a936b975af87f8d91511f2eeb61192f68a2ab8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01526044 -0.00273162 0.00902646
+v -0.01526044 -0.00179707 0.00943211
+v -0.01526044 -0.00179707 0.00902646
+v -0.01360343 -0.00820286 0.00902646
+v -0.01304274 -0.00787294 0.00953828
+v -0.01506838 -0.00179707 0.00953828
+v -0.01156747 -0.01478323 0.00902646
+v -0.01149485 -0.00179707 0.00902646
+v -0.01149485 -0.01216700 0.00953828
+v -0.01149485 -0.00179707 0.00953828
+v -0.01149485 -0.01491160 0.00902646
+v -0.01149485 -0.01471647 0.00906489
+f 1 2 3
+f 1 3 8
+f 1 8 11
+f 1 11 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 6 10
+f 2 10 8
+f 2 8 3
+f 2 4 7
+f 2 7 5
+f 5 7 9
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 9
+f 8 10 9
+f 8 9 12
+f 8 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_220.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10bab568699505a110ad10c7c4f9d867dc119e70
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_220.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.02157098 0.00254045
+v -0.00285283 -0.02157098 0.00254045
+v -0.00398662 -0.02157098 0.00355171
+v -0.00398662 0.03837587 0.00254045
+v -0.00285283 -0.02157098 0.00355171
+v -0.00285283 0.03898642 0.00254045
+v -0.00398662 0.03825731 0.00355171
+v -0.00398662 0.03837587 0.00261965
+v -0.00285283 0.03879081 0.00355171
+v -0.00285283 0.03898049 0.00261965
+v -0.00358687 0.03847071 0.00355171
+v -0.00285283 0.03896271 0.00275973
+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 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 8 6
+f 6 8 10
+f 7 11 8
+f 8 11 12
+f 8 12 10
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_221.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d145d6a72cddd53dbf609d6248b1ac4d830987e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_221.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 0.02240049 0.00460042
+v -0.00398662 0.02240049 -0.00292814
+v -0.00505678 0.02240049 0.00460042
+v -0.00398662 0.01082325 0.00460042
+v -0.00505678 0.02240049 -0.00292814
+v -0.00398662 0.01082325 -0.00292814
+v -0.00505678 0.01082325 0.00460042
+v -0.00505678 0.01082325 -0.00292814
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_222.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16684ec6c07fa307577da0ef1d2be56c82cd6be9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_222.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.02000924 -0.01085190
+v -0.01106117 0.02000924 -0.01523101
+v -0.01149480 0.02000924 -0.01085190
+v -0.01106117 -0.00794558 -0.01085190
+v -0.01149480 0.02000924 -0.01523101
+v -0.01106117 -0.00794558 -0.01523101
+v -0.01149480 -0.00794558 -0.01085190
+v -0.01149480 -0.00794558 -0.01523101
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_223.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b81198ec551e731bfe1b7212fa16fd99c430bb3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_223.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03312449 -0.01722478
+v -0.00505689 0.03248699 -0.01795719
+v -0.00624620 0.03193492 -0.01786736
+v -0.00624620 0.03236211 -0.01722478
+v -0.00505689 -0.03401712 -0.01722478
+v -0.00505689 0.03058105 -0.01852741
+v -0.00624620 0.03060734 -0.01827357
+v -0.00624620 -0.03323503 -0.01722478
+v -0.00582012 -0.03354392 -0.01722478
+v -0.00624620 -0.03277497 -0.01784008
+v -0.00505689 -0.03336647 -0.01794704
+v -0.00505689 0.02843851 -0.01884928
+v -0.00624620 0.02843851 -0.01873318
+v -0.00624620 -0.03221634 -0.01802955
+v -0.00505689 -0.03323503 -0.01799345
+v -0.00624620 0.02629597 -0.01889852
+v -0.00505689 0.02629597 -0.01892048
+v -0.00624620 -0.03216376 -0.01804718
+v -0.00505689 -0.03149339 -0.01849497
+v -0.00624620 -0.03149996 -0.01823864
+v -0.00624620 0.02415344 -0.01892414
+v -0.00505689 0.02415344 -0.01892397
+v -0.00624620 -0.03011323 -0.01860759
+v -0.00505689 -0.03129623 -0.01854671
+v -0.00624620 0.02413372 -0.01892414
+v -0.00505689 0.01920457 -0.01892397
+v -0.00624620 -0.02935085 -0.01872037
+v -0.00505689 -0.02935085 -0.01883531
+v -0.00505689 -0.02701772 -0.01892380
+v -0.00624620 -0.02582815 -0.01892380
+v -0.00624620 -0.02797069 -0.01887590
+v -0.00505689 -0.02916026 -0.01885710
+v -0.00505689 -0.02720832 -0.01892064
+v -0.00624620 -0.02590045 -0.01892264
+v -0.00624620 -0.02720832 -0.01890085
+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 15
+f 1 15 19
+f 1 19 24
+f 1 24 28
+f 1 28 32
+f 1 32 33
+f 1 33 29
+f 1 29 26
+f 1 26 22
+f 1 22 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 16
+f 3 16 21
+f 3 21 25
+f 3 25 30
+f 3 30 34
+f 3 34 35
+f 3 35 31
+f 3 31 27
+f 3 27 23
+f 3 23 20
+f 3 20 18
+f 3 18 14
+f 3 14 10
+f 3 10 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 10 9
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 12 17 16
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 17 21
+f 17 22 21
+f 19 20 23
+f 19 23 24
+f 21 22 26
+f 21 26 25
+f 23 27 28
+f 23 28 24
+f 25 26 29
+f 25 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 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_224.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff9f5fef85b5ff695a08a109f62ff57b4849a65
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_224.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00412059 -0.00224764 0.01118109
+v 0.00412059 -0.00224764 0.01529029
+v 0.00412059 -0.00084569 0.01118109
+v 0.01565373 -0.00224764 0.01118109
+v 0.00480243 -0.00224764 0.01572524
+v 0.00419649 -0.00084569 0.01564009
+v 0.00412059 -0.00093997 0.01556875
+v 0.00412059 -0.00084569 0.01558716
+v 0.01696934 -0.00084569 0.01118109
+v 0.01704271 -0.00224737 0.01118109
+v 0.01704145 -0.00224764 0.01118201
+v 0.00505797 -0.00224764 0.01588264
+v 0.00458106 -0.00084569 0.01588264
+v 0.01696934 -0.00084569 0.01118201
+v 0.01703133 -0.00152834 0.01118109
+v 0.01703133 -0.00152834 0.01118201
+v 0.01704145 -0.00224764 0.01190140
+v 0.01641274 -0.00224764 0.01588264
+v 0.01608130 -0.00084569 0.01588264
+v 0.01689724 -0.00084569 0.01263966
+v 0.01692633 -0.00152834 0.01332222
+v 0.01697187 -0.00224764 0.01332222
+v 0.01659617 -0.00224764 0.01546243
+v 0.01637226 -0.00201954 0.01588264
+v 0.01627232 -0.00152834 0.01588264
+v 0.01627106 -0.00084569 0.01547347
+v 0.01677706 -0.00084569 0.01332222
+v 0.01646460 -0.00084569 0.01477986
+v 0.01646713 -0.00152834 0.01546243
+v 0.01690103 -0.00224764 0.01404115
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 22
+f 1 22 30
+f 1 30 23
+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 6
+f 3 6 13
+f 3 13 19
+f 3 19 26
+f 3 26 28
+f 3 28 27
+f 3 27 20
+f 3 20 14
+f 3 14 9
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 8 7
+f 9 14 16
+f 9 16 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 24
+f 12 24 25
+f 12 25 19
+f 12 19 13
+f 14 20 21
+f 14 21 16
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 19 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 23
+f 21 23 30
+f 21 30 22
+f 23 29 24
+f 24 29 25
+f 25 29 26
+f 26 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_225.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8c2d1ab45e477c9edf01eabf7f7fdb321ca2ad
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_225.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.00840654 -0.00016637
+v -0.02645263 0.00840654 -0.00016637
+v -0.01149485 -0.00367358 -0.00016637
+v -0.01149485 0.00840654 -0.01892229
+v -0.02668575 0.00703369 -0.00016637
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+v -0.02380553 0.00061288 -0.01664367
+v -0.02370125 0.00275197 -0.01664367
+v -0.02339912 0.00481183 -0.01677771
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_226.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672781fa3c9e79e9aa6df65c18b81f6c1a4cdc48
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_226.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.00909651 -0.00540631
+v -0.00740928 -0.00909651 -0.00669360
+v -0.00854170 -0.00909651 -0.00540631
+v -0.00740928 -0.02374918 -0.00540631
+v -0.00854170 -0.00909651 -0.00669360
+v -0.00740928 -0.02374918 -0.00669360
+v -0.00854170 -0.02374918 -0.00540631
+v -0.00854170 -0.02374918 -0.00669360
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_227.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e45b47bd72b010510078fa67bb983e5ee4c2a0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_227.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00823614 -0.03864085 0.00790058
+v 0.00751851 -0.03864085 0.00789804
+v 0.00823614 -0.03924926 0.00779379
+v 0.00823614 -0.03864085 -0.01807447
+v 0.00790745 -0.03947140 0.00773023
+v 0.00823614 -0.03947140 0.00775311
+v 0.00369890 -0.03864085 0.00753191
+v 0.00823614 -0.03918544 -0.01786344
+v 0.00797932 -0.03916853 -0.01785327
+v 0.00797932 -0.03864085 -0.01805667
+v 0.00583858 -0.03947140 0.00749377
+v 0.00823614 -0.03947140 -0.01740577
+v 0.00283806 -0.03864085 0.00736918
+v 0.00369890 -0.03947140 0.00719629
+v 0.00823614 -0.03929520 -0.01770834
+v 0.00665978 -0.03904592 -0.01776682
+v 0.00636491 -0.03864085 -0.01788124
+v 0.00733620 -0.03947140 -0.01719219
+v 0.00283806 -0.03947140 0.00699542
+v 0.00283806 -0.03864085 -0.01616245
+v 0.00637654 -0.03947140 -0.01669131
+v 0.00590305 -0.03935196 -0.01670402
+v 0.00523351 -0.03877996 -0.01745663
+v 0.00507550 -0.03864085 -0.01751510
+v 0.00283806 -0.03947140 -0.01409533
+v 0.00340772 -0.03864085 -0.01652858
+v 0.00283806 -0.03890428 -0.01570733
+v 0.00607427 -0.03947140 -0.01651841
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+v 0.00402178 -0.03864085 -0.01692268
+v 0.00283806 -0.03898461 -0.01556240
+v 0.00283806 -0.03905112 -0.01537933
+v 0.00349862 -0.03947140 -0.01471318
+v 0.00464218 -0.03947140 -0.01557257
+v 0.00283806 -0.03904445 -0.01539967
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+f 25 32 33
+f 26 30 27
+f 28 34 29
+f 29 34 31
+f 31 34 35
+f 32 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_228.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cace955deb4b12e3316a68e29634920dd3865838
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_228.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 -0.01972687 -0.01022427
+v -0.00505689 -0.01972687 -0.01199702
+v -0.00624620 -0.01972687 -0.01022427
+v -0.00505689 -0.03725560 -0.01022427
+v -0.00624620 -0.01972687 -0.01199702
+v -0.00505689 -0.03655898 -0.01199702
+v -0.00624620 -0.03649549 -0.01022427
+v -0.00596456 -0.03667566 -0.01022427
+v -0.00624620 -0.03639426 -0.01055067
+v -0.00564730 -0.03667222 -0.01088263
+v -0.00505689 -0.03722128 -0.01033203
+v -0.00624620 -0.03576456 -0.01199702
+v -0.00505689 -0.03684037 -0.01130604
+v -0.00514188 -0.03650922 -0.01199702
+v -0.00624620 -0.03604938 -0.01136226
+v -0.00624620 -0.03600649 -0.01146291
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 16
+f 3 16 15
+f 3 15 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 10
+f 6 10 14
+f 7 9 8
+f 9 15 10
+f 10 13 11
+f 10 15 16
+f 10 16 14
+f 12 14 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_229.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8bf5ace9ccc40e382cc4acb6ab8cf5ff2a1f62b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_229.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00950683 0.00951148 0.00762547
+v -0.00950683 0.02000924 0.00762330
+v -0.01040492 0.00951148 0.00762547
+v -0.00950683 -0.03094906 0.00762547
+v -0.01040492 0.02000924 0.00762330
+v -0.00950683 0.02000924 -0.01459448
+v -0.01040501 -0.03032319 0.00751672
+v -0.01040492 -0.00944864 0.00762547
+v -0.01002376 -0.03032319 0.00762547
+v -0.01040492 -0.03001288 0.00762330
+v -0.00950683 -0.03141188 0.00749280
+v -0.01040501 0.02000924 -0.01352655
+v -0.01040501 0.01999872 -0.01033580
+v -0.01040501 0.02000924 -0.01459448
+v -0.00950683 -0.03230598 -0.01459448
+v -0.01040501 -0.03153285 0.00715350
+v -0.00950683 -0.03362609 0.00657712
+v -0.01040501 -0.03154862 -0.01459448
+v -0.00950683 -0.03234805 -0.01450313
+v -0.00962773 -0.03221657 -0.01459448
+v -0.01040501 -0.03327897 0.00637702
+v -0.01040501 -0.03372076 0.00563968
+v -0.00955783 -0.03372076 0.00637484
+v -0.00950683 -0.03372076 0.00641617
+v -0.00976886 -0.03210086 -0.01459448
+v -0.01016813 -0.03226917 -0.01352655
+v -0.01040501 -0.03205879 -0.01352655
+v -0.00950683 -0.03277407 -0.01352655
+v -0.00976244 -0.03258999 -0.01352655
+v -0.01001039 -0.03240591 -0.01352655
+v -0.00972516 -0.03217975 -0.01450313
+v -0.01040501 -0.03372076 -0.00970722
+v -0.00950683 -0.03372076 -0.01130368
+v -0.01009665 -0.03246902 -0.01323075
+v -0.01040501 -0.03282666 -0.01183221
+v -0.00950683 -0.03314222 -0.01267177
+v -0.00982715 -0.03372076 -0.01074471
+v -0.01040501 -0.03289503 -0.01167344
+f 1 2 5
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+f 1 3 8
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+f 22 24 23
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+f 26 34 27
+f 27 34 35
+f 28 36 29
+f 29 36 34
+f 29 34 30
+f 32 38 37
+f 33 37 36
+f 34 36 37
+f 34 37 38
+f 34 38 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_23.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31f6b1feefc8a95e2512ed62681781af69d92f9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01491218 0.00275572 0.01588345
+v 0.01389281 0.00275572 0.01764410
+v 0.01523970 0.00201291 0.01588345
+v 0.00339655 0.00275572 0.01588345
+v 0.01368762 0.00275572 0.01789726
+v 0.01390991 0.00259155 0.01768941
+v 0.01557247 -0.00013422 0.01667956
+v 0.01534624 0.00129345 0.01623447
+v 0.01541463 0.00149786 0.01588345
+v 0.00338603 0.00275250 0.01588345
+v 0.00340050 0.00275572 0.01589521
+v 0.01335616 0.00177148 0.01869372
+v 0.01253145 0.00275572 0.01884762
+v 0.01577635 -0.00152809 0.01695243
+v 0.01627222 -0.00152809 0.01588345
+v 0.01576319 0.00035588 0.01588345
+v 0.01558957 0.00095946 0.01588345
+v 0.00339129 0.00273399 0.01588345
+v 0.00447117 0.00275250 0.01680095
+v 0.00447117 0.00275572 0.01680130
+v 0.01228680 0.00275572 0.01899252
+v 0.01347980 0.00061180 0.01877499
+v 0.01527915 -0.00522281 0.01856230
+v 0.01605388 -0.00366879 0.01729446
+v 0.01637218 -0.00201901 0.01588345
+v 0.00597458 -0.00546585 0.01588345
+v 0.00597852 0.00275572 0.01798510
+v 0.01011915 0.00275572 0.01941583
+v 0.01226049 0.00061180 0.01915714
+v 0.01371787 -0.00152809 0.01889154
+v 0.01499373 -0.00546585 0.01870064
+v 0.01558168 -0.00546585 0.01826523
+v 0.01609597 -0.00546585 0.01766416
+v 0.01666813 -0.00366879 0.01588345
+v 0.00788837 -0.00546585 0.01722806
+v 0.00707287 0.00203706 0.01859515
+v 0.01682203 -0.00546585 0.01588345
+v 0.00598510 0.00275572 0.01798890
+v 0.01011915 0.00275250 0.01941583
+v 0.01226049 -0.00152809 0.01923495
+v 0.00786469 0.00275572 0.01900428
+v 0.01440052 -0.00546585 0.01894376
+v 0.01397830 -0.00366879 0.01895863
+v 0.01624591 -0.00546585 0.01731729
+v 0.01670628 -0.00401163 0.01588345
+v 0.00956935 -0.00546585 0.01840114
+v 0.00903796 -0.00263627 0.01868023
+v 0.01060188 -0.00546585 0.01888220
+v 0.00786338 0.00275089 0.01900359
+v 0.00785812 0.00275572 0.01900186
+v 0.01671285 -0.00407601 0.01588345
+v 0.01226049 -0.00546585 0.01919311
+v 0.01226049 -0.00366879 0.01923288
+v 0.01011915 0.00061180 0.01929547
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 25
+f 1 25 34
+f 1 34 45
+f 1 45 51
+f 1 51 37
+f 1 37 26
+f 1 26 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 27
+f 1 27 38
+f 1 38 50
+f 1 50 41
+f 1 41 28
+f 1 28 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 5 13 12
+f 6 12 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 12 14
+f 8 17 9
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 13 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 14 24 15
+f 15 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 23 30 31
+f 24 33 34
+f 24 34 25
+f 26 35 36
+f 26 36 27
+f 26 37 44
+f 26 44 33
+f 26 33 32
+f 26 32 31
+f 26 31 42
+f 26 42 52
+f 26 52 48
+f 26 48 46
+f 26 46 35
+f 27 36 38
+f 28 39 40
+f 28 40 29
+f 28 41 39
+f 29 40 42
+f 29 42 43
+f 29 43 30
+f 30 43 42
+f 30 42 31
+f 33 44 45
+f 33 45 34
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 38
+f 37 51 44
+f 39 52 53
+f 39 53 40
+f 39 41 54
+f 39 54 52
+f 40 53 42
+f 41 50 49
+f 41 49 48
+f 41 48 54
+f 42 53 52
+f 44 51 45
+f 46 48 47
+f 48 52 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_230.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546ddc4a24b93e17f089881ba7185dab217e15d9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_230.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 -0.00547644 -0.01892265
+v -0.00854170 -0.00230919 -0.01892411
+v -0.00740928 -0.00547644 -0.01892265
+v -0.00854170 -0.00547644 -0.00398339
+v -0.00836412 -0.00230919 -0.01892411
+v -0.00854170 -0.00230919 -0.00398339
+v -0.00740928 -0.00230919 -0.01892265
+v -0.00740928 -0.00547644 -0.00398339
+v -0.00740928 -0.00230919 -0.00398339
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 2 7 5
+f 3 5 7
+f 3 7 9
+f 3 9 8
+f 4 8 9
+f 4 9 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_231.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd6d2a9da74bf38ec777aeabdcee9497bdf279f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_231.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01225420 0.00061825 -0.01892412
+v 0.01225697 0.00275572 -0.01892412
+v 0.01440050 0.00061825 -0.01892412
+v 0.00290743 0.00061825 -0.01892372
+v 0.00290743 0.00275572 -0.01892372
+v 0.01439773 0.00275572 -0.01892412
+v 0.01440050 0.00275258 -0.01892412
+v 0.01620477 0.00275572 -0.01832053
+v 0.01620200 0.00061825 -0.01832132
+v 0.00290743 0.00061825 -0.01485663
+v 0.00290743 0.00275572 -0.01485663
+v 0.01700236 0.00275572 -0.01664790
+v 0.01620616 0.00275258 -0.01831973
+v 0.01620616 0.00061825 -0.01831973
+v 0.01705360 0.00061825 -0.01485663
+v 0.01685143 0.00275572 -0.01485663
+v 0.01705360 0.00275258 -0.01485663
+v 0.01700236 0.00061825 -0.01664551
+v 0.01700098 0.00061825 -0.01665029
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 18
+f 1 18 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 16
+f 2 16 12
+f 2 12 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 6 8 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 17
+f 10 17 16
+f 10 16 11
+f 12 17 15
+f 12 15 18
+f 12 18 19
+f 12 19 14
+f 12 14 13
+f 12 16 17
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_232.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873d2a5e009bd7180b7d9fc3639b3d6d837790a8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_232.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.00084555 -0.00166177
+v 0.01706217 -0.00084555 0.00621798
+v 0.01706343 -0.00146849 -0.00166177
+v 0.01706343 -0.00084555 -0.01450098
+v 0.01706217 -0.00146849 0.00475931
+v 0.01706090 -0.00084555 0.00835441
+v 0.01706090 -0.00146849 0.00903807
+v 0.01706343 -0.00146849 -0.01450098
+v 0.01700262 -0.00084555 -0.01664330
+v 0.01705710 -0.00084555 0.00903807
+v 0.01703049 -0.00146849 0.01111851
+v 0.01700262 -0.00146849 -0.01664330
+v 0.01620568 -0.00084555 -0.01831708
+v 0.01703556 -0.00084555 0.01049673
+v 0.01696841 -0.00084555 0.01118039
+v 0.01702416 -0.00146849 0.01118039
+v 0.01620568 -0.00146849 -0.01831708
+v 0.01615500 -0.00146849 -0.01833476
+v 0.01440022 -0.00084555 -0.01892412
+v 0.00412114 -0.00084555 0.01118039
+v 0.00412114 -0.00146849 0.01118039
+v 0.01440022 -0.00146849 -0.01892412
+v 0.01226028 -0.00084555 -0.01892412
+v 0.00411987 -0.00084555 -0.00256349
+v 0.00411987 -0.00146849 -0.00256349
+v 0.01207150 -0.00146849 -0.01892412
+v 0.00411987 -0.00084555 -0.01891823
+v 0.00411987 -0.00146849 -0.01891823
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 23
+f 1 23 27
+f 1 27 24
+f 1 24 20
+f 1 20 15
+f 1 15 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 16
+f 3 16 21
+f 3 21 25
+f 3 25 28
+f 3 28 26
+f 3 26 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 6 10 7
+f 7 10 11
+f 9 12 17
+f 9 17 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 13 17 18
+f 13 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 26
+f 19 26 23
+f 20 24 25
+f 20 25 21
+f 23 26 27
+f 24 27 28
+f 24 28 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_233.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7664c06a1b98eff962621ed476131f7ee55050bf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_233.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03781137 0.00031683
+v -0.00505689 0.03781137 -0.00255073
+v -0.00624620 0.03709987 0.00031683
+v -0.00505689 -0.03870127 0.00031683
+v -0.00619405 0.03712982 -0.00255073
+v -0.00624620 0.03709987 -0.00139961
+v -0.00505689 -0.03870127 -0.00255073
+v -0.00624620 -0.03796731 0.00031683
+v -0.00521929 -0.03860391 0.00031683
+v -0.00624620 0.03709238 -0.00255073
+v -0.00521929 -0.03860391 -0.00255073
+v -0.00624620 -0.03796731 -0.00255073
+v -0.00611023 -0.03806467 -0.00139961
+v -0.00564584 -0.03834178 -0.00255073
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 11
+f 2 11 14
+f 2 14 12
+f 2 12 10
+f 2 10 5
+f 3 6 10
+f 3 10 12
+f 3 12 8
+f 4 9 11
+f 4 11 7
+f 5 10 6
+f 8 12 13
+f 8 13 9
+f 9 13 11
+f 11 13 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_234.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cd2d9478cac7dc90946896a19c4c8f7acd9f98
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_234.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00505678 0.02240138 -0.00292814
+v -0.00505678 0.03151609 -0.00292814
+v -0.00398662 0.02240138 -0.00292814
+v -0.00505678 0.02240138 0.00819604
+v -0.00398662 0.03151609 -0.00292814
+v -0.00505678 0.03151609 0.00801093
+v -0.00398662 0.02240138 0.00819604
+v -0.00505678 0.02888295 0.00819604
+v -0.00398662 0.03151609 0.00806755
+v -0.00437613 0.03057919 0.00819604
+v -0.00398662 0.03096822 0.00819604
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 11
+f 4 11 10
+f 4 10 8
+f 6 8 10
+f 6 10 11
+f 6 11 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_235.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af4128c2af4749b49dbfcd976562fd2bc2e55429
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_235.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00161914 0.03859125 0.00680528
+v 0.00161914 0.03915773 0.00650484
+v 0.00104001 0.03859125 0.00672054
+v 0.00161914 0.03859125 -0.01286968
+v 0.00161914 0.03920735 0.00647595
+v 0.00098923 0.03859125 0.00671091
+v 0.00140246 0.03859125 -0.01264820
+v 0.00140246 0.03863933 -0.01251724
+v 0.00161914 0.03870480 -0.01255961
+v 0.00161914 0.03934878 0.00630069
+v -0.00058314 0.03861695 0.00638543
+v -0.00058314 0.03859125 0.00640084
+v -0.00065931 0.03859125 -0.01052972
+v -0.00050785 0.03934878 -0.00861537
+v 0.00114769 0.03964455 -0.00950514
+v 0.00161826 0.03934878 -0.01079549
+v 0.00161914 0.03934878 -0.01079549
+v 0.00114769 0.03989761 0.00540323
+v 0.00094502 0.03989761 0.00532426
+v -0.00070483 0.03859125 0.00636232
+v -0.00061991 0.03859125 0.00638928
+v -0.00077356 0.03859125 -0.01041223
+v -0.00042074 0.03963535 -0.00792012
+v -0.00006661 0.03989761 -0.00756576
+v 0.00072308 0.03989761 -0.00837656
+v 0.00114769 0.03989761 -0.00881181
+v 0.00062240 0.03989761 0.00506042
+v -0.00173571 0.03859125 0.00579033
+v -0.00086680 0.03859125 -0.01029861
+v -0.00267423 0.03859125 -0.00802990
+v -0.00275259 0.03859125 -0.00787005
+v -0.00272282 0.03903165 -0.00594030
+v -0.00081208 0.03989646 -0.00594030
+v -0.00080901 0.03989761 -0.00594030
+v -0.00081865 0.03934878 0.00496220
+v -0.00012307 0.03989761 0.00429969
+v -0.00044394 0.03965913 0.00461939
+v -0.00111193 0.03934878 0.00465405
+v -0.00274339 0.03859125 0.00472916
+v -0.00283795 0.03859125 -0.00766398
+v -0.00285283 0.03896260 -0.00594030
+v -0.00272282 0.03911157 -0.00380063
+v -0.00220103 0.03934878 -0.00380063
+v -0.00099374 0.03989761 -0.00380063
+v -0.00081471 0.03989761 -0.00587867
+v -0.00080945 0.03989761 -0.00593645
+v -0.00086198 0.03989761 0.00261838
+v -0.00285283 0.03896656 0.00275897
+v -0.00285283 0.03859125 0.00450576
+v -0.00285283 0.03859125 -0.00762739
+v -0.00285283 0.03904226 -0.00380063
+v -0.00272282 0.03911157 0.00047871
+v -0.00220103 0.03934878 0.00047678
+v -0.00099374 0.03989761 0.00047678
+v -0.00098849 0.03989761 0.00056730
+v -0.00272282 0.03905352 0.00261838
+v -0.00285283 0.03898433 0.00261838
+v -0.00285283 0.03904226 0.00047871
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 21
+f 1 21 20
+f 1 20 28
+f 1 28 39
+f 1 39 49
+f 1 49 50
+f 1 50 40
+f 1 40 31
+f 1 31 30
+f 1 30 29
+f 1 29 22
+f 1 22 13
+f 1 13 7
+f 1 7 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 10 17 26
+f 10 26 18
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 23
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 18 26 25
+f 18 25 24
+f 18 24 34
+f 18 34 46
+f 18 46 45
+f 18 45 44
+f 18 44 54
+f 18 54 55
+f 18 55 47
+f 18 47 36
+f 18 36 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 30 31
+f 27 35 28
+f 27 36 37
+f 27 37 35
+f 28 35 38
+f 28 38 39
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 35 37 38
+f 36 47 48
+f 36 48 49
+f 36 49 39
+f 36 39 38
+f 36 38 37
+f 40 50 41
+f 41 51 42
+f 41 50 49
+f 41 49 48
+f 41 48 57
+f 41 57 58
+f 41 58 51
+f 42 51 58
+f 42 58 52
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 44
+f 47 55 56
+f 47 56 48
+f 48 56 57
+f 52 54 53
+f 52 58 57
+f 52 57 56
+f 52 56 55
+f 52 55 54
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_236.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594730d835404351352fdfd09fba4a42ae505249
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_236.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.01149624 0.01289896 0.00733576
+v -0.01626029 0.01289896 0.00733833
+v -0.01843810 0.01201445 0.00734090
+v -0.01149624 0.01201462 0.00733576
+v -0.01149624 0.01289896 -0.01892156
+v -0.02268601 0.01289896 0.00733833
+v -0.01843810 0.01118188 0.00734090
+v -0.02323431 0.01201445 0.00734090
+v -0.01149764 0.01118188 0.00733576
+v -0.01149624 0.01201462 -0.01892156
+v -0.01556652 0.01289896 -0.01892156
+v -0.02403718 0.01118188 0.00734090
+v -0.02377282 0.01289896 0.00651313
+v -0.01149764 0.01118188 -0.01892156
+v -0.01556792 0.01201445 -0.01892156
+v -0.01770796 0.01118188 -0.01882387
+v -0.01770796 0.01131501 -0.01881873
+v -0.01770657 0.01289896 -0.01874418
+v -0.02404557 0.01289896 0.00602984
+v -0.02474213 0.01289896 0.00474705
+v -0.02505824 0.01118188 0.00544628
+v -0.01556792 0.01118188 -0.01892156
+v -0.01843810 0.01118188 -0.01867991
+v -0.01843810 0.01131518 -0.01867477
+v -0.01984661 0.01118188 -0.01839970
+v -0.01984661 0.01131518 -0.01838428
+v -0.01987738 0.01201445 -0.01828402
+v -0.01991655 0.01289896 -0.01815291
+v -0.02494355 0.01289896 0.00419177
+v -0.02491278 0.01201445 0.00508638
+v -0.02537296 0.01118188 0.00456196
+v -0.02522889 0.01248427 0.00377531
+v -0.02117679 0.01118188 -0.01789070
+v -0.02116001 0.01131518 -0.01788299
+v -0.02042848 0.01201462 -0.01808350
+v -0.02071801 0.01289896 -0.01786499
+v -0.02512258 0.01289896 0.00337428
+v -0.02572823 0.01118188 0.00261849
+v -0.02517853 0.01289896 0.00261335
+v -0.02546667 0.01201445 0.00261849
+v -0.02569187 0.01131518 0.00261849
+v -0.02199784 0.01118188 -0.01663876
+v -0.02100335 0.01270380 -0.01778530
+v -0.02108028 0.01201462 -0.01783414
+v -0.02109007 0.01289896 -0.01749995
+v -0.02578418 0.01118188 0.00047451
+v -0.02523308 0.01289896 0.00047451
+v -0.02552122 0.01201445 0.00047451
+v -0.02574781 0.01131518 0.00047451
+v -0.02204959 0.01118188 -0.01652822
+v -0.02148731 0.01289896 -0.01669275
+v -0.02578418 0.01118188 -0.00380573
+v -0.02523308 0.01289896 -0.00380830
+v -0.02552122 0.01201445 -0.00380573
+v -0.02574781 0.01131518 -0.00380573
+v -0.02284966 0.01118188 -0.01475699
+v -0.02237550 0.01289896 -0.01453077
+v -0.02567228 0.01131518 -0.00593943
+v -0.02570725 0.01118188 -0.00593943
+v -0.02515755 0.01289896 -0.00594200
+v -0.02526106 0.01258193 -0.00594200
+v -0.02544569 0.01201445 -0.00593943
+v -0.02343013 0.01118188 -0.01315287
+v -0.02281609 0.01145655 -0.01460532
+v -0.02318955 0.01201445 -0.01307060
+v -0.02460366 0.01289896 -0.00834305
+v -0.02521490 0.01243989 -0.00706026
+v -0.02539673 0.01131518 -0.00756669
+v -0.02541632 0.01118188 -0.00761554
+v -0.02489879 0.01289896 -0.00752042
+v -0.02503447 0.01118188 -0.00869781
+v -0.02501348 0.01131518 -0.00863611
+v -0.02537156 0.01118188 -0.00775179
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 28
+f 1 28 36
+f 1 36 45
+f 1 45 51
+f 1 51 57
+f 1 57 66
+f 1 66 70
+f 1 70 60
+f 1 60 53
+f 1 53 47
+f 1 47 39
+f 1 39 37
+f 1 37 29
+f 1 29 20
+f 1 20 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 8 12
+f 3 12 7
+f 4 7 9
+f 4 9 14
+f 4 14 10
+f 5 10 14
+f 5 14 22
+f 5 22 15
+f 5 15 11
+f 6 12 8
+f 6 13 12
+f 7 12 21
+f 7 21 31
+f 7 31 38
+f 7 38 46
+f 7 46 52
+f 7 52 59
+f 7 59 69
+f 7 69 73
+f 7 73 71
+f 7 71 63
+f 7 63 56
+f 7 56 50
+f 7 50 42
+f 7 42 33
+f 7 33 25
+f 7 25 23
+f 7 23 16
+f 7 16 22
+f 7 22 14
+f 7 14 9
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 15 22 16
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 20 29 30
+f 20 30 21
+f 21 30 29
+f 21 29 32
+f 21 32 31
+f 23 25 24
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 29 37 32
+f 31 32 38
+f 32 37 39
+f 32 39 40
+f 32 40 41
+f 32 41 38
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 35
+f 35 44 43
+f 35 43 36
+f 36 43 45
+f 38 41 49
+f 38 49 46
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 51
+f 42 51 45
+f 42 45 43
+f 46 49 55
+f 46 55 52
+f 47 53 54
+f 47 54 48
+f 48 54 55
+f 48 55 49
+f 50 56 51
+f 51 56 57
+f 52 55 58
+f 52 58 59
+f 53 60 61
+f 53 61 54
+f 54 61 62
+f 54 62 58
+f 54 58 55
+f 56 63 64
+f 56 64 57
+f 57 64 63
+f 57 63 65
+f 57 65 66
+f 58 62 67
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 60 70 67
+f 60 67 61
+f 61 67 62
+f 63 71 72
+f 63 72 65
+f 65 72 67
+f 65 67 66
+f 66 67 70
+f 67 72 71
+f 67 71 68
+f 68 71 73
+f 68 73 69
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_237.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54eaa2f2d2adef6ba90c8e1130666fc52ebe312d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_237.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.01556614 -0.01427191 0.00797459
+v -0.01556614 -0.01326394 0.00743361
+v -0.01556692 -0.01326394 0.00803265
+v -0.01556692 -0.01427191 0.00803265
+v -0.01556614 -0.01427191 -0.01883687
+v -0.01556614 -0.01326394 -0.01804783
+v -0.01770751 -0.01326394 0.00803265
+v -0.01770751 -0.01427191 0.00803265
+v -0.01556692 -0.01427191 -0.01892132
+v -0.01556692 -0.01326394 -0.01892395
+v -0.01947928 -0.01326394 0.00800362
+v -0.01904431 -0.01427191 0.00800362
+v -0.01566652 -0.01427191 -0.01891868
+v -0.01668585 -0.01326394 -0.01887118
+v -0.02044725 -0.01326394 0.00792445
+v -0.01914236 -0.01427191 0.00800098
+v -0.01770751 -0.01427191 -0.01870756
+v -0.01770751 -0.01326394 -0.01876562
+v -0.02020293 -0.01427191 0.00786903
+v -0.02186187 -0.01326394 0.00754708
+v -0.01780711 -0.01427191 -0.01868909
+v -0.01876497 -0.01326394 -0.01855714
+v -0.02190077 -0.01326394 0.00753653
+v -0.02197936 -0.01427191 0.00738347
+v -0.01990257 -0.01427191 -0.01808214
+v -0.01987534 -0.01326394 -0.01824047
+v -0.01881477 -0.01326394 -0.01854659
+v -0.02351458 -0.01326394 0.00664193
+v -0.02351458 -0.01412616 0.00650471
+v -0.02351458 -0.01427191 0.00648096
+v -0.01999517 -0.01427191 -0.01805047
+v -0.02102306 -0.01359292 -0.01779977
+v -0.02105885 -0.01326394 -0.01782088
+v -0.02351458 -0.01326394 -0.01205748
+v -0.02351458 -0.01427191 -0.01033690
+v -0.02084798 -0.01427191 -0.01759921
+v -0.02131719 -0.01427191 -0.01674948
+v -0.02136154 -0.01427191 -0.01665712
+v -0.02125572 -0.01326394 -0.01752005
+v -0.02309518 -0.01326394 -0.01339805
+v -0.02351458 -0.01345695 -0.01190178
+v -0.02351458 -0.01427033 -0.01109955
+v -0.02351380 -0.01427191 -0.01109955
+v -0.02138566 -0.01427191 -0.01660434
+v -0.02208519 -0.01326394 -0.01575461
+v -0.02164244 -0.01326394 -0.01670726
+v -0.02307028 -0.01326394 -0.01346930
+v -0.02306405 -0.01331713 -0.01345083
+v -0.02318622 -0.01427191 -0.01201261
+v -0.02172414 -0.01427191 -0.01579419
+v -0.02208752 -0.01326394 -0.01574933
+v -0.02238632 -0.01416682 -0.01430056
+v -0.02233885 -0.01427191 -0.01430848
+v -0.02290843 -0.01427191 -0.01278054
+v -0.02230072 -0.01427191 -0.01440612
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 19
+f 1 19 24
+f 1 24 30
+f 1 30 35
+f 1 35 43
+f 1 43 49
+f 1 49 54
+f 1 54 53
+f 1 53 55
+f 1 55 50
+f 1 50 44
+f 1 44 38
+f 1 38 37
+f 1 37 36
+f 1 36 31
+f 1 31 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 22
+f 2 22 27
+f 2 27 26
+f 2 26 33
+f 2 33 39
+f 2 39 46
+f 2 46 45
+f 2 45 51
+f 2 51 47
+f 2 47 40
+f 2 40 34
+f 2 34 28
+f 2 28 23
+f 2 23 20
+f 2 20 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 23
+f 19 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 28 34 41
+f 28 41 42
+f 28 42 35
+f 28 35 30
+f 28 30 29
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 40 41
+f 35 42 43
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 48
+f 40 48 41
+f 41 48 42
+f 42 48 49
+f 42 49 43
+f 44 50 48
+f 44 48 51
+f 44 51 45
+f 47 51 48
+f 48 50 52
+f 48 52 53
+f 48 53 54
+f 48 54 49
+f 50 55 52
+f 52 55 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_238.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913973eadab71f67010f7bccd919cb67ea2f87fe
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_238.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.00840654 0.00902551
+v -0.01149485 0.00840654 -0.00016547
+v -0.01772111 0.00840654 0.00902551
+v -0.01149485 -0.00367358 0.00902551
+v -0.01772111 0.00840654 -0.00016547
+v -0.01149485 -0.00367358 -0.00016547
+v -0.01772111 -0.00176980 0.00902551
+v -0.01469483 -0.00367358 0.00902551
+v -0.01772111 -0.00367358 -0.00016547
+v -0.01772111 -0.00367358 0.00811937
+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 9
+f 3 9 10
+f 3 10 7
+f 4 8 10
+f 4 10 9
+f 4 9 6
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_239.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ed94312699e760791c22334fdb3d1a72868c78
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_239.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.00853872 0.00253971
+v -0.00285283 -0.00853872 -0.00497354
+v -0.00398662 -0.00853872 0.00253971
+v -0.00285283 -0.02157352 0.00253971
+v -0.00398662 -0.00853872 -0.00497354
+v -0.00285283 -0.02157352 -0.00497354
+v -0.00398662 -0.02157352 0.00253971
+v -0.00398662 -0.02157352 -0.00497354
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_24.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0e9d3f13a870e2a80820a608c90cdeb01010a7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00369881 -0.02079420 0.02143183
+v 0.00583847 -0.02079420 0.02127203
+v 0.00355127 -0.01930542 0.02113626
+v 0.00355127 -0.02079420 0.02142462
+v 0.00369881 -0.02293304 0.02130807
+v 0.00583847 -0.02293304 0.02130807
+v 0.00693079 -0.02183521 0.02115909
+v 0.00693079 -0.02070556 0.02113987
+v 0.00693079 -0.02006004 0.02100650
+v 0.00355127 -0.01872128 0.02101491
+v 0.00355127 -0.02292622 0.02128765
+v 0.00355127 -0.02307623 0.02125161
+v 0.00369881 -0.02422861 0.02094042
+v 0.00583847 -0.02432408 0.02098007
+v 0.00693079 -0.02422861 0.02092480
+v 0.00693079 -0.02294667 0.02116510
+v 0.00693079 -0.01957590 0.02088756
+v 0.00355127 -0.01863264 0.02096926
+v 0.00355127 -0.02420588 0.02092961
+v 0.00369881 -0.02529689 0.02010900
+v 0.00583847 -0.02539463 0.02026159
+v 0.00693079 -0.02452410 0.02072536
+v 0.00693079 -0.01915541 0.02066649
+v 0.00406766 -0.01802121 0.02055355
+v 0.00355127 -0.01662108 0.01976779
+v 0.00355127 -0.02527189 0.02007536
+v 0.00355127 -0.02540827 0.01996363
+v 0.00369881 -0.02644473 0.01903969
+v 0.00583847 -0.02655383 0.01919228
+v 0.00693079 -0.02648792 0.01911539
+v 0.00693079 -0.02518325 0.02023997
+v 0.00693079 -0.01859172 0.02033128
+v 0.00693079 -0.01222294 0.01645172
+v 0.00355127 -0.01656199 0.01972814
+v 0.00355127 -0.03091560 0.01482733
+v 0.00369881 -0.03093379 0.01484295
+v 0.00369881 -0.03200661 0.01379527
+v 0.00583847 -0.03091560 0.01482853
+v 0.00583847 -0.03198388 0.01375201
+v 0.00693079 -0.03119290 0.01429628
+v 0.00693079 -0.01222067 0.01066543
+v 0.00355127 -0.01222067 0.01066543
+v 0.00531083 -0.01222294 0.01611531
+v 0.00355127 -0.01222522 0.01648777
+v 0.00355127 -0.03199979 0.01376283
+v 0.00355127 -0.03206571 0.01369074
+v 0.00355127 -0.03290442 0.01271034
+v 0.00369881 -0.03291352 0.01272596
+v 0.00531083 -0.03221572 0.01349970
+v 0.00531083 -0.03199070 0.01376283
+v 0.00531083 -0.03288624 0.01269352
+v 0.00583847 -0.03287260 0.01268270
+v 0.00693079 -0.03276350 0.01253372
+v 0.00693079 -0.01222067 0.00915878
+v 0.00355127 -0.01222067 0.00915878
+v 0.00355127 -0.03542057 0.00915878
+v 0.00369881 -0.03544102 0.00915878
+v 0.00583847 -0.03537056 0.00915878
+v 0.00693079 -0.03509554 0.00915878
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 7
+f 3 10 18
+f 3 18 25
+f 3 25 34
+f 3 34 44
+f 3 44 42
+f 3 42 55
+f 3 55 56
+f 3 56 47
+f 3 47 46
+f 3 46 45
+f 3 45 35
+f 3 35 27
+f 3 27 26
+f 3 26 19
+f 3 19 12
+f 3 12 11
+f 3 11 4
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 11 12
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 22
+f 7 22 31
+f 7 31 30
+f 7 30 40
+f 7 40 53
+f 7 53 59
+f 7 59 54
+f 7 54 41
+f 7 41 33
+f 7 33 32
+f 7 32 23
+f 7 23 17
+f 7 17 9
+f 7 9 8
+f 9 17 10
+f 10 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 17 23 18
+f 18 24 25
+f 18 23 24
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 23 32 24
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 35 45 37
+f 35 37 36
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 39
+f 39 50 49
+f 39 49 51
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 41 54 55
+f 41 55 42
+f 42 44 43
+f 47 56 57
+f 47 57 48
+f 48 57 51
+f 48 51 49
+f 51 57 58
+f 51 58 52
+f 52 58 53
+f 53 58 59
+f 54 59 58
+f 54 58 57
+f 54 57 56
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_240.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a533f1df6e210b95c85788a5aa9aa439752438b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_240.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00662275 0.00941934 0.01335874
+v -0.00656007 0.00936882 0.01335874
+v -0.00591362 0.01140135 0.01128297
+v -0.00662275 0.00945820 0.01332166
+v -0.00662275 -0.02263477 0.01335874
+v -0.00591362 0.00936105 0.01289017
+v -0.00591362 0.00872758 0.01335874
+v -0.00591362 0.01169282 0.01070990
+v -0.00662275 0.01175500 0.01070990
+v -0.00662275 0.01142855 0.01134910
+v -0.00662275 0.00952816 0.01325294
+v -0.00662275 -0.02290292 0.01320315
+v -0.00653459 -0.02289904 0.01335874
+v -0.00591362 -0.02438360 0.01335874
+v -0.00591362 -0.02794733 0.01070990
+v -0.00662275 -0.02625290 0.01070990
+v -0.00662275 -0.02510645 0.01176710
+v -0.00623799 -0.02469062 0.01271306
+v -0.00651273 -0.02295733 0.01335874
+v -0.00601205 -0.02418540 0.01335874
+v -0.00591362 -0.02610134 0.01225616
+v -0.00591362 -0.02614409 0.01222348
+v -0.00592209 -0.02611688 0.01223515
+v -0.00631018 -0.02721282 0.01070990
+v -0.00662275 -0.02661821 0.01071172
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 16
+f 1 16 25
+f 1 25 17
+f 1 17 12
+f 1 12 5
+f 1 5 13
+f 1 13 19
+f 1 19 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 6 7
+f 3 7 14
+f 3 14 21
+f 3 21 22
+f 3 22 15
+f 3 15 8
+f 5 12 13
+f 8 15 24
+f 8 24 16
+f 8 16 9
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 16 24 25
+f 17 25 18
+f 18 25 23
+f 18 23 20
+f 18 20 19
+f 20 23 21
+f 21 23 22
+f 23 25 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_241.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1122323785637ba8c7dd67cc74ca709ec757fc6a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_241.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.01608571 0.00902642
+v -0.01310800 0.01615634 0.00902642
+v -0.01149485 0.01569064 0.00902642
+v -0.01149485 0.01647846 0.00881028
+v -0.01273656 0.01647846 0.00883763
+v -0.01299083 0.01647846 0.00884311
+v -0.01342597 0.01647846 0.00885131
+v -0.01342597 0.01616544 0.00902642
+v -0.01646169 0.01569064 0.00902642
+v -0.01149485 0.01569064 -0.01892136
+v -0.01149485 0.01647846 -0.01892136
+v -0.01556615 0.01647846 0.00876924
+v -0.01556615 0.01599455 0.00902642
+v -0.01646169 0.01584418 0.00902642
+v -0.01646169 0.01569064 -0.01870796
+v -0.01342597 0.01569064 -0.01892410
+v -0.01342597 0.01647846 -0.01892136
+v -0.01646169 0.01647846 0.00868989
+v -0.01646169 0.01647846 -0.01856569
+v -0.01556615 0.01647846 -0.01880919
+v -0.01556615 0.01569064 -0.01886117
+f 1 2 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 15
+f 3 15 21
+f 3 21 16
+f 3 16 10
+f 4 11 17
+f 4 17 20
+f 4 20 19
+f 4 19 18
+f 4 18 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 8
+f 8 12 13
+f 9 14 18
+f 9 18 19
+f 9 19 15
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 14
+f 15 19 20
+f 15 20 21
+f 16 21 17
+f 17 21 20
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_242.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9746c0f0106fc29b5b292b71fbc718e6ee6764b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_242.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.00762950 -0.00479877
+v -0.01106117 0.00762950 -0.00528719
+v -0.01149480 0.00762950 -0.00479877
+v -0.01106117 -0.02204161 -0.00479877
+v -0.01149480 0.00762950 -0.00528719
+v -0.01106117 -0.02204161 -0.00528719
+v -0.01149480 -0.02204161 -0.00479877
+v -0.01149480 -0.02204161 -0.00528719
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_243.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d12b5f545a6f71045354d649064977049284352
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_243.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.01043504 0.03814532 0.00810634
+v 0.01011980 0.03814129 0.00810634
+v 0.01043504 0.03790466 0.00810634
+v 0.01043504 0.03859125 0.00791609
+v 0.00863958 0.03802193 0.00810634
+v 0.01011980 0.03859125 0.00790837
+v 0.00749916 0.03790466 0.00810634
+v 0.01043504 0.03790466 -0.01815906
+v 0.01043504 0.03859125 -0.01755488
+v 0.00927006 0.03859125 0.00787495
+v 0.00832525 0.03859125 0.00782096
+v 0.00771023 0.03859125 0.00778496
+v 0.00722441 0.03859125 0.00775154
+v 0.00583926 0.03859125 0.00763070
+v 0.00745185 0.03790466 0.00810120
+v 0.01011980 0.03790466 -0.01814364
+v 0.01043504 0.03833693 -0.01798938
+v 0.01043504 0.03858829 -0.01773742
+v 0.01011980 0.03859125 -0.01769371
+v 0.00578786 0.03859125 0.00762299
+v 0.00578786 0.03856564 0.00763327
+v 0.00583926 0.03790466 0.00789038
+v 0.00738453 0.03790466 0.00809349
+v 0.00869917 0.03790466 -0.01806651
+v 0.01011980 0.03841153 -0.01794310
+v 0.01043504 0.03843506 -0.01795081
+v 0.00797953 0.03827988 -0.01787882
+v 0.00797953 0.03859125 -0.01735691
+v 0.00578786 0.03859125 -0.01662675
+v 0.00578786 0.03799807 0.00784667
+v 0.00578786 0.03790620 0.00788009
+v 0.00581788 0.03790466 0.00788523
+v 0.00860728 0.03790466 -0.01806137
+v 0.00646201 0.03817187 -0.01780170
+v 0.00797953 0.03790466 -0.01802537
+v 0.00686459 0.03790466 -0.01793796
+v 0.00605715 0.03859125 -0.01676044
+v 0.00578786 0.03858614 -0.01663960
+v 0.00580833 0.03790466 0.00788266
+v 0.00578786 0.03790466 0.00787238
+v 0.00680864 0.03790466 -0.01793282
+v 0.00628642 0.03790466 -0.01787882
+v 0.00578786 0.03790466 -0.01737748
+v 0.00578786 0.03824211 -0.01705610
+v 0.00578786 0.03852646 -0.01678358
+v 0.00578786 0.03853016 -0.01677843
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 26
+f 1 26 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 15
+f 3 15 23
+f 3 23 22
+f 3 22 32
+f 3 32 39
+f 3 39 40
+f 3 40 43
+f 3 43 42
+f 3 42 41
+f 3 41 36
+f 3 36 35
+f 3 35 33
+f 3 33 24
+f 3 24 16
+f 3 16 8
+f 4 9 19
+f 4 19 28
+f 4 28 37
+f 4 37 29
+f 4 29 20
+f 4 20 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 6
+f 5 6 10
+f 5 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 9 18 19
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 38
+f 20 38 46
+f 20 46 45
+f 20 45 44
+f 20 44 43
+f 20 43 40
+f 20 40 31
+f 20 31 30
+f 20 30 21
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 24 33 27
+f 24 27 25
+f 25 27 26
+f 27 34 28
+f 27 33 35
+f 27 35 36
+f 27 36 34
+f 28 34 37
+f 29 37 38
+f 31 39 32
+f 31 40 39
+f 34 36 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 37
+f 37 46 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_244.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d3588e57f9392354a07b09a6e253310f37077c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_244.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.01705746 -0.04021241 -0.00365121
+v 0.01704214 -0.04067036 -0.00319018
+v 0.01705746 -0.04021241 -0.00578072
+v 0.01704871 -0.04021241 0.00261780
+v 0.01704214 -0.04067036 -0.00532214
+v 0.01702901 -0.04067036 0.00261780
+v 0.01705527 -0.04021241 -0.00792243
+v 0.01703667 -0.04021241 0.00475950
+v 0.01703339 -0.04067036 -0.00746384
+v 0.01697103 -0.04067036 0.00475950
+v 0.01703776 -0.04021241 -0.01006658
+v 0.01611984 -0.04021241 0.00693780
+v 0.01696665 -0.04067036 -0.00960311
+v 0.01609577 -0.04067036 0.00680608
+v 0.01693492 -0.04021241 -0.01220585
+v 0.01439995 -0.04021241 0.00773301
+v 0.01677738 -0.04067036 -0.01176433
+v 0.01439995 -0.04067036 0.00752324
+v 0.01691742 -0.04021241 -0.01236196
+v 0.01438464 -0.04021241 0.00773301
+v 0.01670517 -0.04067036 -0.01236196
+v 0.01246563 -0.04021241 0.00769887
+v 0.01222603 -0.04021241 0.00769399
+v 0.01031359 -0.04021241 0.00765008
+v 0.01011994 -0.04021241 0.00764520
+v 0.01011994 -0.04067036 0.00739151
+v 0.01664718 -0.04021241 -0.01430853
+v 0.01651371 -0.04067036 -0.01374017
+v 0.00807621 -0.04021241 0.00746469
+v 0.00948647 -0.04067036 0.00734029
+v 0.01660123 -0.04021241 -0.01450123
+v 0.01633209 -0.04067036 -0.01450123
+v 0.00588040 -0.04021241 0.00723784
+v 0.00804995 -0.04067036 0.00721100
+v 0.01613515 -0.04021241 -0.01604775
+v 0.01599292 -0.04067036 -0.01562331
+v 0.01605419 -0.04021241 -0.01631607
+v 0.00588040 -0.04065570 0.00696707
+v 0.00588040 -0.04021241 -0.01447928
+v 0.00588040 -0.04067036 0.00695732
+v 0.01582116 -0.04067036 -0.01611849
+v 0.01601262 -0.04021241 -0.01643804
+v 0.00590994 -0.04021241 -0.01450123
+v 0.00754230 -0.04067036 -0.01448172
+v 0.00661781 -0.04067036 -0.01376456
+v 0.00588040 -0.04067036 -0.01319133
+v 0.01555529 -0.04067036 -0.01622582
+v 0.01439995 -0.04021241 -0.01718690
+v 0.00713421 -0.04021241 -0.01536719
+v 0.00778847 -0.04067036 -0.01465491
+v 0.01460345 -0.04067036 -0.01660879
+v 0.01439995 -0.04056442 -0.01678198
+v 0.01375226 -0.04021241 -0.01714056
+v 0.00797008 -0.04021241 -0.01584041
+v 0.00795695 -0.04067036 -0.01475004
+v 0.01439995 -0.04067036 -0.01659659
+v 0.01011994 -0.04022541 -0.01664294
+v 0.01009368 -0.04021241 -0.01665758
+v 0.00863637 -0.04021241 -0.01617947
+v 0.00953023 -0.04067036 -0.01555013
+v 0.01280042 -0.04067036 -0.01630632
+v 0.01004116 -0.04021241 -0.01664294
+v 0.01031359 -0.04026415 -0.01660635
+v 0.01031359 -0.04031723 -0.01650634
+v 0.01031359 -0.04067036 -0.01579406
+v 0.01011994 -0.04067036 -0.01574528
+v 0.00888692 -0.04021241 -0.01626241
+v 0.01105865 -0.04067036 -0.01597701
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 27
+f 1 27 31
+f 1 31 35
+f 1 35 37
+f 1 37 42
+f 1 42 48
+f 1 48 53
+f 1 53 58
+f 1 58 62
+f 1 62 67
+f 1 67 59
+f 1 59 54
+f 1 54 49
+f 1 49 43
+f 1 43 39
+f 1 39 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 26
+f 2 26 30
+f 2 30 34
+f 2 34 40
+f 2 40 46
+f 2 46 45
+f 2 45 44
+f 2 44 50
+f 2 50 55
+f 2 55 60
+f 2 60 66
+f 2 66 65
+f 2 65 68
+f 2 68 61
+f 2 61 56
+f 2 56 51
+f 2 51 47
+f 2 47 41
+f 2 41 36
+f 2 36 32
+f 2 32 28
+f 2 28 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 12 10
+f 9 13 11
+f 10 12 14
+f 11 13 15
+f 12 16 14
+f 13 17 15
+f 14 16 18
+f 15 17 19
+f 16 20 18
+f 17 21 19
+f 18 20 22
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 19 21 27
+f 21 28 27
+f 25 29 30
+f 25 30 26
+f 27 28 31
+f 28 32 31
+f 29 33 34
+f 29 34 30
+f 31 32 35
+f 32 36 37
+f 32 37 35
+f 33 38 34
+f 33 39 46
+f 33 46 40
+f 33 40 38
+f 34 38 40
+f 36 41 42
+f 36 42 37
+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 41 47 48
+f 41 48 42
+f 43 49 44
+f 44 49 50
+f 47 51 48
+f 48 52 53
+f 48 51 52
+f 49 54 50
+f 50 54 55
+f 51 56 52
+f 52 57 58
+f 52 58 53
+f 52 56 57
+f 54 59 55
+f 55 59 60
+f 56 61 57
+f 57 62 58
+f 57 61 63
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 57 67 62
+f 59 67 60
+f 60 67 66
+f 61 64 63
+f 61 68 64
+f 64 68 65
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_245.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31e5ff2b327c37416a7f82f7c29f0196d959c51
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_245.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.03149357 -0.01744978
+v -0.00697561 0.03073453 -0.01808493
+v -0.00740928 0.03101055 -0.01775294
+v -0.00740928 0.03137149 -0.01744978
+v -0.00697561 -0.02273298 -0.01744978
+v -0.00697561 0.03062837 -0.01811793
+v -0.00703372 0.03062837 -0.01810555
+v -0.00740928 0.03046913 -0.01805540
+v -0.00740928 -0.02273298 -0.01744978
+v -0.00697561 -0.02273298 -0.01833456
+v -0.00697561 0.02974193 -0.01833456
+v -0.00702154 0.02972070 -0.01833456
+v -0.00727081 0.02948184 -0.01833456
+v -0.00740928 0.02934914 -0.01833456
+v -0.00740928 -0.02273298 -0.01833456
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 15
+f 3 15 9
+f 3 9 4
+f 5 9 15
+f 5 15 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_246.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd06f3374a895c580316f9d2f5d57e83c13c458c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_246.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00854185 0.01760876 0.00819604
+v -0.00854175 0.01772379 0.00815479
+v -0.00854175 0.01877279 0.00813042
+v -0.00907288 0.01735572 0.00819604
+v -0.00854180 -0.02052796 0.00819604
+v -0.00854180 -0.02822063 0.00819604
+v -0.00854180 -0.02822523 -0.00722595
+v -0.00854175 0.01772379 -0.00722407
+v -0.00854180 0.01877739 -0.00722595
+v -0.00907283 0.01877739 -0.00722595
+v -0.00907288 0.01877279 0.00805543
+v -0.00854175 0.01877279 -0.00722407
+v -0.00907288 -0.02778355 0.00819604
+v -0.00907278 -0.02822063 0.00819604
+v -0.00907283 -0.02822523 -0.00722595
+v -0.00854180 -0.02822523 -0.01095677
+v -0.00854180 0.01877739 -0.01095677
+v -0.00907283 0.01877739 -0.01095677
+v -0.00907288 0.01877279 -0.00722407
+v -0.00907288 -0.02822063 0.00815292
+v -0.00907283 -0.02822523 -0.01095677
+v -0.00907288 -0.02822063 -0.00722407
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 14
+f 1 14 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 16
+f 2 16 8
+f 2 8 12
+f 2 12 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 17
+f 3 17 9
+f 4 11 19
+f 4 19 22
+f 4 22 20
+f 4 20 13
+f 6 14 15
+f 6 15 7
+f 7 15 21
+f 7 21 16
+f 8 16 17
+f 8 17 12
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 13 20 14
+f 14 20 15
+f 15 20 22
+f 15 22 21
+f 16 21 18
+f 16 18 17
+f 18 21 22
+f 18 22 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_247.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda28400a7c4dc46cf0db22dfce8301de64b0a92
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_247.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01149480 -0.02626349 -0.00600977
+v -0.01149480 -0.02204161 -0.00600977
+v -0.01106117 -0.02626349 -0.00600977
+v -0.01149480 -0.02626349 0.00801666
+v -0.01106117 -0.02204161 -0.00600977
+v -0.01149480 -0.02204161 0.00817657
+v -0.01106117 -0.02626349 0.00807645
+v -0.01106117 -0.02487411 0.00817101
+v -0.01106117 -0.02204161 0.00819604
+v -0.01106117 -0.02415462 0.00819604
+v -0.01126710 -0.02204161 0.00819604
+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 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+f 6 8 10
+f 6 10 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_248.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ca1192891c1341aab8020e127b03863853e570
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_248.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.02000924 -0.01523101
+v -0.01106117 0.02000924 -0.01892089
+v -0.01149480 0.02000924 -0.01523101
+v -0.01106117 -0.01963816 -0.01523101
+v -0.01128523 0.02000924 -0.01892089
+v -0.01106117 0.01987341 -0.01892378
+v -0.01149480 0.02000924 -0.01890173
+v -0.01149480 -0.01963816 -0.01523101
+v -0.01106117 -0.01963816 -0.01892378
+v -0.01128523 0.01987341 -0.01892378
+v -0.01149480 0.01987341 -0.01891619
+v -0.01149480 -0.01963816 -0.01892342
+v -0.01139224 -0.01963816 -0.01892378
+v -0.01149480 0.01773502 -0.01892378
+v -0.01149480 -0.01844284 -0.01892378
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 7 11
+f 3 11 14
+f 3 14 15
+f 3 15 12
+f 3 12 8
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 10 11
+f 5 11 7
+f 6 9 13
+f 6 13 15
+f 6 15 14
+f 6 14 10
+f 10 14 11
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_249.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d216077fe422b031071c2936e402675f2d939db2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_249.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02625772 0.00840654 0.00401451
+v -0.02629249 0.00840654 0.00477003
+v -0.02608246 0.00917430 0.00401451
+v -0.01149629 0.00840654 0.00401451
+v -0.02608101 0.00840654 0.00678686
+v -0.02606218 0.00923874 0.00401451
+v -0.01149629 0.00923874 0.00401451
+v -0.01149629 0.00840654 0.00902592
+v -0.02567688 0.00840654 0.00902053
+v -0.02562474 0.00923874 0.00671376
+v -0.02596223 0.00923874 0.00475482
+v -0.01149629 0.00923874 0.00902592
+v -0.02567543 0.00840654 0.00902592
+v -0.02556390 0.00859620 0.00902592
+v -0.02555087 0.00861811 0.00902592
+v -0.02529738 0.00923874 0.00824686
+v -0.02507866 0.00923874 0.00902592
+v -0.02529593 0.00923874 0.00825226
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 16
+f 6 16 18
+f 6 18 17
+f 6 17 12
+f 6 12 7
+f 8 12 17
+f 8 17 15
+f 8 15 14
+f 8 14 13
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 15 18 16
+f 15 17 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_25.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..133b0030be8ee62b935832a46b482d90793a9b6b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.01437079 0.01995100
+v -0.00285283 -0.01223032 0.01975160
+v -0.00471731 -0.00795296 0.01893784
+v -0.00493157 -0.00795296 0.01887331
+v -0.00465586 -0.01009344 0.01909530
+v -0.00453560 -0.01223032 0.01919274
+v -0.00285283 -0.01651126 0.01992132
+v -0.00285283 -0.01009344 0.01941022
+v -0.00486361 -0.00367202 0.01843836
+v -0.00493157 -0.00450522 0.01851709
+v -0.00493157 -0.00572630 0.01865002
+v -0.00493157 -0.01009344 0.01894429
+v -0.00493157 -0.01223032 0.01885976
+v -0.00435227 -0.01437079 0.01918113
+v -0.00411013 -0.01651126 0.01902754
+v -0.00285283 -0.01865892 0.01955477
+v -0.00285283 -0.00737116 0.01891267
+v -0.00331330 -0.00623268 0.01879522
+v -0.00486361 -0.00153154 0.01807762
+v -0.00493157 -0.00153154 0.01807569
+v -0.00493157 -0.00367202 0.01842287
+v -0.00493157 -0.01437079 0.01852806
+v -0.00493157 -0.01650049 0.01792016
+v -0.00391886 -0.01795142 0.01882878
+v -0.00286484 -0.01865892 0.01954574
+v -0.00285283 -0.01870202 0.01954187
+v -0.00285283 -0.00581967 0.01854419
+v -0.00486361 0.00060893 0.01753748
+v -0.00493157 0.00060893 0.01755104
+v -0.00493157 -0.01865533 0.01710963
+v -0.00493157 -0.01989795 0.01662306
+v -0.00493157 -0.02277466 0.01533692
+v -0.00367265 -0.01937720 0.01850160
+v -0.00285283 -0.02079221 0.01869972
+v -0.00285283 -0.00367202 0.01788531
+v -0.00340405 0.00060893 0.01681730
+v -0.00493157 0.00242259 0.01695153
+v -0.00493157 -0.02291832 0.01526787
+v -0.00428288 -0.02507316 0.01485615
+v -0.00392761 -0.02633733 0.01452317
+v -0.00285283 -0.02700174 0.01490584
+v -0.00285283 -0.00101797 0.01704703
+v -0.00285283 0.00060893 0.01631201
+v -0.00373878 0.00176177 0.01657853
+v -0.00493157 0.00258779 0.01689280
+v -0.00493157 -0.02518090 0.01404691
+v -0.00493157 -0.02556518 0.01378943
+v -0.00493157 -0.02620445 0.01335900
+v -0.00442450 -0.02707357 0.01335900
+v -0.00365189 -0.02813662 0.01335900
+v -0.00333813 -0.02776671 0.01397980
+v -0.00285283 -0.02729982 0.01469482
+v -0.00285283 0.00592061 0.01335900
+v -0.00285670 0.00592779 0.01335900
+v -0.00330435 0.00660297 0.01335900
+v -0.00427352 0.00319115 0.01610357
+v -0.00493157 0.00259138 0.01689087
+v -0.00493157 0.00769117 0.01335900
+v -0.00285283 -0.02899856 0.01335900
+v -0.00285283 -0.02887286 0.01346741
+v -0.00493157 0.00736794 0.01363068
+v -0.00493157 0.00701598 0.01390817
+v -0.00493157 0.00502635 0.01538661
+v -0.00493157 0.00481446 0.01553826
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 26
+f 1 26 34
+f 1 34 41
+f 1 41 52
+f 1 52 60
+f 1 60 59
+f 1 59 53
+f 1 53 43
+f 1 43 42
+f 1 42 35
+f 1 35 27
+f 1 27 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 10
+f 4 10 21
+f 4 21 20
+f 4 20 29
+f 4 29 37
+f 4 37 45
+f 4 45 57
+f 4 57 64
+f 4 64 63
+f 4 63 62
+f 4 62 61
+f 4 61 58
+f 4 58 48
+f 4 48 47
+f 4 47 46
+f 4 46 38
+f 4 38 32
+f 4 32 31
+f 4 31 30
+f 4 30 23
+f 4 23 22
+f 4 22 13
+f 4 13 12
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 15 16
+f 7 14 15
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 13 22 14
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 15 22 23
+f 16 25 26
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 26
+f 24 26 25
+f 26 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 32 38 33
+f 33 38 34
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 38 46 39
+f 39 46 40
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 43 53 54
+f 43 54 44
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 45
+f 48 58 55
+f 48 55 54
+f 48 54 53
+f 48 53 59
+f 48 59 50
+f 48 50 49
+f 50 59 51
+f 51 59 60
+f 51 60 52
+f 55 58 61
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 56
+f 56 64 57
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_250.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bfa2e394ffdfee014406346cc0f02748615141
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_250.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.02930246 -0.00591539
+v -0.00740928 0.03204400 -0.00591539
+v -0.00697561 0.02930246 -0.00591539
+v -0.00740928 0.02930246 0.00801646
+v -0.00697561 0.03204400 -0.00591539
+v -0.00740928 0.03204400 0.00761532
+v -0.00697561 0.02930246 0.00802328
+v -0.00716592 0.02930246 0.00802055
+v -0.00740928 0.02989183 0.00800690
+v -0.00697561 0.03204400 0.00771219
+v -0.00740928 0.03200911 0.00762897
+v -0.00737384 0.03204400 0.00762760
+v -0.00697561 0.02999757 0.00801236
+v -0.00697561 0.03031856 0.00800690
+v -0.00697561 0.03036553 0.00800554
+v -0.00740928 0.03010788 0.00800008
+v -0.00734892 0.03204400 0.00763306
+v -0.00740928 0.03108345 0.00786364
+v -0.00697561 0.03128715 0.00790321
+v -0.00697561 0.03122650 0.00791003
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 20
+f 3 20 15
+f 3 15 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 9
+f 9 14 15
+f 9 15 16
+f 9 13 14
+f 10 17 18
+f 10 18 19
+f 11 17 12
+f 11 18 17
+f 15 20 16
+f 16 20 19
+f 16 19 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_251.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2132308d1cfe527f359dffa5e5ddb4654a53ebed
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_251.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00854175 0.01877739 -0.01095746
+v -0.00854175 0.01877739 -0.01892396
+v -0.00907288 0.01877739 -0.01095746
+v -0.00854175 -0.02822523 -0.01095746
+v -0.00854175 -0.02352773 -0.01892396
+v -0.00907288 0.01877739 -0.01892396
+v -0.00907288 -0.02822523 -0.01095746
+v -0.00854175 -0.02822523 -0.01858397
+v -0.00907288 -0.02299403 -0.01892396
+v -0.00854175 -0.02566714 -0.01888419
+v -0.00907288 -0.02822523 -0.01847401
+v -0.00854175 -0.02782956 -0.01867286
+v -0.00907288 -0.02513344 -0.01888263
+v -0.00854175 -0.02721304 -0.01874305
+v -0.00907288 -0.02515645 -0.01888107
+v -0.00907288 -0.02730046 -0.01868144
+v -0.00907288 -0.02727285 -0.01868534
+v -0.00907288 -0.02721304 -0.01869314
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 9
+f 3 9 13
+f 3 13 15
+f 3 15 18
+f 3 18 17
+f 3 17 16
+f 3 16 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 10 9
+f 8 11 12
+f 9 10 13
+f 10 14 15
+f 10 15 13
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 14
+f 14 18 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_252.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c15554e6082bf2dee6d1aa9f0ed2cbe18aa3dd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_252.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.00891617 -0.01614482
+v -0.00907299 0.00891617 -0.01892412
+v -0.00950666 0.00891617 -0.01614482
+v -0.00907299 -0.03186609 -0.01614482
+v -0.00950666 0.00891617 -0.01892412
+v -0.00907299 0.00693974 -0.01892412
+v -0.00950666 -0.03152271 -0.01614482
+v -0.00950666 -0.03129512 -0.01660024
+v -0.00907299 -0.03160257 -0.01664812
+v -0.00950666 0.00702758 -0.01892412
+v -0.00907299 -0.02300212 -0.01892384
+v -0.00950666 -0.03103958 -0.01706219
+v -0.00907299 -0.03152671 -0.01677245
+v -0.00950666 -0.02256691 -0.01892384
+v -0.00907299 -0.02514225 -0.01888304
+v -0.00950666 -0.03050056 -0.01772219
+v -0.00907299 -0.03065628 -0.01780761
+v -0.00950666 -0.02470704 -0.01888195
+v -0.00907299 -0.02515822 -0.01888168
+v -0.00950666 -0.02939456 -0.01810959
+v -0.00907528 -0.02992560 -0.01806089
+v -0.00907299 -0.02992161 -0.01806252
+v -0.00914481 -0.02721051 -0.01868661
+v -0.00950666 -0.02685116 -0.01868389
+v -0.00907299 -0.02721051 -0.01869342
+v -0.00950666 -0.02925481 -0.01814686
+v -0.00927819 -0.02949039 -0.01814686
+v -0.00907299 -0.02967006 -0.01814088
+v -0.00950666 -0.02723047 -0.01860037
+v -0.00907299 -0.02728238 -0.01868580
+v -0.00907299 -0.02730234 -0.01868145
+v -0.00907299 -0.02947841 -0.01819175
+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 17
+f 1 17 22
+f 1 22 28
+f 1 28 32
+f 1 32 31
+f 1 31 30
+f 1 30 25
+f 1 25 19
+f 1 19 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 18
+f 3 18 24
+f 3 24 29
+f 3 29 26
+f 3 26 20
+f 3 20 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 13
+f 10 11 14
+f 11 15 14
+f 12 16 13
+f 13 16 17
+f 14 15 18
+f 15 19 18
+f 16 20 17
+f 17 21 22
+f 17 20 21
+f 18 19 23
+f 18 23 24
+f 19 25 23
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 23 25 30
+f 23 30 31
+f 23 31 27
+f 23 27 29
+f 26 29 27
+f 27 31 32
+f 27 32 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_253.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6b1f0c4f449f479daa5a264414814efbdfd6e8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_253.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00742034 0.01008938 0.01335874
+v -0.00690907 0.00966169 0.01335874
+v -0.00742034 0.01074237 0.01278255
+v -0.00742034 -0.02011614 0.01335874
+v -0.00662275 0.00945930 0.01332166
+v -0.00662275 0.00941730 0.01335874
+v -0.00742034 0.01077674 0.01274521
+v -0.00662275 0.00952804 0.01325294
+v -0.00662275 0.01142591 0.01134910
+v -0.00742034 -0.02045218 0.01321897
+v -0.00725348 -0.02069657 0.01335874
+v -0.00662275 -0.02263645 0.01335874
+v -0.00742034 0.01171231 0.01159829
+v -0.00662275 0.01156720 0.01107501
+v -0.00690321 0.01210945 0.01070990
+v -0.00742034 -0.02065457 0.01312977
+v -0.00739317 -0.02068130 0.01316063
+v -0.00742034 -0.02071567 0.01309735
+v -0.00662275 -0.02291139 0.01319797
+v -0.00730142 0.01232711 0.01070990
+v -0.00742034 0.01239203 0.01070990
+v -0.00662275 0.01175431 0.01070990
+v -0.00742034 -0.02302213 0.01174195
+v -0.00698332 -0.02593576 0.01070990
+v -0.00662275 -0.02510330 0.01176710
+v -0.00742034 -0.02469088 0.01070990
+v -0.00662275 -0.02625271 0.01070990
+v -0.00692312 -0.02605032 0.01070990
+v -0.00662275 -0.02661930 0.01071172
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 26
+f 1 26 23
+f 1 23 18
+f 1 18 16
+f 1 16 10
+f 1 10 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 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 5 6 12
+f 5 12 19
+f 5 19 25
+f 5 25 29
+f 5 29 27
+f 5 27 22
+f 5 22 14
+f 5 14 9
+f 5 9 8
+f 7 9 13
+f 9 14 15
+f 9 15 13
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 15 20
+f 13 20 21
+f 14 22 15
+f 15 22 27
+f 15 27 28
+f 15 28 24
+f 15 24 26
+f 15 26 21
+f 15 21 20
+f 16 18 17
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 23 26 24
+f 24 28 25
+f 25 28 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_254.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ce18f32e6af4cffbdbe6aa9eb9b1ebd63282ea
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_254.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00201233 -0.03947155 0.00684291
+v 0.00168612 -0.03947155 0.00680153
+v 0.00201233 -0.04012566 0.00653942
+v 0.00201233 -0.03947155 -0.01329032
+v -0.00056407 -0.03947155 0.00630884
+v 0.00201233 -0.04021226 0.00647635
+v 0.00170326 -0.04013810 0.00646059
+v 0.00176184 -0.04021226 0.00642117
+v 0.00201233 -0.04021226 -0.01119935
+v 0.00166802 -0.04067040 -0.00966413
+v 0.00150896 -0.04067040 -0.00950647
+v 0.00157182 -0.03947155 -0.01283310
+v -0.00058121 -0.03947155 0.00629898
+v 0.00127656 -0.04067040 0.00561907
+v 0.00166802 -0.04067040 0.00565455
+v 0.00084890 -0.04067040 -0.00879503
+v 0.00133895 -0.03947155 -0.01256705
+v -0.00016023 -0.04067040 -0.00767367
+v -0.00248994 -0.03947155 0.00466129
+v 0.00025171 -0.04067040 0.00490369
+v 0.00048602 -0.03947155 -0.01156985
+v -0.00084600 -0.04067040 -0.00594137
+v -0.00285235 -0.03968841 -0.00607538
+v -0.00285235 -0.03947155 -0.00708047
+v -0.00242184 -0.03947155 -0.00796140
+v -0.00153177 -0.03947155 -0.00909064
+v -0.00060883 -0.03947155 -0.01025930
+v 0.00040030 -0.03947155 -0.01146934
+v -0.00252947 -0.03947155 0.00457063
+v -0.00020785 -0.04067040 0.00440312
+v -0.00043120 -0.04047818 0.00462384
+v -0.00285235 -0.03978288 -0.00380113
+v -0.00285235 -0.03977525 -0.00400806
+v -0.00285235 -0.03970355 -0.00594137
+v -0.00100934 -0.04067040 -0.00380113
+v -0.00285235 -0.03947155 0.00382766
+v -0.00285235 -0.03972514 0.00261762
+v -0.00184132 -0.04021238 0.00261762
+v -0.00089076 -0.04067040 0.00261762
+v -0.00285235 -0.03978288 0.00047540
+v -0.00100934 -0.04067040 0.00047738
+v -0.00089743 -0.04067040 0.00250725
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 4
+f 1 4 12
+f 1 12 17
+f 1 17 21
+f 1 21 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 36
+f 1 36 29
+f 1 29 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 8 7
+f 5 13 14
+f 5 14 8
+f 6 8 14
+f 6 14 15
+f 6 15 10
+f 6 10 9
+f 10 15 14
+f 10 14 20
+f 10 20 30
+f 10 30 39
+f 10 39 42
+f 10 42 41
+f 10 41 35
+f 10 35 22
+f 10 22 18
+f 10 18 16
+f 10 16 11
+f 11 16 12
+f 12 16 18
+f 12 18 17
+f 13 19 20
+f 13 20 14
+f 17 18 21
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 21
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 30
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 22 35 32
+f 23 34 33
+f 23 33 32
+f 23 32 40
+f 23 40 37
+f 23 37 36
+f 23 36 24
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 32 35 41
+f 32 41 40
+f 37 40 42
+f 37 42 38
+f 38 42 39
+f 40 41 42
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_255.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a02fa18b0b64664dd00ef593b891c4dd9aeced
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_255.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.01231706 0.00819591
+v -0.00398662 -0.01231706 0.00076647
+v -0.00505678 -0.01231706 0.00819591
+v -0.00398662 -0.03396873 0.00819591
+v -0.00505678 -0.01231706 0.00076647
+v -0.00398662 -0.03423042 0.00076647
+v -0.00505678 -0.03291124 0.00819591
+v -0.00406278 -0.03393012 0.00819591
+v -0.00486351 -0.03423042 0.00775957
+v -0.00398662 -0.03423042 0.00801774
+v -0.00505678 -0.03423042 0.00076647
+v -0.00505678 -0.03307426 0.00814282
+v -0.00505678 -0.03403951 0.00777921
+v -0.00505678 -0.03423042 0.00769121
+v -0.00505678 -0.03310215 0.00813264
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 13
+f 3 13 15
+f 3 15 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 14
+f 6 14 11
+f 7 12 8
+f 8 13 14
+f 8 14 9
+f 8 12 15
+f 8 15 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_256.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde1b113f9bbee5ee9cb5f7953e71bd92f6f1fe0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_256.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 -0.01963816 -0.01523101
+v -0.01106117 -0.01963816 -0.01892411
+v -0.01149480 -0.01963816 -0.01523101
+v -0.01106117 -0.02915945 -0.01523101
+v -0.01114696 -0.01963816 -0.01892411
+v -0.01106117 -0.02101765 -0.01892411
+v -0.01149480 -0.01963816 -0.01892339
+v -0.01149480 -0.02915945 -0.01523101
+v -0.01106117 -0.02915945 -0.01716324
+v -0.01139224 -0.01963816 -0.01892375
+v -0.01128523 -0.02293403 -0.01887748
+v -0.01149480 -0.02058423 -0.01892339
+v -0.01128523 -0.02079302 -0.01892375
+v -0.01106117 -0.02315773 -0.01887784
+v -0.01149480 -0.02915945 -0.01705153
+v -0.01106219 -0.02915945 -0.01738520
+v -0.01106117 -0.02915852 -0.01738701
+v -0.01149480 -0.02272431 -0.01887278
+v -0.01106117 -0.02320340 -0.01887350
+v -0.01106117 -0.02529781 -0.01867251
+v -0.01128523 -0.02507317 -0.01867070
+v -0.01149480 -0.02847903 -0.01772646
+v -0.01106117 -0.02901964 -0.01752546
+v -0.01149480 -0.02486438 -0.01866383
+v -0.01106117 -0.02730739 -0.01822750
+v -0.01139746 -0.02732324 -0.01814688
+v -0.01149480 -0.02508063 -0.01861900
+v -0.01106117 -0.02871019 -0.01783129
+v -0.01149480 -0.02728036 -0.01813025
+v -0.01106117 -0.02766718 -0.01814688
+v -0.01149480 -0.02722257 -0.01814580
+v -0.01106117 -0.02769234 -0.01814038
+v -0.01106117 -0.02813881 -0.01801927
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 23
+f 1 23 28
+f 1 28 33
+f 1 33 32
+f 1 32 30
+f 1 30 25
+f 1 25 20
+f 1 20 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 18
+f 3 18 24
+f 3 24 27
+f 3 27 31
+f 3 31 29
+f 3 29 22
+f 3 22 15
+f 3 15 8
+f 4 8 15
+f 4 15 16
+f 4 16 9
+f 5 6 10
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 6 14 11
+f 7 10 12
+f 9 16 17
+f 10 13 12
+f 11 18 12
+f 11 14 19
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 15 22 23
+f 15 23 17
+f 15 17 16
+f 18 21 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 24
+f 22 28 23
+f 22 29 28
+f 25 30 26
+f 26 29 31
+f 26 31 27
+f 26 30 32
+f 26 32 33
+f 26 33 29
+f 28 29 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_257.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5102a5c3e90535b4b8217b5c86994872d70065f1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_257.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00124309 0.00827640 -0.01892315
+v -0.00124309 0.02399957 -0.01892315
+v -0.00060106 0.00827640 -0.01892315
+v -0.00124309 0.00827640 0.00311957
+v -0.00060106 0.02399957 -0.01892315
+v -0.00124309 0.02399957 0.00311957
+v -0.00060106 0.00827640 -0.00892236
+v -0.00060112 0.00827640 0.00311957
+v -0.00060106 0.02399957 -0.00892236
+v -0.00060112 0.02399957 0.00311957
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_258.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cf840121b99abe426a2721d30fb1c8fbc213c94
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_258.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.00260479 0.00819604
+v -0.00740928 0.00260479 0.00166608
+v -0.00854170 0.00260479 0.00819604
+v -0.00740928 -0.03076467 0.00819604
+v -0.00854170 0.00260479 0.00166608
+v -0.00740928 -0.03085310 0.00166608
+v -0.00854170 -0.02949068 0.00819604
+v -0.00796585 -0.03028651 0.00819604
+v -0.00854170 -0.03085310 0.00786877
+v -0.00740928 -0.03085310 0.00816025
+v -0.00854170 -0.03085310 0.00166608
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 11
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_259.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629fdf97519846f6a3a9c36458c9130a03696166
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_259.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.02374918 -0.00540764
+v -0.00854170 -0.02374918 -0.00540764
+v -0.00740928 -0.02448174 -0.00540764
+v -0.00740928 -0.02374918 -0.01892411
+v -0.00854170 -0.02448174 -0.00540764
+v -0.00854170 -0.02374918 -0.01891882
+v -0.00740928 -0.02448174 -0.01892411
+v -0.00759650 -0.02448174 -0.01892411
+v -0.00833796 -0.02374918 -0.01892279
+v -0.00854170 -0.02448174 -0.01890559
+v -0.00845956 -0.02374918 -0.01892147
+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 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 10
+f 8 11 9
+f 8 10 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_26.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97ada232cd950a67a31cbcbb2b6b3ed61ae6148
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,339 @@
+# https://github.com/mikedh/trimesh
+v -0.00285159 0.02000479 0.01024774
+v 0.00986126 0.02000479 0.01024774
+v -0.00285159 0.02000479 0.01467974
+v -0.00285159 0.02735858 0.01024774
+v 0.00986126 0.02000479 0.01916815
+v 0.00986126 0.03629057 0.01024774
+v -0.00238738 0.02000479 0.01528790
+v -0.00285159 0.02098997 0.01455675
+v -0.00285159 0.02648977 0.01137944
+v -0.00251681 0.02822420 0.01024774
+v 0.00782148 0.02000479 0.02019604
+v 0.00986126 0.02271962 0.02083240
+v 0.00853584 0.03612319 0.01024774
+v 0.00797829 0.03494033 0.01332238
+v 0.00986126 0.03514119 0.01332238
+v -0.00144154 0.02000479 0.01644892
+v 0.00044019 0.02132634 0.01872021
+v -0.00228657 0.02201819 0.01516604
+v -0.00285159 0.02201819 0.01437397
+v -0.00285159 0.02630166 0.01158592
+v -0.00187588 0.02776828 0.01270858
+v -0.00243840 0.02842506 0.01024774
+v 0.00781650 0.02000479 0.02019829
+v 0.00986126 0.02285193 0.02090349
+v 0.00730749 0.03585059 0.01024774
+v 0.00792726 0.03568958 0.01113685
+v 0.00986126 0.03504395 0.01351194
+v 0.00583895 0.03550944 0.01024774
+v 0.00577299 0.03431862 0.01343070
+v 0.00644254 0.03395196 0.01461881
+v 0.00797829 0.03413529 0.01488848
+v -0.00041605 0.02000479 0.01770135
+v 0.00043894 0.02000479 0.01872134
+v 0.00049370 0.02000479 0.01875744
+v 0.00154782 0.02000479 0.01944910
+v 0.00137358 0.02203095 0.01931934
+v 0.00053726 0.02275469 0.01861979
+v -0.00204513 0.02415913 0.01486027
+v -0.00285159 0.02284077 0.01412687
+v -0.00220692 0.02630804 0.01338218
+v -0.00285159 0.02556995 0.01238025
+v -0.00106818 0.02846332 0.01338218
+v 0.00003323 0.03009094 0.01332238
+v 0.00053726 0.03159741 0.01211509
+v -0.00093004 0.03064092 0.01024774
+v -0.00149879 0.02702859 0.01413589
+v 0.00780779 0.02000479 0.02020168
+v 0.00986126 0.02392957 0.02138415
+v 0.00624964 0.02000479 0.02072521
+v 0.00986126 0.03424369 0.01506336
+v 0.00366103 0.03470440 0.01024774
+v 0.00429324 0.03403486 0.01278869
+v 0.00501507 0.03368415 0.01421600
+v 0.00797829 0.03329677 0.01595811
+v 0.00567965 0.03281055 0.01553612
+v 0.00634547 0.03193696 0.01684496
+v 0.00797829 0.03128974 0.01824632
+v 0.00986126 0.03346097 0.01613300
+v 0.00166978 0.02000479 0.01952018
+v 0.00342705 0.02201819 0.02051648
+v 0.00345194 0.02415913 0.02039913
+v 0.00182286 0.02415913 0.01932950
+v 0.00075256 0.02415913 0.01835577
+v -0.00285159 0.02439188 0.01348599
+v -0.00285159 0.02407783 0.01362703
+v -0.00181116 0.02560024 0.01457706
+v -0.00285159 0.02476012 0.01324002
+v 0.00039663 0.02962386 0.01448792
+v 0.00094671 0.03116221 0.01332238
+v 0.00009919 0.03204377 0.01024774
+v 0.00201700 0.03216971 0.01332238
+v 0.00286826 0.03364110 0.01172808
+v 0.00130265 0.03304649 0.01024774
+v 0.00022489 0.02576125 0.01687543
+v 0.00115952 0.02640528 0.01759529
+v 0.00262682 0.02737133 0.01867395
+v -0.00000037 0.02843782 0.01492232
+v 0.00986126 0.02415913 0.02143718
+v 0.00583895 0.02000479 0.02074214
+v 0.00362742 0.03328721 0.01343070
+v 0.00247748 0.03177755 0.01452742
+v 0.00369836 0.03220159 0.01496858
+v 0.00478732 0.02949473 0.01865928
+v 0.00621480 0.02988211 0.01905870
+v 0.00986126 0.03227811 0.01748923
+v 0.00986126 0.03239130 0.01735947
+v 0.00986126 0.03131684 0.01857127
+v 0.00986126 0.03144597 0.01843023
+v 0.00797829 0.03022007 0.01941412
+v 0.00382530 0.02000479 0.02050745
+v 0.00449610 0.02201819 0.02090913
+v 0.00452099 0.02415913 0.02091251
+v 0.00467905 0.02538184 0.02085497
+v 0.00385891 0.02617732 0.02006741
+v 0.00232067 0.02630007 0.01894813
+v 0.00517188 0.02680860 0.02063156
+v 0.00369836 0.02789581 0.01907224
+v 0.00797829 0.02415913 0.02148118
+v 0.00583895 0.02063926 0.02086625
+v 0.00986126 0.02604022 0.02176438
+v 0.00464669 0.02068868 0.02085046
+v 0.00391366 0.02000479 0.02053791
+v 0.00569334 0.02854462 0.01984513
+v 0.00797829 0.02901171 0.02048488
+v 0.00986126 0.03037470 0.01959465
+v 0.00986126 0.02928112 0.02066541
+v 0.00583895 0.02415913 0.02124536
+v 0.00797829 0.02630007 0.02155113
+v 0.00586633 0.02617732 0.02105806
+v 0.00659935 0.02759611 0.02093056
+v 0.00986126 0.02630007 0.02177341
+v 0.00797829 0.02794363 0.02110320
+v 0.00986126 0.02915199 0.02073988
+v 0.00986126 0.02821145 0.02124311
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 47
+f 1 47 49
+f 1 49 79
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+f 1 34 33
+f 1 33 32
+f 1 32 16
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+f 1 7 3
+f 1 3 8
+f 1 8 19
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+f 1 39 65
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+f 1 67 41
+f 1 41 20
+f 1 20 9
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+f 1 4 10
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+f 1 22 45
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+f 1 25 13
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+f 3 7 8
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+f 5 12 11
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+f 7 16 17
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+f 8 18 19
+f 9 20 21
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+f 11 12 23
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+f 13 25 26
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+f 14 27 15
+f 14 26 28
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+f 14 29 30
+f 14 30 31
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+f 17 33 34
+f 17 34 35
+f 17 35 36
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+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 20 40 21
+f 20 41 40
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 21 40 46
+f 21 46 42
+f 23 24 47
+f 24 48 49
+f 24 49 47
+f 25 28 26
+f 27 31 50
+f 28 51 52
+f 28 52 29
+f 29 52 53
+f 29 53 30
+f 30 54 31
+f 30 53 55
+f 30 55 56
+f 30 56 57
+f 30 57 54
+f 31 54 58
+f 31 58 50
+f 35 59 60
+f 35 60 36
+f 36 61 62
+f 36 62 37
+f 36 60 61
+f 37 62 63
+f 37 63 38
+f 38 64 65
+f 38 65 39
+f 38 63 66
+f 38 66 64
+f 40 41 67
+f 40 67 66
+f 40 66 46
+f 42 68 43
+f 42 46 68
+f 43 69 44
+f 43 68 69
+f 44 70 45
+f 44 69 71
+f 44 71 72
+f 44 72 73
+f 44 73 70
+f 46 66 74
+f 46 74 75
+f 46 75 76
+f 46 76 77
+f 46 77 68
+f 48 78 49
+f 49 78 79
+f 51 73 72
+f 51 72 52
+f 52 72 80
+f 52 80 53
+f 53 80 81
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+f 53 82 83
+f 53 83 84
+f 53 84 55
+f 54 85 86
+f 54 86 58
+f 54 57 85
+f 55 84 56
+f 56 84 57
+f 57 87 88
+f 57 88 85
+f 57 84 89
+f 57 89 87
+f 59 90 60
+f 60 90 91
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+f 60 92 61
+f 61 92 93
+f 61 93 62
+f 62 93 94
+f 62 94 95
+f 62 95 63
+f 63 95 75
+f 63 75 74
+f 63 74 66
+f 64 66 67
+f 68 81 69
+f 68 77 76
+f 68 76 81
+f 69 81 71
+f 71 80 72
+f 71 81 80
+f 75 95 76
+f 76 95 94
+f 76 94 96
+f 76 96 97
+f 76 97 83
+f 76 83 81
+f 78 98 99
+f 78 99 79
+f 78 100 98
+f 79 99 101
+f 79 101 102
+f 81 83 82
+f 83 97 103
+f 83 103 84
+f 84 103 104
+f 84 104 89
+f 87 89 105
+f 89 104 106
+f 89 106 105
+f 90 102 101
+f 90 101 91
+f 91 101 107
+f 91 107 92
+f 92 107 93
+f 93 107 108
+f 93 108 109
+f 93 109 110
+f 93 110 96
+f 93 96 94
+f 96 110 103
+f 96 103 97
+f 98 100 107
+f 98 107 101
+f 98 101 99
+f 100 111 107
+f 103 110 104
+f 104 110 112
+f 104 112 106
+f 106 112 113
+f 107 111 108
+f 108 111 112
+f 108 112 110
+f 108 110 109
+f 111 114 112
+f 112 114 113
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_260.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7989e3af452c3649e8872c3eac453b82c84da31
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_260.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00505678 -0.01231451 -0.00918973
+v -0.00505678 -0.00814310 -0.00918973
+v -0.00398662 -0.01231451 -0.00918973
+v -0.00505678 -0.01231451 0.00819604
+v -0.00398662 -0.00814310 -0.00918973
+v -0.00505678 -0.00814310 0.00819604
+v -0.00398662 -0.01231451 0.00819604
+v -0.00398662 -0.00814310 0.00819604
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_261.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327f332581a2fe7ca1f1b635e728542802cf04f3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_261.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01838515 0.01647846 0.00824787
+v -0.01838515 0.01700480 0.00799006
+v -0.01868366 0.01700651 0.00795783
+v -0.01984421 0.01700651 0.00763758
+v -0.02003078 0.01647846 0.00769197
+v -0.01838515 0.01647846 -0.01232849
+v -0.01854154 0.01700651 0.00797193
+v -0.01838515 0.01700651 0.00741402
+v -0.02030514 0.01700651 0.00740797
+v -0.02093508 0.01647846 0.00724080
+v -0.02183883 0.01647846 -0.01232849
+v -0.01838515 0.01700651 -0.01232849
+v -0.02084069 0.01700651 0.00713002
+v -0.02198424 0.01700651 0.00653586
+v -0.02198534 0.01647846 0.00669497
+v -0.02302243 0.01647846 -0.00945231
+v -0.02306248 0.01667577 -0.00916630
+v -0.02160726 0.01698743 -0.01232849
+v -0.02159848 0.01700651 -0.01232849
+v -0.02233542 0.01700651 0.00629013
+v -0.02268277 0.01647846 0.00621158
+v -0.02309596 0.01647846 -0.00925694
+v -0.02322820 0.01700651 -0.00824987
+v -0.02275629 0.01700651 -0.00949662
+v -0.02348171 0.01647846 -0.00808270
+v -0.02328197 0.01700651 -0.00808270
+v -0.02255272 0.01700651 0.00613504
+v -0.02307565 0.01670121 0.00585709
+v -0.02311297 0.01647846 0.00590140
+v -0.02391795 0.01647846 -0.00594168
+v -0.02370339 0.01700651 -0.00594168
+v -0.02267947 0.01700651 0.00604239
+v -0.02284848 0.01700651 0.00582688
+v -0.02300212 0.01700651 0.00562950
+v -0.02303285 0.01700651 0.00554893
+v -0.02322765 0.01700651 0.00503331
+v -0.02351793 0.01647846 0.00475939
+v -0.02323259 0.01647846 0.00563554
+v -0.02399093 0.01647846 -0.00380066
+v -0.02377418 0.01700651 -0.00380066
+v -0.02331654 0.01700651 0.00475939
+v -0.02334672 0.01700651 0.00461438
+v -0.02370230 0.01647846 0.00386713
+v -0.02399093 0.01647846 0.00047735
+v -0.02377418 0.01700651 0.00047735
+v -0.02372205 0.01700651 0.00261837
+v -0.02393770 0.01647846 0.00261837
+v -0.02396788 0.01647846 0.00144413
+v -0.02373742 0.01700651 0.00202219
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 21
+f 1 21 29
+f 1 29 38
+f 1 38 37
+f 1 37 43
+f 1 43 47
+f 1 47 48
+f 1 48 44
+f 1 44 39
+f 1 39 30
+f 1 30 25
+f 1 25 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 12
+f 1 12 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 8
+f 3 8 12
+f 3 12 19
+f 3 19 24
+f 3 24 23
+f 3 23 26
+f 3 26 31
+f 3 31 40
+f 3 40 45
+f 3 45 49
+f 3 49 46
+f 3 46 42
+f 3 42 41
+f 3 41 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 32
+f 3 32 27
+f 3 27 20
+f 3 20 14
+f 3 14 13
+f 3 13 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 18
+f 6 18 19
+f 6 19 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 14 20 21
+f 14 21 15
+f 16 22 17
+f 17 23 24
+f 17 24 19
+f 17 19 18
+f 17 22 25
+f 17 25 26
+f 17 26 23
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 25 30 26
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 30 39 31
+f 31 39 40
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 39 44 45
+f 39 45 40
+f 42 46 47
+f 42 47 43
+f 44 48 49
+f 44 49 45
+f 46 49 47
+f 47 49 48
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_262.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5adf650b4a9d3136fbecdcab637daaf6547aaf8d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_262.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.01118171 0.00676631
+v -0.01149627 0.01118171 0.00902619
+v -0.01149485 0.01029596 0.00676631
+v -0.01149485 0.01118171 -0.01892139
+v -0.01149627 0.01029596 0.00902619
+v -0.02325863 0.01118171 0.00902619
+v -0.01149485 0.01029596 -0.01892139
+v -0.01543459 0.01118171 -0.01892413
+v -0.02416146 0.01029596 0.00902619
+v -0.02367237 0.01081635 0.00902619
+v -0.02505718 0.01118171 0.00545033
+v -0.01556824 0.01029596 -0.01892139
+v -0.01556824 0.01118171 -0.01892413
+v -0.02537282 0.01118171 0.00456115
+v -0.02480126 0.01029596 0.00717944
+v -0.01770801 0.01029596 -0.01885847
+v -0.01770801 0.01118171 -0.01882564
+v -0.02572684 0.01118171 0.00261590
+v -0.02563300 0.01029596 0.00466511
+v -0.01984637 0.01029596 -0.01847817
+v -0.01984637 0.01118171 -0.01839883
+v -0.02596428 0.01029596 0.00261590
+v -0.02578087 0.01118171 0.00047639
+v -0.02601973 0.01029596 0.00047639
+v -0.02128805 0.01029596 -0.01793646
+v -0.02117573 0.01118171 -0.01788995
+v -0.02578087 0.01118171 -0.00379987
+v -0.02601973 0.01029596 -0.00379987
+v -0.02226055 0.01029596 -0.01663962
+v -0.02199752 0.01118171 -0.01664236
+v -0.02577660 0.01118171 -0.00393667
+v -0.02598702 0.01029596 -0.00474924
+v -0.02295722 0.01029596 -0.01523609
+v -0.02284916 0.01118171 -0.01475730
+v -0.02570551 0.01118171 -0.00593938
+v -0.02594437 0.01029596 -0.00593938
+v -0.02308091 0.01029596 -0.01489957
+v -0.02300840 0.01118171 -0.01432502
+v -0.02541547 0.01118171 -0.00761651
+v -0.02554485 0.01029596 -0.00793935
+v -0.02517519 0.01029596 -0.00909391
+v -0.02325010 0.01083681 -0.01396661
+v -0.02342925 0.01118171 -0.01315678
+v -0.02537139 0.01118171 -0.00775604
+v -0.02520362 0.01029596 -0.00901183
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 21
+f 1 21 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 43
+f 1 43 44
+f 1 44 39
+f 1 39 35
+f 1 35 31
+f 1 31 27
+f 1 27 23
+f 1 23 18
+f 1 18 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 19
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+f 3 24 28
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+f 3 32 36
+f 3 36 40
+f 3 40 45
+f 3 45 41
+f 3 41 37
+f 3 37 33
+f 3 33 29
+f 3 29 25
+f 3 25 20
+f 3 20 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 6 11 10
+f 7 12 13
+f 7 13 8
+f 9 10 11
+f 9 11 14
+f 9 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 18 23 24
+f 18 24 22
+f 20 25 21
+f 21 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 37 41 42
+f 37 42 38
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 41 45 44
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_263.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b494ab88717d49faf401fcc30a991b8dc322ab
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_263.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00833585 -0.03759756 0.00802980
+v 0.00807955 -0.03759756 0.00807391
+v 0.00833585 -0.03820952 0.00799866
+v 0.00833585 -0.03759756 -0.01843326
+v 0.00369827 -0.03759756 0.00787152
+v 0.00745631 -0.03850953 0.00792342
+v 0.00833585 -0.03864074 0.00792342
+v 0.00833585 -0.03791748 -0.01836321
+v 0.00765895 -0.03759756 -0.01839175
+v 0.00164345 -0.03759756 0.00774957
+v 0.00751765 -0.03864074 0.00789747
+v 0.00833585 -0.03864074 -0.01808039
+v 0.00797878 -0.03791748 -0.01833726
+v 0.00797878 -0.03864074 -0.01805703
+v 0.00549898 -0.03759756 -0.01815823
+v -0.00058223 -0.03759756 0.00734740
+v -0.00058223 -0.03791738 0.00722545
+v 0.00164345 -0.03775369 0.00767692
+v 0.00369827 -0.03864074 0.00753162
+v 0.00358655 -0.03805595 0.00775995
+v 0.00636428 -0.03864074 -0.01788060
+v 0.00590315 -0.03800683 -0.01805963
+v 0.00485055 -0.03773133 -0.01803628
+v 0.00434013 -0.03759756 -0.01802330
+v 0.00485055 -0.03759756 -0.01808298
+v 0.00507290 -0.03759756 -0.01810893
+v -0.00270715 -0.03759756 0.00676360
+v -0.00285173 -0.03759756 0.00672208
+v -0.00285173 -0.03796364 0.00653786
+v -0.00269182 -0.03801347 0.00655602
+v -0.00058223 -0.03864074 0.00679473
+v 0.00166646 -0.03864074 0.00722545
+v 0.00507509 -0.03864074 -0.01751475
+v 0.00388886 -0.03759756 -0.01794027
+v 0.00392829 -0.03759756 -0.01794806
+v -0.00285173 -0.03759756 -0.01234616
+v -0.00285173 -0.03819298 0.00627061
+v -0.00228107 -0.03864074 0.00625504
+v 0.00121628 -0.03759756 -0.01696468
+v 0.00223274 -0.03759756 -0.01746804
+v 0.00402139 -0.03864074 -0.01692057
+v -0.00167208 -0.03759756 -0.01384069
+v -0.00068848 -0.03864074 -0.01234357
+v -0.00267539 -0.03849084 -0.01021853
+v -0.00285173 -0.03864074 -0.00959840
+v -0.00285173 -0.03864074 0.00564529
+v 0.00117794 -0.03759756 -0.01693095
+v 0.00340692 -0.03864074 -0.01652877
+v 0.00235870 -0.03864074 -0.01585416
+v -0.00093274 -0.03759756 -0.01477477
+v -0.00058223 -0.03787000 -0.01450233
+v 0.00030936 -0.03864074 -0.01359420
+v -0.00274001 -0.03864074 -0.00974111
+v 0.00012096 -0.03759756 -0.01594757
+v 0.00132472 -0.03864074 -0.01478515
+v -0.00089549 -0.03759756 -0.01481888
+v 0.00121628 -0.03864074 -0.01466061
+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 15
+f 1 15 26
+f 1 26 25
+f 1 25 24
+f 1 24 35
+f 1 35 34
+f 1 34 40
+f 1 40 39
+f 1 39 47
+f 1 47 54
+f 1 54 56
+f 1 56 50
+f 1 50 42
+f 1 42 36
+f 1 36 28
+f 1 28 27
+f 1 27 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 7
+f 6 10 11
+f 7 11 19
+f 7 19 32
+f 7 32 31
+f 7 31 38
+f 7 38 46
+f 7 46 45
+f 7 45 53
+f 7 53 43
+f 7 43 52
+f 7 52 57
+f 7 57 55
+f 7 55 49
+f 7 49 48
+f 7 48 41
+f 7 41 33
+f 7 33 21
+f 7 21 14
+f 7 14 12
+f 8 13 9
+f 8 12 14
+f 8 14 13
+f 9 13 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 19
+f 13 14 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 15
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 19
+f 21 33 34
+f 21 34 35
+f 21 35 24
+f 21 24 23
+f 21 23 22
+f 28 36 45
+f 28 45 46
+f 28 46 37
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 31
+f 33 39 40
+f 33 40 34
+f 33 41 39
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 37 46 38
+f 39 41 48
+f 39 48 49
+f 39 49 47
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 43 53 44
+f 44 53 45
+f 47 49 54
+f 49 55 54
+f 50 56 51
+f 51 56 57
+f 51 57 52
+f 54 55 56
+f 55 57 56
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_264.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3989f539b014f1f2d377d14aa5c7b96f7d6ec3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_264.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00118112 0.03334942 0.00810370
+v -0.00124309 0.03334942 0.00810370
+v 0.00118112 0.03170448 0.00810370
+v 0.00118112 0.03334942 -0.01863053
+v -0.00124309 0.03170448 0.00810370
+v -0.00124309 0.03334942 -0.01835884
+v 0.00118112 0.03170448 -0.01883892
+v 0.00118112 0.03272001 -0.01879144
+v -0.00058240 0.03272001 -0.01865691
+v -0.00055724 0.03334942 -0.01847754
+v -0.00124309 0.03170448 -0.01868329
+v -0.00124309 0.03272001 -0.01856723
+v -0.00058240 0.03170448 -0.01877297
+v -0.00103568 0.03170448 -0.01871231
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 10 12
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 12
+f 9 12 10
+f 11 12 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_265.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274df733e836a03a3e160f5c444a785d569d697f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_265.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00283753 -0.03864085 0.00736932
+v 0.00166559 -0.03864085 0.00722650
+v 0.00283753 -0.03947140 0.00699615
+v 0.00283753 -0.03864085 -0.01616358
+v -0.00058248 -0.03864085 0.00679804
+v 0.00168676 -0.03947140 0.00680265
+v 0.00283753 -0.03947140 -0.01409731
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+v -0.00058248 -0.03946611 0.00630739
+v -0.00056410 -0.03947140 0.00630969
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+v 0.00283753 -0.03905112 -0.01538038
+v 0.00283753 -0.03898461 -0.01556467
+v 0.00143165 -0.03873370 -0.01468241
+v 0.00132470 -0.03864085 -0.01478607
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+v 0.00206162 -0.03922081 -0.01408810
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+v -0.00285283 -0.03864085 0.00564858
+v -0.00195828 -0.03913478 0.00601945
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+v 0.00133919 -0.03947140 -0.01256546
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+v -0.00285283 -0.03923821 0.00481470
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+v -0.00253032 -0.03947140 0.00457052
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+v -0.00153217 -0.03947140 -0.00908943
+v -0.00285283 -0.03947140 0.00382648
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+v -0.00285283 -0.03930504 -0.00785243
+v -0.00285283 -0.03947140 -0.00708075
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+f 1 16 8
+f 1 8 4
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+f 1 25 30
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+f 1 36 35
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+f 1 42 39
+f 1 39 32
+f 1 32 22
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+f 9 18 10
+f 9 16 15
+f 9 14 19
+f 9 19 20
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+f 9 21 17
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 17 25 18
+f 17 21 25
+f 19 26 21
+f 19 21 20
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 25
+f 22 31 23
+f 22 32 40
+f 22 40 47
+f 22 47 48
+f 22 48 44
+f 22 44 38
+f 22 38 31
+f 23 31 33
+f 23 33 24
+f 28 34 29
+f 29 35 36
+f 29 36 30
+f 29 34 37
+f 29 37 35
+f 31 38 33
+f 32 39 40
+f 33 38 41
+f 35 37 40
+f 35 40 42
+f 37 43 40
+f 38 44 41
+f 39 42 40
+f 40 43 45
+f 40 45 46
+f 40 46 47
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_266.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b92b420a3761468de7a08f2f952251056e9c8e5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_266.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00833741 -0.03864074 -0.00018708
+v 0.00833741 -0.03864074 0.00792415
+v 0.00833741 -0.03759756 -0.00018708
+v 0.01705489 -0.03864074 -0.00018708
+v 0.00862441 -0.03864074 0.00799114
+v 0.00833741 -0.03820969 0.00799921
+v 0.00833741 -0.03759756 0.00803230
+v 0.01705660 -0.03759756 -0.00018708
+v 0.01705660 -0.03781784 -0.00018708
+v 0.01706257 -0.03759756 0.00230037
+v 0.01706257 -0.03791731 0.00261997
+v 0.01706087 -0.03864074 0.00261997
+v 0.01012003 -0.03864074 0.00800889
+v 0.01012003 -0.03759756 0.00805813
+v 0.01706172 -0.03759756 0.00193314
+v 0.01706343 -0.03759756 0.00443995
+v 0.01706343 -0.03791731 0.00475956
+v 0.01706172 -0.03864074 0.00334312
+v 0.01226053 -0.03864074 0.00801454
+v 0.01440104 -0.03864074 0.00801535
+v 0.01440104 -0.03791731 0.00803391
+v 0.01440104 -0.03759756 0.00803472
+v 0.01706257 -0.03759756 0.00475956
+v 0.01633996 -0.03759756 0.00689996
+v 0.01633996 -0.03791731 0.00689996
+v 0.01706172 -0.03864074 0.00475956
+v 0.01552852 -0.03864074 0.00799598
+v 0.01554389 -0.03791731 0.00800244
+v 0.01554389 -0.03759756 0.00800244
+v 0.01583174 -0.03864074 0.00757629
+v 0.01626565 -0.03864074 0.00694677
+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 12
+f 1 12 18
+f 1 18 26
+f 1 26 31
+f 1 31 30
+f 1 30 27
+f 1 27 20
+f 1 20 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 22
+f 3 22 29
+f 3 29 24
+f 3 24 23
+f 3 23 16
+f 3 16 10
+f 3 10 15
+f 3 15 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 7 6
+f 5 13 14
+f 5 14 7
+f 8 15 9
+f 9 15 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 24 29 28
+f 24 28 25
+f 25 28 30
+f 25 30 31
+f 25 31 26
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_267.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532396d9989c24e87a7f5919c697800ec51cf577
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_267.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.02929807 -0.00470351
+v -0.00697561 0.02929807 -0.00591528
+v -0.00740928 0.02929807 -0.00470351
+v -0.00697561 -0.01279147 -0.00470351
+v -0.00740928 0.02929807 -0.00591528
+v -0.00697561 -0.01279147 -0.00591528
+v -0.00740928 -0.01279147 -0.00470351
+v -0.00740928 -0.01279147 -0.00591528
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_268.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa5ac4f463dd396a232e033cd7409f188c45f4b7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_268.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.02247694 -0.01020691
+v -0.00398662 -0.01956068 -0.01020691
+v -0.00285283 -0.02247694 -0.01020691
+v -0.00398662 -0.02247694 -0.00681474
+v -0.00285283 -0.01956068 -0.01020691
+v -0.00398662 -0.01956068 -0.00681474
+v -0.00285283 -0.02247694 -0.00681474
+v -0.00285283 -0.01956068 -0.00681474
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_269.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8612ed42de7957190f94980b710d6e98cfbc73
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_269.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.01647846 0.00880991
+v -0.01149485 0.01700651 0.00851966
+v -0.01273662 0.01647846 0.00883893
+v -0.01149485 0.01647846 -0.01232849
+v -0.01212756 0.01700651 0.00853417
+v -0.01149485 0.01700651 -0.01232849
+v -0.01342558 0.01647846 0.00885137
+v -0.01475906 0.01647846 -0.01232849
+v -0.01247843 0.01700651 0.00854039
+v -0.01475906 0.01700651 -0.01232849
+v -0.01475906 0.01647846 0.00878710
+v -0.01342558 0.01700651 0.00855490
+v -0.01475906 0.01700651 0.00850514
+v -0.01475906 0.01695270 0.00853417
+v -0.01475906 0.01682108 0.00860466
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 13
+f 2 13 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 11
+f 8 11 15
+f 8 15 14
+f 8 14 13
+f 8 13 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_27.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bdd17ed04bd2aed0a1e0ce814345aa6c63c35a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v 0.00693079 -0.02294535 0.02116580
+v 0.00802975 -0.02295856 0.02102125
+v 0.00936476 -0.02226222 0.02088022
+v 0.00936476 -0.02119789 0.02088022
+v 0.00693079 -0.02183573 0.02115875
+v 0.00693079 -0.02423047 0.02092488
+v 0.00735034 -0.02419462 0.02090255
+v 0.00877660 -0.02368699 0.02075446
+v 0.01225895 -0.02079594 0.02020680
+v 0.01009575 -0.02295856 0.02053117
+v 0.01225895 -0.01865407 0.02020327
+v 0.00897894 -0.01976935 0.02080853
+v 0.00815075 -0.02060723 0.02099304
+v 0.00693079 -0.02070536 0.02113995
+v 0.00693079 -0.02452864 0.02072508
+v 0.00802975 -0.02497399 0.02021620
+v 0.01007591 -0.02515515 0.01938882
+v 0.01183544 -0.02449278 0.01906562
+v 0.01243153 -0.02310198 0.01947579
+v 0.01448861 -0.02073555 0.01919608
+v 0.01440034 -0.01865407 0.01955923
+v 0.01440034 -0.01651409 0.01956981
+v 0.01440034 -0.01581775 0.01952632
+v 0.00693079 -0.02005996 0.02100714
+v 0.01295324 -0.01581775 0.01970614
+v 0.00693079 -0.02518535 0.02023970
+v 0.00798016 -0.02642707 0.01904094
+v 0.00933203 -0.02625723 0.01881882
+v 0.01325972 -0.02392665 0.01859200
+v 0.01075830 -0.02591943 0.01832051
+v 0.01383499 -0.02250188 0.01899746
+v 0.01556872 -0.01998259 0.01875418
+v 0.01573436 -0.01865407 0.01887288
+v 0.01587719 -0.01651409 0.01895985
+v 0.01488138 -0.01581775 0.01936884
+v 0.00693079 -0.01957687 0.02088727
+v 0.01225895 -0.01581775 0.01970261
+v 0.00693079 -0.02648934 0.01911498
+v 0.00693178 -0.03119390 0.01429644
+v 0.00761615 -0.03069759 0.01463844
+v 0.00904341 -0.03042019 0.01439046
+v 0.01448960 -0.02306424 0.01778930
+v 0.01526324 -0.02140925 0.01841336
+v 0.01140498 -0.03059568 0.01247245
+v 0.01225895 -0.03267528 0.00916058
+v 0.01407997 -0.03117314 0.00916058
+v 0.01012055 -0.03101085 0.01295078
+v 0.01598530 -0.02073555 0.01766119
+v 0.01652188 -0.01865407 0.01760243
+v 0.01667264 -0.01651409 0.01760243
+v 0.01667562 -0.01581775 0.01760243
+v 0.01613804 -0.01581775 0.01851913
+v 0.01587917 -0.01581775 0.01895633
+v 0.00693079 -0.01915415 0.02066632
+v 0.01061547 -0.01581775 0.01936061
+v 0.00693079 -0.01761239 0.01973082
+v 0.00693079 -0.01858991 0.02033255
+v 0.00693079 -0.02979555 0.01552811
+v 0.00693178 -0.03276586 0.01253238
+v 0.00736521 -0.03272246 0.01247362
+v 0.00820431 -0.03158076 0.01343145
+v 0.00879247 -0.03246203 0.01208696
+v 0.01571056 -0.02220372 0.01698660
+v 0.01020981 -0.03398493 0.00916058
+v 0.01442712 -0.03071269 0.00916058
+v 0.01671132 -0.02085632 0.01552811
+v 0.01673314 -0.02079405 0.01552811
+v 0.01675596 -0.02079594 0.01546229
+v 0.01703764 -0.01865596 0.01552811
+v 0.01706343 -0.01651409 0.01546229
+v 0.01705351 -0.01865596 0.01546229
+v 0.01706343 -0.01581963 0.01546229
+v 0.01704954 -0.01581775 0.01552811
+v 0.00693079 -0.01581775 0.01836400
+v 0.00693079 -0.01635369 0.01881765
+v 0.00693178 -0.03509644 0.00916058
+v 0.00693079 -0.01581775 0.01552811
+v 0.00798016 -0.03490395 0.00916058
+v 0.01528803 -0.02935208 0.00916058
+v 0.01621640 -0.02751593 0.00916058
+v 0.01653676 -0.02507590 0.01118319
+v 0.01699797 -0.02293592 0.01118319
+v 0.01693647 -0.02507590 0.00916058
+v 0.01706343 -0.01865596 0.01332216
+v 0.01705847 -0.02293592 0.00916058
+v 0.01706343 -0.02079594 0.01118319
+v 0.01706343 -0.01581963 0.01048862
+v 0.01706144 -0.01581963 0.00916058
+v 0.00693178 -0.01581963 0.00916058
+v 0.01625706 -0.02737817 0.00916058
+v 0.01706144 -0.02079594 0.00916058
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 24
+f 1 24 36
+f 1 36 54
+f 1 54 57
+f 1 57 56
+f 1 56 75
+f 1 75 74
+f 1 74 77
+f 1 77 58
+f 1 58 38
+f 1 38 26
+f 1 26 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 10
+f 9 20 21
+f 9 21 22
+f 9 22 11
+f 9 10 19
+f 9 19 20
+f 11 22 23
+f 11 23 12
+f 12 24 14
+f 12 14 13
+f 12 23 25
+f 12 25 24
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 29
+f 19 29 31
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 32
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 53
+f 23 53 52
+f 23 52 51
+f 23 51 73
+f 23 73 77
+f 23 77 74
+f 23 74 55
+f 23 55 37
+f 23 37 25
+f 24 25 36
+f 25 37 36
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 30
+f 29 42 43
+f 29 43 31
+f 29 30 44
+f 29 44 45
+f 29 45 46
+f 29 46 42
+f 30 41 47
+f 30 47 44
+f 31 43 32
+f 32 43 48
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 36 37 54
+f 37 55 56
+f 37 56 57
+f 37 57 54
+f 38 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 47
+f 42 46 63
+f 42 63 43
+f 43 63 48
+f 44 47 64
+f 44 64 45
+f 45 64 78
+f 45 78 76
+f 45 76 89
+f 45 89 88
+f 45 88 91
+f 45 91 85
+f 45 85 83
+f 45 83 90
+f 45 90 80
+f 45 80 79
+f 45 79 65
+f 45 65 46
+f 46 65 63
+f 47 62 64
+f 48 63 66
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 50 70 51
+f 50 69 71
+f 50 71 70
+f 51 72 73
+f 51 70 72
+f 55 74 75
+f 55 75 56
+f 58 76 59
+f 58 77 89
+f 58 89 76
+f 59 76 78
+f 59 78 60
+f 60 62 61
+f 60 78 62
+f 62 78 64
+f 63 65 79
+f 63 79 80
+f 63 80 81
+f 63 81 66
+f 66 68 67
+f 66 81 68
+f 68 82 71
+f 68 71 69
+f 68 81 83
+f 68 83 82
+f 70 71 84
+f 70 84 86
+f 70 86 87
+f 70 87 72
+f 71 82 85
+f 71 85 86
+f 71 86 84
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 73 89 77
+f 80 90 81
+f 81 90 83
+f 82 83 85
+f 85 91 86
+f 86 91 87
+f 87 91 88
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_270.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702a868432c86ca77f5f81980f915601b3bf7830
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_270.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.00547644 -0.00398339
+v -0.00740928 -0.00547644 -0.00540631
+v -0.00854170 -0.00547644 -0.00398339
+v -0.00740928 -0.02448181 -0.00398339
+v -0.00854170 -0.00547644 -0.00540631
+v -0.00740928 -0.02448181 -0.00540631
+v -0.00854170 -0.02448181 -0.00398339
+v -0.00854170 -0.02448181 -0.00540631
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_271.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252326ae4cfd15be1f3fc84d3f32be2e12982aca
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_271.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01706301 -0.03947155 -0.00380460
+v 0.01706091 -0.03947155 0.00475827
+v 0.01706301 -0.04005771 -0.00380460
+v 0.01706301 -0.03947155 -0.00896821
+v 0.01618092 -0.03947155 0.00699990
+v 0.01706007 -0.04005771 0.00475827
+v 0.01705797 -0.04021234 -0.00364974
+v 0.01706301 -0.04005771 -0.00808223
+v 0.01706217 -0.04005771 -0.01022231
+v 0.01706217 -0.03947155 -0.01080874
+v 0.01581122 -0.03947155 0.00753555
+v 0.01613686 -0.03990258 0.00702782
+v 0.01703783 -0.04021234 0.00475827
+v 0.01704958 -0.04021234 0.00261819
+v 0.01705797 -0.04021234 -0.00578729
+v 0.01705587 -0.04021234 -0.00792737
+v 0.01703825 -0.04021234 -0.01006745
+v 0.01698915 -0.04005771 -0.01236239
+v 0.01700929 -0.03947155 -0.01294882
+v 0.01513099 -0.03947155 0.00790366
+v 0.01612092 -0.04021234 0.00693897
+v 0.01693628 -0.04021234 -0.01221261
+v 0.01691781 -0.04021234 -0.01236239
+v 0.01669624 -0.04021234 -0.01396428
+v 0.01669288 -0.04005771 -0.01450247
+v 0.01674702 -0.03947155 -0.01508890
+v 0.01440123 -0.03947155 0.00791635
+v 0.01440123 -0.04019674 0.00774119
+v 0.01440123 -0.04021234 0.00773357
+v 0.01664798 -0.04021234 -0.01431208
+v 0.01660182 -0.04021234 -0.01450247
+v 0.01613602 -0.04021234 -0.01604851
+v 0.01607392 -0.04006663 -0.01653847
+v 0.01666099 -0.03947155 -0.01537577
+v 0.01277639 -0.03947155 0.00790620
+v 0.01277639 -0.04018543 0.00772088
+v 0.01438571 -0.04021234 0.00773357
+v 0.01605461 -0.04021234 -0.01631761
+v 0.01629968 -0.03947155 -0.01656894
+v 0.01601307 -0.04021234 -0.01643693
+v 0.01585235 -0.03947155 -0.01770117
+v 0.01277639 -0.03947155 -0.01792711
+v 0.01277639 -0.04020857 0.00770818
+v 0.01433032 -0.04021234 0.00773103
+v 0.01440123 -0.04021234 -0.01718583
+v 0.01463917 -0.03947155 -0.01799058
+v 0.01387962 -0.03947155 -0.01799820
+v 0.01277639 -0.03968129 -0.01768848
+v 0.01277639 -0.04021234 0.00742131
+v 0.01375373 -0.04021234 -0.01714521
+v 0.01440123 -0.03949432 -0.01800581
+v 0.01440123 -0.03947155 -0.01801343
+v 0.01434416 -0.03947155 -0.01801343
+v 0.01277639 -0.04021234 -0.01696750
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 26
+f 1 26 34
+f 1 34 39
+f 1 39 41
+f 1 41 46
+f 1 46 52
+f 1 52 53
+f 1 53 47
+f 1 47 42
+f 1 42 35
+f 1 35 27
+f 1 27 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 15
+f 3 15 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 13
+f 7 13 21
+f 7 21 29
+f 7 29 37
+f 7 37 44
+f 7 44 49
+f 7 49 54
+f 7 54 50
+f 7 50 45
+f 7 45 40
+f 7 40 38
+f 7 38 32
+f 7 32 31
+f 7 31 30
+f 7 30 24
+f 7 24 23
+f 7 23 22
+f 7 22 17
+f 7 17 16
+f 7 16 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 32 38 33
+f 33 39 34
+f 33 38 40
+f 33 40 41
+f 33 41 39
+f 35 42 48
+f 35 48 54
+f 35 54 49
+f 35 49 43
+f 35 43 36
+f 36 43 37
+f 37 43 44
+f 40 45 41
+f 41 45 46
+f 42 47 48
+f 43 49 44
+f 45 50 51
+f 45 51 46
+f 46 51 52
+f 47 53 51
+f 47 51 48
+f 48 51 50
+f 48 50 54
+f 51 53 52
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_272.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9df59d6ab81920a84ba2809d49d17d41ce59764
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_272.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.02247901 0.00355191
+v -0.00285283 -0.02247901 -0.01020724
+v -0.00398662 -0.02247901 0.00355191
+v -0.00285283 -0.03952696 0.00355191
+v -0.00398662 -0.02247901 -0.01020724
+v -0.00285283 -0.03796344 -0.01020724
+v -0.00398662 -0.03907976 0.00355191
+v -0.00285283 -0.03972346 0.00261856
+v -0.00398662 -0.03782454 -0.01020724
+v -0.00285283 -0.03856480 -0.00980050
+v -0.00285649 -0.03840218 -0.01020724
+v -0.00398662 -0.03917801 0.00261856
+v -0.00285283 -0.03978275 0.00047846
+v -0.00286637 -0.03839879 -0.01020724
+v -0.00398662 -0.03820229 -0.00924561
+v -0.00335813 -0.03877654 -0.00860183
+v -0.00285283 -0.03930336 -0.00785299
+v -0.00398662 -0.03923560 0.00047846
+v -0.00285283 -0.03978275 -0.00380040
+v -0.00398662 -0.03898829 -0.00723884
+v -0.00392125 -0.03904757 -0.00717285
+v -0.00285283 -0.03968789 -0.00607384
+v -0.00398662 -0.03923560 -0.00380040
+v -0.00285283 -0.03970144 -0.00594050
+v -0.00398662 -0.03915599 -0.00594993
+v -0.00398662 -0.03902216 -0.00710820
+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 24
+f 1 24 22
+f 1 22 17
+f 1 17 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 15
+f 3 15 20
+f 3 20 26
+f 3 26 25
+f 3 25 23
+f 3 23 18
+f 3 18 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 10 16 14
+f 10 14 11
+f 10 17 16
+f 12 18 13
+f 13 18 23
+f 13 23 19
+f 14 16 15
+f 15 16 20
+f 16 17 21
+f 16 21 20
+f 17 22 21
+f 19 23 25
+f 19 25 24
+f 20 21 26
+f 21 22 25
+f 21 25 26
+f 22 24 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_273.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ffaea7a4c6bba6c0f3d169e7cddbb69bc6ca33
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_273.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 0.01877729 0.00819339
+v -0.00811483 0.01877729 0.00819339
+v -0.00740928 0.01774181 0.00819339
+v -0.00740928 0.01877729 -0.01892148
+v -0.00834805 0.01774181 0.00818542
+v -0.00829218 0.01774181 0.00819339
+v -0.00854170 0.01877729 0.00813233
+v -0.00740928 0.01774181 -0.01892148
+v -0.00854170 0.01877729 -0.01892148
+v -0.00854170 0.01775955 0.00815357
+v -0.00854170 0.01774181 0.00815357
+v -0.00854170 0.01774181 -0.01892148
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 6 5
+f 3 5 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 7 10
+f 7 9 12
+f 7 12 11
+f 7 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_274.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eee237097c03360bc0ad99eab1d5d722e0cb7b9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_274.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01706205 0.00554575 0.00690036
+v 0.01692625 0.00554575 0.00903969
+v 0.01695120 0.00467486 0.00875245
+v 0.01705374 0.00467486 0.00711878
+v 0.01706066 0.00467486 0.00690036
+v 0.01706205 0.00467486 0.00649045
+v 0.01706205 0.00554575 -0.01450185
+v 0.01631656 0.00554575 0.01063745
+v 0.01602695 0.00467486 0.01154404
+v 0.01688053 0.00467486 0.00925811
+v 0.01693180 0.00467486 0.00903969
+v 0.01706205 0.00467486 -0.01450185
+v 0.01700246 0.00554575 -0.01664118
+v 0.01607961 0.00554575 0.01117901
+v 0.01596321 0.00467486 0.01164278
+v 0.01700246 0.00467486 -0.01664118
+v 0.01675997 0.00554575 -0.01715282
+v 0.01574566 0.00554575 0.01164278
+v 0.01591194 0.00491466 0.01164278
+v 0.00290882 0.00467486 0.01164278
+v 0.01628746 0.00467486 -0.01814619
+v 0.01620570 0.00554575 -0.01831673
+v 0.00290882 0.00554575 0.01164278
+v 0.00290882 0.00467486 0.00649045
+v 0.01620570 0.00467486 -0.01831673
+v 0.01439879 0.00554575 -0.01892412
+v 0.00290882 0.00554575 0.00649045
+v 0.00291020 0.00467486 -0.01891814
+v 0.01439879 0.00467486 -0.01892412
+v 0.01374614 0.00554575 -0.01892412
+v 0.00291020 0.00554575 -0.01891814
+v 0.00583951 0.00467486 -0.01892113
+v 0.00584089 0.00554575 -0.01892113
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 33
+f 1 33 31
+f 1 31 27
+f 1 27 23
+f 1 23 18
+f 1 18 14
+f 1 14 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 15
+f 3 15 20
+f 3 20 24
+f 3 24 28
+f 3 28 32
+f 3 32 29
+f 3 29 25
+f 3 25 21
+f 3 21 16
+f 3 16 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 7 12 16
+f 7 16 13
+f 8 14 9
+f 9 14 15
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 15 19 18
+f 15 18 23
+f 15 23 20
+f 16 21 17
+f 17 21 22
+f 20 23 27
+f 20 27 24
+f 21 25 22
+f 22 25 29
+f 22 29 26
+f 24 27 31
+f 24 31 28
+f 26 29 30
+f 28 31 32
+f 29 32 30
+f 30 32 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_275.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794769bfd34cc711fbe3cf2543fd9f54f0e037e8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_275.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01706344 0.03486057 -0.00107010
+v 0.01706149 0.03513739 0.00261958
+v 0.01706344 0.03424798 -0.00107010
+v 0.01706344 0.03513739 -0.00194282
+v 0.01705954 0.03513739 0.00475748
+v 0.01706149 0.03424798 0.00261958
+v 0.01706344 0.03424798 -0.01450169
+v 0.01706344 0.03513739 -0.01450169
+v 0.01705954 0.03424798 0.00475748
+v 0.01686069 0.03513739 0.00661911
+v 0.01687239 0.03424798 0.00751248
+v 0.01704979 0.03424798 0.00537200
+v 0.01700106 0.03424798 -0.01664217
+v 0.01700106 0.03486057 -0.01664217
+v 0.01698741 0.03513739 -0.01664217
+v 0.01679441 0.03513739 0.00688763
+v 0.01670083 0.03424798 0.00810634
+v 0.01652927 0.03424798 -0.01763882
+v 0.01632067 0.03486057 -0.01807518
+v 0.01629728 0.03513739 -0.01807518
+v 0.01647858 0.03513739 0.00796433
+v 0.01643569 0.03513739 0.00810634
+v -0.00080194 0.03424798 0.00810634
+v 0.01632067 0.03424798 -0.01807518
+v 0.00011239 0.03424807 -0.01827141
+v 0.00011239 0.03487006 -0.01814489
+v 0.00290994 0.03513739 -0.01807518
+v 0.00038922 0.03513739 0.00810634
+v 0.00037752 0.03512903 0.00810634
+v -0.00285283 0.03453943 0.00771904
+v -0.00285283 0.03424937 0.00777842
+v -0.00284698 0.03424798 0.00777842
+v 0.00290994 0.03424798 -0.01807518
+v -0.00051731 0.03424807 -0.01822235
+v -0.00188392 0.03424798 -0.01798481
+v 0.00011239 0.03507408 -0.01807518
+v 0.00025275 0.03513730 -0.01807518
+v -0.00049196 0.03487398 -0.01804161
+v -0.00031456 0.03513730 -0.01798223
+v -0.00188392 0.03513739 -0.01704238
+v -0.00225433 0.03513739 0.00763900
+v -0.00263838 0.03470906 0.00771129
+v -0.00285283 0.03472359 0.00766224
+v -0.00285283 0.03424798 0.00720780
+v -0.00232451 0.03424798 -0.01790993
+v -0.00270662 0.03424798 -0.01771112
+v -0.00073175 0.03513730 -0.01775759
+v -0.00261889 0.03513739 -0.01659053
+v -0.00285283 0.03513739 0.00747891
+v -0.00285283 0.03424798 -0.00106752
+v -0.00285088 0.03424798 -0.01760267
+v -0.00285088 0.03500651 -0.01659569
+v -0.00262669 0.03513739 -0.01658536
+v -0.00285283 0.03513739 -0.00106752
+v -0.00285088 0.03513739 -0.01630134
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 6
+f 2 4 8
+f 2 8 15
+f 2 15 20
+f 2 20 27
+f 2 27 40
+f 2 40 48
+f 2 48 53
+f 2 53 55
+f 2 55 54
+f 2 54 49
+f 2 49 41
+f 2 41 28
+f 2 28 22
+f 2 22 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 6 9
+f 3 9 12
+f 3 12 11
+f 3 11 17
+f 3 17 23
+f 3 23 32
+f 3 32 44
+f 3 44 50
+f 3 50 51
+f 3 51 46
+f 3 46 45
+f 3 45 35
+f 3 35 33
+f 3 33 24
+f 3 24 18
+f 3 18 13
+f 3 13 7
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 10 16 11
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 28
+f 17 28 29
+f 17 29 23
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 34
+f 26 36 37
+f 26 37 27
+f 26 34 38
+f 26 38 39
+f 26 39 36
+f 27 37 39
+f 27 39 40
+f 28 41 42
+f 28 42 30
+f 28 30 29
+f 30 42 43
+f 30 43 49
+f 30 49 54
+f 30 54 50
+f 30 50 44
+f 30 44 31
+f 31 44 32
+f 34 45 38
+f 34 35 45
+f 36 39 37
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 41 49 43
+f 41 43 42
+f 46 51 52
+f 46 52 53
+f 46 53 48
+f 46 48 47
+f 50 54 51
+f 51 54 52
+f 52 55 53
+f 52 54 55
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_276.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc921c7cd20ba0e983aedcc155b163497f6e24c
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_276.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00043591 0.01662453 -0.01891883
+v 0.00043591 0.01751750 -0.01892147
+v 0.00118136 0.01662453 -0.01891883
+v 0.00043591 0.01662453 0.00810369
+v 0.00118136 0.01751750 -0.01892147
+v 0.00043591 0.02400294 -0.01892412
+v 0.00118136 0.01662453 0.00810369
+v 0.00043591 0.01751750 0.00810634
+v 0.00118136 0.02843676 -0.01892147
+v 0.00043591 0.02843676 -0.01892147
+v 0.00118136 0.01751750 0.00810634
+v 0.00043591 0.03170162 0.00810634
+v 0.00118136 0.02978285 -0.01891883
+v 0.00043591 0.03057693 -0.01891089
+v 0.00118136 0.03057693 -0.01891618
+v 0.00118136 0.03170162 0.00810634
+v 0.00043591 0.03170162 -0.01861720
+v 0.00043591 0.03148170 -0.01880770
+v 0.00118136 0.03170162 -0.01883945
+v 0.00043591 0.03170015 -0.01878124
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 20
+f 1 20 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 13
+f 3 13 15
+f 3 15 19
+f 3 19 16
+f 3 16 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 6 9
+f 6 10 9
+f 8 11 16
+f 8 16 12
+f 9 10 13
+f 10 14 15
+f 10 15 13
+f 12 16 19
+f 12 19 17
+f 14 18 19
+f 14 19 15
+f 17 19 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_277.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb5f64636fdcad739beaba18568fe480f009985
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_277.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00907299 0.00892016 -0.01398031
+v -0.00907299 0.00892016 -0.01614482
+v -0.00950666 0.00892016 -0.01398031
+v -0.00907299 -0.03290493 -0.01398031
+v -0.00907299 -0.03186503 -0.01614482
+v -0.00950666 0.00892016 -0.01614482
+v -0.00950666 -0.03258150 -0.01398031
+v -0.00937540 -0.03267976 -0.01398031
+v -0.00907299 -0.03243820 -0.01505049
+v -0.00950666 -0.03151704 -0.01614482
+v -0.00907299 -0.03209840 -0.01570349
+v -0.00950666 -0.03226216 -0.01470662
+v -0.00907299 -0.03240955 -0.01510706
+v -0.00913433 -0.03238908 -0.01505049
+v -0.00946073 -0.03212296 -0.01505049
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 5 11 10
+f 7 12 9
+f 7 9 8
+f 9 12 14
+f 9 14 13
+f 10 11 13
+f 10 13 14
+f 10 14 15
+f 10 15 12
+f 12 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_278.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d20d25682012428e70bffc40b66310a4b445d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_278.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01706055 0.03334942 0.00426117
+v 0.01706200 0.03334942 0.00412954
+v 0.00232362 0.03334942 0.00426117
+v 0.01706344 0.03107674 0.00426117
+v 0.01706344 0.03334942 0.00261805
+v 0.00232362 0.03334942 -0.01872214
+v 0.00232362 0.00827640 0.00426117
+v 0.01706344 0.02415565 0.00426117
+v 0.01706344 0.03334942 -0.01450312
+v 0.00369863 0.03334942 -0.01881292
+v 0.00232362 0.03271866 -0.01884923
+v 0.00232362 0.00827640 -0.01892185
+v 0.01706200 0.00827640 0.00426117
+v 0.01706344 0.02201551 -0.01450312
+v 0.01700284 0.03334942 -0.01664327
+v 0.00583977 0.03334942 -0.01886739
+v 0.00369863 0.03271866 -0.01890143
+v 0.00232362 0.03057852 -0.01892412
+v 0.01440000 0.00827640 -0.01892185
+v 0.00232362 0.02843838 -0.01892412
+v 0.01706200 0.00827640 -0.01450312
+v 0.01700284 0.00827640 -0.01664327
+v 0.01676911 0.03334942 -0.01713575
+v 0.01654114 0.00827640 -0.01761689
+v 0.00798091 0.03334942 -0.01889462
+v 0.00583977 0.03271866 -0.01892185
+v 0.01440000 0.03334942 -0.01892185
+v 0.01515748 0.00827640 -0.01866994
+v 0.01620641 0.03334942 -0.01831816
+v 0.01620641 0.00827640 -0.01831816
+v 0.01011916 0.03334942 -0.01891051
+v 0.01226030 0.03334942 -0.01891959
+v 0.01567545 0.03334942 -0.01849746
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 23
+f 1 23 29
+f 1 29 33
+f 1 33 27
+f 1 27 32
+f 1 32 31
+f 1 31 25
+f 1 25 16
+f 1 16 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 18
+f 3 18 20
+f 3 20 12
+f 3 12 7
+f 4 8 14
+f 4 14 9
+f 4 9 5
+f 6 10 11
+f 7 12 19
+f 7 19 28
+f 7 28 30
+f 7 30 24
+f 7 24 22
+f 7 22 21
+f 7 21 13
+f 8 13 14
+f 9 14 22
+f 9 22 15
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 20 19
+f 13 21 14
+f 14 21 22
+f 15 22 24
+f 15 24 23
+f 16 25 17
+f 17 26 18
+f 17 25 26
+f 18 27 19
+f 18 19 20
+f 18 26 27
+f 19 27 28
+f 23 24 29
+f 24 30 29
+f 25 31 26
+f 26 31 32
+f 26 32 27
+f 27 33 28
+f 28 33 30
+f 29 30 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_279.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8b8cbb79d2f5ff4edcb8c795224e3af2dd54aa
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_279.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01120717 -0.03692024 0.00803718
+v 0.01011990 -0.03692024 0.00811596
+v 0.01120717 -0.03741086 0.00803456
+v 0.01120717 -0.03692024 -0.01870700
+v 0.00898900 -0.03692024 0.00810283
+v 0.01011990 -0.03759750 0.00805556
+v 0.01120717 -0.03759750 0.00803193
+v 0.01120717 -0.03742657 -0.01861510
+v 0.00980048 -0.03759750 -0.01853632
+v 0.00912319 -0.03692024 -0.01863610
+v 0.00898900 -0.03743645 0.00805556
+v 0.00898900 -0.03692024 -0.01862560
+v 0.00898900 -0.03759750 0.00803981
+v 0.01120717 -0.03759750 -0.01858359
+v 0.00898900 -0.03759750 -0.01847855
+v 0.00898900 -0.03729563 -0.01854420
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 16
+f 5 16 15
+f 5 15 13
+f 5 13 11
+f 6 11 13
+f 6 13 15
+f 6 15 9
+f 6 9 14
+f 6 14 7
+f 8 14 9
+f 9 15 10
+f 10 15 16
+f 10 16 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_28.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710e346ad1fd54a493f4efbf531176242bec0af8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
+v -0.00950735 0.02864287 0.00792807
+v -0.00950735 0.02900441 0.00789003
+v -0.00979932 0.02864287 0.00790271
+v -0.01149494 0.02838830 0.00760850
+v -0.00950735 0.02864287 -0.01798250
+v -0.00964397 0.02893868 0.00787989
+v -0.00950735 0.02995501 0.00769474
+v -0.01036730 0.02864287 0.00780887
+v -0.01059685 0.02864287 0.00776829
+v -0.01084027 0.02864287 0.00772264
+v -0.01253935 0.02838830 0.00731683
+v -0.01149494 0.02838830 -0.01699843
+v -0.00950735 0.02881172 -0.01797489
+v -0.00950735 0.03050281 0.00749691
+v -0.01342565 0.02843986 0.00705052
+v -0.01342288 0.02838830 0.00706574
+v -0.01176194 0.02838830 -0.01672705
+v -0.01005453 0.02936274 -0.01757923
+v -0.00950735 0.03013288 -0.01707959
+v -0.00950735 0.03261281 0.00669798
+v -0.01348391 0.02838830 0.00704038
+v -0.00950735 0.03275072 0.00662697
+v -0.01086801 0.03221904 0.00626935
+v -0.01342565 0.03003106 0.00621609
+v -0.01498049 0.02843986 0.00621102
+v -0.01499991 0.02838830 0.00622370
+v -0.01294714 0.02838830 -0.01450020
+v -0.01206916 0.02925898 -0.01450020
+v -0.01055108 0.02980356 -0.01615131
+v -0.01145818 0.02864287 -0.01675748
+v -0.01127302 0.02879689 -0.01677777
+v -0.00950735 0.03040356 -0.01663320
+v -0.00950735 0.03385793 0.00578492
+v -0.01149494 0.03194449 0.00602587
+v -0.01453179 0.02954706 0.00587116
+v -0.01504637 0.02838830 0.00618565
+v -0.01335838 0.02838830 -0.01364294
+v -0.01451584 0.02953095 -0.00919938
+v -0.01235072 0.02950581 -0.01342228
+v -0.01149494 0.02976038 -0.01450273
+v -0.00977366 0.03126393 -0.01450273
+v -0.00950735 0.03149529 -0.01450273
+v -0.01004898 0.03364654 0.00551608
+v -0.01229524 0.03159454 0.00571137
+v -0.00950735 0.03427812 0.00501390
+v -0.01339861 0.03100034 0.00490230
+v -0.01478700 0.02980936 0.00475773
+v -0.01594932 0.02838830 0.00483382
+v -0.01501933 0.02838830 -0.01016317
+v -0.01338682 0.03097199 -0.00820263
+v -0.01343120 0.03010130 -0.01003382
+v -0.01503736 0.02843664 -0.01003382
+v -0.01591187 0.02838830 -0.00813669
+v -0.01476342 0.02978487 -0.00808089
+v -0.01149494 0.03059046 -0.01268169
+v -0.01010723 0.03155587 -0.01322192
+v -0.01040405 0.03395459 -0.00737580
+v -0.00950735 0.03313418 -0.01088601
+v -0.01003025 0.03363043 -0.00880119
+v -0.01042417 0.03397135 0.00408816
+v -0.01149494 0.03266501 0.00490230
+v -0.00950735 0.03443988 0.00463599
+v -0.01266835 0.03192129 0.00428345
+v -0.01641327 0.02838830 0.00323090
+v -0.01393261 0.03115824 0.00261712
+v -0.01505886 0.03008842 0.00261712
+v -0.01612894 0.02888197 0.00261712
+v -0.01264823 0.03190453 -0.00757110
+v -0.01649927 0.02838830 -0.00594027
+v -0.01611645 0.02886585 -0.00594027
+v -0.01504637 0.03007488 -0.00594027
+v -0.01391804 0.03114470 -0.00594027
+v -0.01162324 0.03314965 -0.00594027
+v -0.01055246 0.03408478 -0.00594027
+v -0.00950735 0.03487490 -0.00593774
+v -0.00950735 0.03440766 -0.00792617
+v -0.00950735 0.03342806 -0.01022150
+v -0.00965576 0.03330755 -0.01022150
+v -0.00950735 0.03480852 0.00321821
+v -0.01056703 0.03409702 0.00261712
+v -0.01652423 0.02838830 0.00261712
+v -0.01060656 0.03413182 0.00047650
+v -0.01167733 0.03319670 0.00047650
+v -0.01290275 0.03212623 0.00047650
+v -0.01397214 0.03119175 0.00047650
+v -0.01509215 0.03012193 0.00047650
+v -0.01616292 0.02892321 0.00047650
+v -0.01659150 0.02838830 0.00047650
+v -0.01659150 0.02838830 -0.00380473
+v -0.01616292 0.02892321 -0.00380473
+v -0.01509215 0.03012193 -0.00380473
+v -0.01397214 0.03119175 -0.00380473
+v -0.01290275 0.03212623 -0.00380473
+v -0.01167733 0.03319670 -0.00380473
+v -0.01060656 0.03413182 -0.00380219
+v -0.00950735 0.03497157 -0.00380219
+v -0.00950735 0.03489617 0.00266784
+v -0.00950735 0.03495739 0.00095078
+v -0.00950735 0.03497157 0.00047650
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 13
+f 1 13 19
+f 1 19 32
+f 1 32 42
+f 1 42 58
+f 1 58 77
+f 1 77 76
+f 1 76 75
+f 1 75 96
+f 1 96 99
+f 1 99 98
+f 1 98 97
+f 1 97 79
+f 1 79 62
+f 1 62 45
+f 1 45 33
+f 1 33 22
+f 1 22 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 16
+f 4 16 21
+f 4 21 26
+f 4 26 36
+f 4 36 48
+f 4 48 64
+f 4 64 81
+f 4 81 88
+f 4 88 89
+f 4 89 69
+f 4 69 53
+f 4 53 49
+f 4 49 37
+f 4 37 27
+f 4 27 17
+f 4 17 12
+f 5 12 13
+f 6 9 8
+f 6 7 9
+f 7 14 15
+f 7 15 10
+f 7 10 9
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 21
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 29
+f 18 29 32
+f 18 32 19
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 26
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 31 30
+f 29 40 41
+f 29 41 42
+f 29 42 32
+f 33 43 44
+f 33 44 34
+f 33 45 43
+f 34 44 35
+f 35 44 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 37 49 38
+f 38 50 51
+f 38 51 39
+f 38 49 52
+f 38 52 53
+f 38 53 54
+f 38 54 50
+f 39 55 41
+f 39 41 40
+f 39 51 55
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 59
+f 42 59 58
+f 43 45 60
+f 43 60 61
+f 43 61 44
+f 44 61 46
+f 45 62 60
+f 46 61 63
+f 46 63 47
+f 47 64 48
+f 47 63 65
+f 47 65 66
+f 47 66 67
+f 47 67 64
+f 49 53 52
+f 50 54 68
+f 50 68 51
+f 51 68 57
+f 51 57 55
+f 53 69 70
+f 53 70 54
+f 54 70 71
+f 54 71 72
+f 54 72 68
+f 55 57 56
+f 57 68 72
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 76
+f 57 76 77
+f 57 77 59
+f 58 78 77
+f 58 59 78
+f 59 77 78
+f 60 63 61
+f 60 62 79
+f 60 79 80
+f 60 80 65
+f 60 65 63
+f 64 67 81
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 66
+f 65 80 82
+f 66 85 86
+f 66 86 87
+f 66 87 67
+f 67 87 88
+f 67 88 81
+f 69 89 90
+f 69 90 70
+f 70 90 71
+f 71 90 91
+f 71 91 92
+f 71 92 72
+f 72 92 93
+f 72 93 73
+f 73 93 94
+f 73 94 74
+f 74 94 95
+f 74 95 96
+f 74 96 75
+f 79 97 80
+f 80 97 98
+f 80 98 82
+f 82 98 99
+f 82 99 96
+f 82 96 95
+f 82 95 94
+f 82 94 83
+f 83 94 93
+f 83 93 84
+f 84 93 92
+f 84 92 85
+f 85 92 91
+f 85 91 86
+f 86 91 90
+f 86 90 87
+f 87 90 89
+f 87 89 88
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_280.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4662dc237ec7e9b9c73c9d972e982c5b577c75
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_280.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.01279559 -0.00856716
+v -0.00697561 -0.01279559 -0.00856716
+v -0.00740928 -0.01279559 -0.00591539
+v -0.00740928 -0.01105883 -0.00856716
+v -0.00697561 -0.01105883 -0.00856716
+v -0.00697561 -0.01279559 -0.00591539
+v -0.00740928 -0.01105883 -0.00591539
+v -0.00697561 -0.01105883 -0.00591539
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_281.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c3b0adf0cecf37a8903441ffaba2915516f4fd
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_281.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.02157352 0.00355191
+v -0.00398662 -0.02157352 0.00355191
+v -0.00285283 -0.02247694 0.00355191
+v -0.00285283 -0.02157352 -0.00497427
+v -0.00398662 -0.02247694 0.00355191
+v -0.00398662 -0.02157352 -0.00497427
+v -0.00285283 -0.02247694 -0.00497427
+v -0.00398662 -0.02247694 -0.00497427
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_282.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2195df8acc2ee154543fe69fc4325ed6614ec6fb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_282.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.03242879 -0.01726042
+v -0.00753354 -0.03242879 -0.01714445
+v -0.00768108 -0.03223352 -0.01729135
+v -0.00740928 -0.03233655 -0.01739443
+v -0.00740928 -0.03242879 0.00768379
+v -0.00845357 -0.03242879 -0.01605431
+v -0.00854170 -0.03179811 -0.01696920
+v -0.00854170 -0.03097078 -0.01781966
+v -0.00854170 -0.03231187 -0.01613936
+v -0.00854170 -0.03085387 -0.01790213
+v -0.00740928 -0.03133061 -0.01803099
+v -0.00740928 -0.03195528 0.00784100
+v -0.00854170 -0.03152650 0.00772761
+v -0.00854170 -0.03242879 0.00735650
+v -0.00854170 -0.03242879 -0.01525282
+v -0.00854170 -0.03242678 -0.01592030
+v -0.00854170 -0.03085325 -0.01790213
+v -0.00775745 -0.03085325 -0.01809541
+v -0.00773529 -0.03085325 -0.01810057
+v -0.00740928 -0.03113535 -0.01809026
+v -0.00740928 -0.03134558 0.00803686
+v -0.00854170 -0.03134558 0.00778430
+v -0.00854170 -0.03085325 0.00786677
+v -0.00740928 -0.03085325 -0.01816757
+v -0.00740928 -0.03085325 0.00815799
+v -0.00854170 -0.03085803 0.00786677
+v -0.00853682 -0.03085325 0.00786935
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 24
+f 1 24 25
+f 1 25 21
+f 1 21 12
+f 1 12 5
+f 1 5 14
+f 1 14 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 6 15 16
+f 6 16 9
+f 7 9 16
+f 7 16 15
+f 7 15 14
+f 7 14 13
+f 7 13 22
+f 7 22 26
+f 7 26 23
+f 7 23 17
+f 7 17 10
+f 7 10 8
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 12 21 13
+f 13 21 22
+f 17 23 27
+f 17 27 25
+f 17 25 24
+f 17 24 19
+f 17 19 18
+f 19 24 20
+f 21 25 22
+f 22 25 27
+f 22 27 26
+f 23 26 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_283.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8698b052f5e1ca513e68e0d3713d17224543a768
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_283.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 0.01082752 -0.00528726
+v -0.01106117 0.01082752 -0.00600970
+v -0.01149480 0.01082752 -0.00528726
+v -0.01106117 -0.02204161 -0.00528726
+v -0.01149480 0.01082752 -0.00600970
+v -0.01106117 -0.02204161 -0.00600970
+v -0.01149480 -0.02204161 -0.00528726
+v -0.01149480 -0.02204161 -0.00600970
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_284.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5341b82f7de36d7fa558f05263b014b992a82973
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_284.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.03898590 0.00253971
+v -0.00285283 0.03904179 0.00047827
+v -0.00398662 0.03838044 0.00253971
+v -0.00285283 -0.00853829 0.00253971
+v -0.00285283 0.03904179 -0.00380125
+v -0.00398662 0.03843632 0.00047827
+v -0.00398662 -0.00853829 0.00253971
+v -0.00285283 -0.00853829 -0.00497354
+v -0.00285283 0.03899521 -0.00497354
+v -0.00398662 0.03843632 -0.00380125
+v -0.00398662 -0.00853829 -0.00497354
+v -0.00398662 0.03838975 -0.00497354
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 12
+f 5 12 10
+f 8 11 12
+f 8 12 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_285.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc491b1e190d312c87b21ec55512f2b71126b84
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_285.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02456751 0.00986776 0.00902641
+v -0.02474492 0.00967933 0.00902641
+v -0.02456751 0.00923882 0.00902641
+v -0.02456751 0.01029585 0.00778304
+v -0.02480677 0.01029585 0.00717947
+v -0.02507950 0.00923882 0.00902641
+v -0.02563653 0.01029585 0.00466657
+v -0.02456751 0.00923882 -0.01152741
+v -0.02456751 0.01029585 -0.01068844
+v -0.02529650 0.00923882 0.00825182
+v -0.02596772 0.01029585 0.00261843
+v -0.02596313 0.00923882 0.00475308
+v -0.02562310 0.00923882 0.00672477
+v -0.02506438 0.00923882 -0.01012510
+v -0.02456751 0.00925362 -0.01151937
+v -0.02519149 0.01021369 -0.00913121
+v -0.02517823 0.01029585 -0.00909500
+v -0.02602107 0.01029585 0.00047774
+v -0.02625218 0.00923882 0.00261843
+v -0.02560713 0.00923882 -0.00857994
+v -0.02568088 0.00936993 -0.00828419
+v -0.02521069 0.01029585 -0.00900446
+v -0.02630333 0.00923882 0.00047774
+v -0.02630180 0.00923882 0.00054213
+v -0.02602107 0.01029585 -0.00380162
+v -0.02570875 0.00923882 -0.00827212
+v -0.02606016 0.00923882 -0.00671288
+v -0.02554630 0.01029585 -0.00794418
+v -0.02630333 0.00923882 -0.00380162
+v -0.02598845 0.01029585 -0.00474723
+v -0.02623179 0.00923882 -0.00587793
+v -0.02622941 0.00923882 -0.00594231
+v -0.02594631 0.01029585 -0.00594231
+v -0.02598488 0.01029585 -0.00484983
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 10
+f 3 10 13
+f 3 13 12
+f 3 12 19
+f 3 19 24
+f 3 24 23
+f 3 23 29
+f 3 29 31
+f 3 31 32
+f 3 32 27
+f 3 27 26
+f 3 26 20
+f 3 20 14
+f 3 14 8
+f 4 9 17
+f 4 17 22
+f 4 22 28
+f 4 28 33
+f 4 33 34
+f 4 34 30
+f 4 30 25
+f 4 25 18
+f 4 18 11
+f 4 11 7
+f 4 7 5
+f 6 7 10
+f 7 11 12
+f 7 12 13
+f 7 13 10
+f 8 14 15
+f 9 15 16
+f 9 16 17
+f 11 18 19
+f 11 19 12
+f 14 20 16
+f 14 16 15
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 18 25 29
+f 18 29 23
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 25 30 31
+f 25 31 29
+f 27 32 28
+f 28 32 33
+f 30 34 31
+f 31 34 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_286.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b957a71f9f42984fb843beecd06cd6c179f3ef
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_286.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.02408173 -0.01020810
+v -0.00285283 -0.02408173 -0.01892327
+v -0.00398662 -0.02408173 -0.01020810
+v -0.00285283 -0.03796393 -0.01020810
+v -0.00398662 -0.02408173 -0.01892327
+v -0.00285283 -0.02922552 -0.01892327
+v -0.00398662 -0.03782514 -0.01020810
+v -0.00285649 -0.03840415 -0.01020810
+v -0.00285283 -0.03840134 -0.01021919
+v -0.00398662 -0.02809274 -0.01892327
+v -0.00285283 -0.02935590 -0.01891986
+v -0.00398662 -0.03729239 -0.01165181
+v -0.00396565 -0.03783635 -0.01020810
+v -0.00285283 -0.03832844 -0.01041458
+v -0.00370018 -0.03797234 -0.01020810
+v -0.00371372 -0.03680732 -0.01333358
+v -0.00398662 -0.02814882 -0.01892157
+v -0.00285283 -0.03136491 -0.01879870
+v -0.00398662 -0.03023353 -0.01883027
+v -0.00398662 -0.02935590 -0.01888232
+v -0.00398662 -0.03718164 -0.01194448
+v -0.00285283 -0.03768214 -0.01212451
+v -0.00285283 -0.03677647 -0.01450510
+v -0.00285283 -0.03754755 -0.01248032
+v -0.00398662 -0.03715500 -0.01201444
+v -0.00398662 -0.03672180 -0.01314757
+v -0.00398662 -0.03653393 -0.01360321
+v -0.00398662 -0.03555396 -0.01594967
+v -0.00325037 -0.03658440 -0.01450510
+v -0.00285283 -0.03149529 -0.01877993
+v -0.00398662 -0.03149529 -0.01864255
+v -0.00285283 -0.03666151 -0.01480460
+v -0.00398662 -0.03482775 -0.01755038
+v -0.00285283 -0.03350570 -0.01837122
+v -0.00398662 -0.03237152 -0.01846422
+v -0.00285283 -0.03574884 -0.01676965
+v -0.00390083 -0.03477167 -0.01776967
+v -0.00398662 -0.03475485 -0.01768605
+v -0.00285283 -0.03362908 -0.01833623
+v -0.00398662 -0.03242619 -0.01844886
+v -0.00285283 -0.03496514 -0.01787206
+v -0.00398662 -0.03474363 -0.01770567
+v -0.00398662 -0.03464269 -0.01779185
+v -0.00398662 -0.03357861 -0.01811780
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 22
+f 1 22 24
+f 1 24 23
+f 1 23 32
+f 1 32 36
+f 1 36 41
+f 1 41 39
+f 1 39 34
+f 1 34 30
+f 1 30 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 20
+f 3 20 19
+f 3 19 31
+f 3 31 35
+f 3 35 40
+f 3 40 44
+f 3 44 43
+f 3 43 42
+f 3 42 38
+f 3 38 33
+f 3 33 28
+f 3 28 27
+f 3 27 26
+f 3 26 25
+f 3 25 21
+f 3 21 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 13
+f 8 14 9
+f 8 15 12
+f 8 12 16
+f 8 16 14
+f 10 11 17
+f 11 18 19
+f 11 19 20
+f 11 20 17
+f 12 21 16
+f 12 15 13
+f 14 16 22
+f 16 23 24
+f 16 24 22
+f 16 21 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 23
+f 18 30 19
+f 19 30 31
+f 23 29 32
+f 28 33 32
+f 28 32 29
+f 30 34 31
+f 31 34 35
+f 32 33 37
+f 32 37 36
+f 33 38 37
+f 34 39 40
+f 34 40 35
+f 36 37 41
+f 37 38 42
+f 37 42 43
+f 37 43 39
+f 37 39 41
+f 39 43 44
+f 39 44 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_287.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd6e1cb3e56f0cd17a25b4ede38a85c6f8b3387
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_287.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.01149539 0.01569058 0.00902641
+v -0.01703302 0.01569058 0.00902641
+v -0.01149539 0.01512599 0.00902641
+v -0.01149539 0.01569058 -0.01892140
+v -0.02018414 0.01569053 0.00781165
+v -0.01923157 0.01569053 0.00831233
+v -0.01778741 0.01569053 0.00891971
+v -0.01758500 0.01569053 0.00900453
+v -0.01754417 0.01569053 0.00901000
+v -0.01737407 0.01569053 0.00902641
+v -0.01703302 0.01569058 -0.01861771
+v -0.01703302 0.01512599 0.00902641
+v -0.01149539 0.01512599 -0.01892140
+v -0.01342688 0.01559585 -0.01892414
+v -0.01342688 0.01569058 -0.01892140
+v -0.02018414 0.01559580 0.00786637
+v -0.01949012 0.01512605 0.00857224
+v -0.02018414 0.01569053 -0.01694877
+v -0.01838447 0.01512605 0.00902641
+v -0.01758500 0.01565378 0.00902641
+v -0.01556675 0.01569058 -0.01886121
+v -0.01771087 0.01569053 -0.01850827
+v -0.01778571 0.01569053 -0.01848365
+v -0.01896706 0.01569053 -0.01807872
+v -0.01928260 0.01569053 -0.01796655
+v -0.02018414 0.01512605 0.00802232
+v -0.01703302 0.01512599 -0.01864780
+v -0.01342688 0.01512599 -0.01892140
+v -0.01556675 0.01512599 -0.01887762
+v -0.01556675 0.01559585 -0.01886668
+v -0.02018414 0.01564173 -0.01697340
+v -0.01770662 0.01512605 -0.01856846
+v -0.01770662 0.01559580 -0.01852742
+v -0.01896706 0.01559580 -0.01809514
+v -0.01930301 0.01559580 -0.01797749
+v -0.01944164 0.01512605 -0.01799938
+v -0.02018414 0.01512605 -0.01716765
+f 1 2 10
+f 1 10 20
+f 1 20 19
+f 1 19 12
+f 1 12 3
+f 1 3 13
+f 1 13 4
+f 1 4 15
+f 1 15 21
+f 1 21 11
+f 1 11 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 11 18
+f 2 18 5
+f 3 12 27
+f 3 27 29
+f 3 29 28
+f 3 28 13
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 5 18 31
+f 5 31 37
+f 5 37 26
+f 5 26 16
+f 6 17 7
+f 7 17 8
+f 8 17 19
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 18
+f 12 19 17
+f 12 17 26
+f 12 26 37
+f 12 37 27
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 21
+f 16 26 17
+f 18 25 31
+f 21 30 32
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 31
+f 27 36 32
+f 27 32 29
+f 27 37 36
+f 29 32 30
+f 32 36 33
+f 33 36 34
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_288.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f677ad93ebc8796296bb8c47cbab22414bfd4a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_288.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 0.03636508 -0.01022427
+v -0.00505689 0.03565680 -0.01199702
+v -0.00524212 0.03554698 -0.01199702
+v -0.00621116 0.03567327 -0.01022427
+v -0.00505689 -0.01972687 -0.01022427
+v -0.00505689 -0.01972687 -0.01199702
+v -0.00584650 0.03518461 -0.01199702
+v -0.00624620 0.03565131 -0.01022427
+v -0.00624620 0.03533834 -0.01101087
+v -0.00624620 -0.01972687 -0.01022427
+v -0.00624620 -0.01972687 -0.01199702
+v -0.00624620 0.03494302 -0.01199702
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 7 12 9
+f 8 9 12
+f 8 12 11
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_289.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd92f0f012398d078895515a13917370cfee958
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_289.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 0.01082325 0.00460042
+v -0.00398662 0.01082325 -0.00292814
+v -0.00505678 0.01082325 0.00460042
+v -0.00398662 -0.00191171 0.00460042
+v -0.00505678 0.01082325 -0.00292814
+v -0.00398662 -0.00191171 -0.00292814
+v -0.00505678 -0.00191171 0.00460042
+v -0.00505678 -0.00191171 -0.00292814
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_29.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3c2a215e51530af5db7e48b05bde25162a228d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01493082 0.00275321 0.00935376
+v 0.01493082 0.00061825 0.00935376
+v 0.01493082 0.00275572 0.00908596
+v 0.00364536 0.00275572 0.00935376
+v 0.00290743 0.00061825 0.00935376
+v 0.01493082 0.00061825 -0.01485663
+v 0.01493082 0.00275572 -0.01485663
+v 0.00290743 0.00275572 0.00935376
+v 0.00290743 0.00061825 -0.01485663
+v 0.00290743 0.00275572 -0.01485663
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_290.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef1eb9daf27271e2af20950be44010fdc5be1b1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_290.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01162790 0.03424781 0.00810634
+v 0.00430099 0.03424781 0.00810634
+v 0.01162790 0.03334942 0.00810634
+v 0.01162790 0.03424781 -0.01890603
+v 0.00430099 0.03334942 0.00810634
+v 0.00430099 0.03424781 -0.01869182
+v 0.01162790 0.03334942 -0.01762603
+v 0.01162790 0.03379615 -0.01890868
+v 0.01011948 0.03334942 -0.01891132
+v 0.00797914 0.03334942 -0.01889281
+v 0.01011948 0.03424781 -0.01889281
+v 0.00430099 0.03334942 -0.01881876
+v 0.00583953 0.03424781 -0.01878967
+v 0.01162790 0.03335285 -0.01890868
+v 0.00583953 0.03334942 -0.01886901
+v 0.00797914 0.03424781 -0.01885314
+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 11
+f 1 11 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 5 12
+f 3 12 15
+f 3 15 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 12
+f 7 9 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 12 13 15
+f 13 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_291.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df94a7a354d31f7a80747be20495ce1cc7ec63b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_291.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 -0.03237519 -0.00255073
+v -0.00505689 -0.03237519 -0.00476043
+v -0.00624620 -0.03237519 -0.00255073
+v -0.00505689 -0.03870066 -0.00255073
+v -0.00624620 -0.03237519 -0.00476043
+v -0.00505689 -0.03866412 -0.00476043
+v -0.00624620 -0.03798111 -0.00255073
+v -0.00521907 -0.03861954 -0.00255073
+v -0.00505689 -0.03870066 -0.00380202
+v -0.00624620 -0.03794581 -0.00476043
+v -0.00505689 -0.03868951 -0.00410310
+v -0.00521907 -0.03861954 -0.00380202
+v -0.00514642 -0.03861892 -0.00476043
+v -0.00624620 -0.03798111 -0.00380202
+v -0.00593464 -0.03817493 -0.00255073
+v -0.00564578 -0.03835451 -0.00255073
+v -0.00596328 -0.03812106 -0.00476043
+v -0.00567885 -0.03829568 -0.00476043
+v -0.00518240 -0.03860034 -0.00476043
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 18
+f 2 18 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 7
+f 4 8 12
+f 4 12 9
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 8 16 12
+f 9 12 11
+f 10 17 12
+f 10 12 14
+f 12 16 14
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_292.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3bb528611c3a8fd8c442dad4f6dd3023020fdf
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_292.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01556638 -0.01225387 -0.01892412
+v -0.01556638 -0.01326384 -0.01892365
+v -0.01662423 -0.01326384 -0.01887566
+v -0.01768412 -0.01225387 -0.01882767
+v -0.01556587 -0.01225387 -0.01717066
+v -0.01556587 -0.01326384 -0.01800528
+v -0.01667417 -0.01326384 -0.01887331
+v -0.01668589 -0.01326384 -0.01887237
+v -0.01770705 -0.01225387 -0.01882532
+v -0.01556587 -0.01225387 -0.01411775
+v -0.01556587 -0.01326384 -0.01411775
+v -0.01770705 -0.01326384 -0.01876698
+v -0.01881433 -0.01326384 -0.01854727
+v -0.01982428 -0.01225387 -0.01840471
+v -0.02077105 -0.01225387 -0.01411775
+v -0.02077105 -0.01326384 -0.01411775
+v -0.01987524 -0.01326384 -0.01824052
+v -0.01984772 -0.01225387 -0.01839813
+v -0.02077105 -0.01225387 -0.01804386
+v -0.02077105 -0.01326384 -0.01791260
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 20
+f 2 20 17
+f 2 17 13
+f 2 13 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_293.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65f0e6ff356bed20b0ff9949cf22fc88a0419fb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_293.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.00909651 -0.00669492
+v -0.00740928 -0.00909651 -0.01892292
+v -0.00854170 -0.00909651 -0.00669492
+v -0.00740928 -0.02374918 -0.00669492
+v -0.00854170 -0.00909651 -0.01892292
+v -0.00740928 -0.02374918 -0.01892411
+v -0.00854170 -0.02374918 -0.00669492
+v -0.00854170 -0.02354695 -0.01892292
+v -0.00833796 -0.02374918 -0.01892292
+v -0.00854170 -0.02374918 -0.01891933
+v -0.00848339 -0.02374918 -0.01892052
+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 5
+f 3 5 8
+f 3 8 10
+f 3 10 7
+f 4 7 10
+f 4 10 11
+f 4 11 9
+f 4 9 6
+f 5 6 8
+f 6 9 8
+f 8 9 11
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_294.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0e5b7f9acdc63c81707ad2f5318c28b056a8d8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_294.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.00231105 0.00068559
+v -0.00740928 -0.00231105 -0.00398293
+v -0.00854170 -0.00231105 0.00068559
+v -0.00740928 -0.02447964 0.00068559
+v -0.00854170 -0.00231105 -0.00398293
+v -0.00740928 -0.02447964 -0.00398293
+v -0.00854170 -0.02447964 0.00068559
+v -0.00854170 -0.02447964 -0.00398293
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_295.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e655bf1da0e4f936c7f18d14b99c76425b9680
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_295.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01706344 0.03424781 0.00261875
+v 0.01706344 0.03334942 0.00261875
+v 0.01706344 0.03424781 -0.01450283
+v 0.01706131 0.03424781 0.00475664
+v 0.01706344 0.03334942 -0.01450283
+v 0.01706131 0.03334942 0.00475664
+v 0.01702779 0.03424781 -0.01577550
+v 0.01705174 0.03424781 0.00537049
+v 0.01703950 0.03334942 0.00627009
+v 0.01700279 0.03334942 -0.01664336
+v 0.01700279 0.03424781 -0.01664336
+v 0.01687509 0.03424781 0.00751101
+v 0.01691340 0.03365492 0.00810369
+v 0.01694107 0.03334942 0.00810369
+v 0.01620682 0.03334942 -0.01831821
+v 0.01620682 0.03424781 -0.01831821
+v 0.01670430 0.03424781 0.00810369
+v 0.01162790 0.03334942 0.00810369
+v 0.01440100 0.03334942 -0.01892147
+v 0.01513365 0.03424781 -0.01867805
+v 0.01162790 0.03424781 0.00810369
+v 0.01162790 0.03334942 -0.01762498
+v 0.01226158 0.03334942 -0.01891883
+v 0.01440100 0.03424781 -0.01892147
+v 0.01162790 0.03424781 -0.01890559
+v 0.01162790 0.03335285 -0.01890824
+v 0.01163162 0.03334942 -0.01890824
+v 0.01162790 0.03379615 -0.01890824
+v 0.01226158 0.03424781 -0.01891618
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 29
+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 14
+f 2 14 18
+f 2 18 22
+f 2 22 27
+f 2 27 23
+f 2 23 19
+f 2 19 15
+f 2 15 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 4 9 6
+f 5 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 21
+f 13 21 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 18 21 25
+f 18 25 28
+f 18 28 26
+f 18 26 22
+f 19 23 24
+f 19 24 20
+f 22 26 27
+f 23 27 26
+f 23 26 28
+f 23 28 29
+f 23 29 24
+f 25 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_296.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d9ea33ae67196feeb58288277ac65736ce542
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_296.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00854170 -0.03242837 -0.01525245
+v -0.00903201 -0.03242837 -0.01514497
+v -0.00854170 -0.03242673 -0.01592091
+v -0.00854170 -0.03242837 0.00735457
+v -0.00907293 -0.03242837 -0.01507419
+v -0.00907293 -0.03241439 -0.01510565
+v -0.00907293 -0.03160626 -0.01664704
+v -0.00854170 -0.03231152 -0.01613849
+v -0.00854170 -0.03228148 0.00741748
+v -0.00907293 -0.03242837 0.00722088
+v -0.00907293 -0.03154084 -0.01675189
+v -0.00854170 -0.03179801 -0.01696947
+v -0.00854170 -0.03152644 0.00772681
+v -0.00901932 -0.03134539 0.00767962
+v -0.00907293 -0.03135280 0.00765865
+v -0.00907293 -0.03152891 -0.01677024
+v -0.00907293 -0.03065742 -0.01780570
+v -0.00854170 -0.03097055 -0.01781881
+v -0.00854170 -0.03134539 0.00778448
+v -0.00854170 -0.02949173 0.00819604
+v -0.00907293 -0.03121866 0.00769535
+v -0.00907293 -0.02992501 -0.01806260
+v -0.00865356 -0.03080637 -0.01788959
+v -0.00854170 -0.03085369 -0.01790269
+v -0.00854170 -0.02822524 0.00819604
+v -0.00873386 -0.02922675 0.00819604
+v -0.00885654 -0.02903006 0.00819604
+v -0.00907293 -0.02928353 0.00804662
+v -0.00907293 -0.02969541 -0.01813338
+v -0.00854170 -0.03014062 -0.01812551
+v -0.00907283 -0.02822524 0.00819604
+v -0.00854170 -0.02822524 -0.01858426
+v -0.00907278 -0.02837089 0.00819604
+v -0.00907293 -0.02837089 0.00819342
+v -0.00907293 -0.02948144 -0.01819105
+v -0.00854170 -0.02944894 -0.01830901
+v -0.00907293 -0.02822524 0.00815148
+v -0.00907293 -0.02822524 -0.01847416
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 18
+f 1 18 24
+f 1 24 30
+f 1 30 36
+f 1 36 32
+f 1 32 25
+f 1 25 20
+f 1 20 19
+f 1 19 13
+f 1 13 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 10
+f 5 10 15
+f 5 15 21
+f 5 21 28
+f 5 28 34
+f 5 34 37
+f 5 37 38
+f 5 38 35
+f 5 35 29
+f 5 29 22
+f 5 22 17
+f 5 17 16
+f 5 16 11
+f 5 11 7
+f 5 7 6
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 20 25 31
+f 20 31 33
+f 20 33 27
+f 20 27 26
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 22 29 30
+f 22 30 24
+f 22 24 23
+f 25 32 38
+f 25 38 37
+f 25 37 31
+f 27 33 28
+f 28 33 34
+f 29 35 30
+f 30 35 36
+f 31 37 34
+f 31 34 33
+f 32 36 38
+f 35 38 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_297.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328127a057fe582a08f9d4e9b2472a09c1f3e7f4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_297.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01149735 0.01029585 0.00902368
+v -0.01882380 0.01029585 0.00902642
+v -0.01149735 0.00923882 0.00902368
+v -0.01149735 0.01029585 -0.01892139
+v -0.01882380 0.00923882 0.00902642
+v -0.02416319 0.01029585 0.00902642
+v -0.01149735 0.00923882 -0.01892139
+v -0.01556618 0.01029585 -0.01892139
+v -0.02456623 0.00923882 0.00902642
+v -0.02456623 0.00986770 0.00902642
+v -0.02456623 0.01029585 0.00778168
+v -0.01556618 0.00923882 -0.01892139
+v -0.01770679 0.00923882 -0.01889404
+v -0.01770679 0.01029585 -0.01885300
+v -0.02456623 0.00923882 -0.01152682
+v -0.02456623 0.01029585 -0.01068697
+v -0.01984741 0.00923882 -0.01857122
+v -0.01984741 0.01029585 -0.01847821
+v -0.02456623 0.00925372 -0.01151862
+v -0.02347097 0.00923882 -0.01462362
+v -0.02308072 0.01029585 -0.01489719
+v -0.02299244 0.01000956 -0.01539235
+v -0.02142248 0.00923882 -0.01799126
+v -0.02128941 0.01029585 -0.01793655
+v -0.02258044 0.00923882 -0.01662888
+v -0.02295789 0.01029585 -0.01523642
+v -0.02226056 0.01029585 -0.01663983
+v -0.02257276 0.00923882 -0.01663983
+v -0.02257276 0.00924762 -0.01663709
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 24
+f 1 24 27
+f 1 27 26
+f 1 26 21
+f 1 21 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 20
+f 3 20 25
+f 3 25 28
+f 3 28 23
+f 3 23 17
+f 3 17 13
+f 3 13 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 11 10
+f 8 13 14
+f 8 12 13
+f 9 10 11
+f 9 11 16
+f 9 16 19
+f 9 19 15
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 16 21 22
+f 16 22 19
+f 17 23 18
+f 18 23 24
+f 19 22 20
+f 20 22 25
+f 21 26 22
+f 22 26 27
+f 22 27 25
+f 23 28 24
+f 24 28 29
+f 24 29 27
+f 25 27 29
+f 25 29 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_298.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f896dc44216c92e28eb14763a94f9f7979693b44
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_298.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 0.03151609 -0.00724703
+v -0.00398662 0.03151609 -0.00918973
+v -0.00505678 0.03151609 -0.00724703
+v -0.00398662 -0.00814269 -0.00724703
+v -0.00505678 0.03151609 -0.00918973
+v -0.00398662 -0.00814269 -0.00918973
+v -0.00505678 -0.00814269 -0.00724703
+v -0.00505678 -0.00814269 -0.00918973
+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_half_muffin/new_half_muffin_1/collision/model_normalized_collision_299.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a2a146a0b5cefd4304e66dd0291801263d32fe
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_299.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01629859 0.03513748 -0.01807819
+v 0.01632239 0.03486069 -0.01807819
+v 0.01619226 0.03513748 -0.01830126
+v 0.00024957 0.03513748 -0.01807819
+v 0.01632239 0.03424781 -0.01807819
+v 0.01620654 0.03486069 -0.01831989
+v 0.01440057 0.03486069 -0.01892403
+v 0.01440057 0.03513748 -0.01888677
+v 0.00125095 0.03513748 -0.01824446
+v 0.00155882 0.03486069 -0.01838970
+v 0.00011150 0.03487019 -0.01814592
+v 0.00011150 0.03506928 -0.01807819
+v 0.01620654 0.03424781 -0.01831989
+v 0.00011150 0.03424781 -0.01807819
+v 0.01491793 0.03424781 -0.01875105
+v 0.01440057 0.03424781 -0.01892403
+v 0.01225975 0.03424781 -0.01891724
+v 0.01225975 0.03486069 -0.01891451
+v 0.01225975 0.03513748 -0.01887361
+v 0.00155882 0.03513748 -0.01828520
+v 0.00155882 0.03424781 -0.01851324
+v 0.00034796 0.03424781 -0.01831120
+v 0.00369964 0.03513748 -0.01850521
+v 0.00369964 0.03486069 -0.01859952
+v 0.00011150 0.03442452 -0.01823585
+v 0.00011150 0.03424781 -0.01827145
+v 0.01011893 0.03424781 -0.01889298
+v 0.01011893 0.03486069 -0.01888056
+v 0.01011893 0.03513748 -0.01883195
+v 0.00369964 0.03424781 -0.01868622
+v 0.00583253 0.03513748 -0.01866121
+v 0.00584046 0.03486069 -0.01873847
+v 0.00797970 0.03424781 -0.01885373
+v 0.00797970 0.03486069 -0.01882550
+v 0.00797970 0.03513748 -0.01876844
+v 0.00584046 0.03424781 -0.01879163
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 29
+f 1 29 35
+f 1 35 31
+f 1 31 23
+f 1 23 20
+f 1 20 9
+f 1 9 4
+f 1 4 12
+f 1 12 14
+f 1 14 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 14 26
+f 5 26 22
+f 5 22 21
+f 5 21 30
+f 5 30 36
+f 5 36 33
+f 5 33 27
+f 5 27 17
+f 5 17 16
+f 5 16 15
+f 5 15 13
+f 6 13 15
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 15 16
+f 8 18 19
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 23
+f 10 23 24
+f 10 24 21
+f 11 25 26
+f 11 26 14
+f 11 14 12
+f 11 22 25
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 21 24 30
+f 22 26 25
+f 23 31 24
+f 24 31 32
+f 24 32 30
+f 27 33 28
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 30 32 36
+f 31 35 32
+f 32 35 34
+f 32 34 36
+f 33 36 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_3.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7efc2ae2587912d7489162d7de6c8a549b6a4b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01526081 0.00703374 0.01711326
+v -0.01526081 0.00847190 0.01675131
+v -0.01556645 0.00846253 0.01674318
+v -0.01556645 0.00703374 0.01708275
+v -0.01526081 0.00490694 0.01683603
+v -0.01526081 0.00954154 0.01601996
+v -0.01556645 0.00953218 0.01601793
+v -0.01702610 0.00827671 0.01663202
+v -0.01743624 0.00703374 0.01672826
+v -0.01731300 0.00562993 0.01669370
+v -0.01526081 0.00475859 0.01677503
+v -0.01526081 0.01087196 0.01494904
+v -0.01556645 0.01086728 0.01494768
+v -0.01770663 0.01057371 0.01470232
+v -0.01772634 0.00906372 0.01586949
+v -0.01777884 0.00764429 0.01654322
+v -0.01777884 0.00906684 0.01584644
+v -0.01777884 0.00703374 0.01664151
+v -0.01777884 0.00505528 0.01625380
+v -0.01777884 0.00486322 0.01614807
+v -0.01595983 0.00420269 0.01627075
+v -0.01526130 0.00290975 0.01535233
+v -0.01526081 0.00290975 0.01535165
+v -0.01526081 0.01102499 0.01481958
+v -0.01526081 0.01194317 0.01399605
+v -0.01556645 0.01193692 0.01398724
+v -0.01770663 0.01164492 0.01367138
+v -0.01777884 0.01156840 0.01371883
+v -0.01777884 0.01055966 0.01468944
+v -0.01777884 0.00329545 0.01497276
+v -0.01777884 0.00325953 0.01493819
+v -0.01526081 0.00111243 0.01322132
+v -0.01526081 0.01210557 0.01384286
+v -0.01526081 0.01305029 0.01292648
+v -0.01556645 0.01303780 0.01291767
+v -0.01770663 0.01272393 0.01260181
+v -0.01777884 0.01270988 0.01258622
+v -0.01777884 0.00218989 0.01360157
+v -0.01777884 0.00140288 0.01252929
+v -0.01777884 0.00035353 0.01105981
+v -0.01777884 -0.00025702 0.01018952
+v -0.01526081 -0.00100656 0.01018952
+v -0.01526081 0.01320332 0.01274754
+v -0.01556645 0.01410744 0.01153224
+v -0.01758708 0.01382793 0.01103134
+v -0.01777884 0.01363586 0.01121842
+v -0.01777884 0.01429014 0.01018952
+v -0.01526081 0.01494598 0.01018952
+v -0.01526081 0.01411994 0.01155935
+v -0.01556645 0.01492568 0.01018952
+v -0.01681388 0.01460088 0.01018952
+v -0.01777884 0.01398252 0.01068634
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 32
+f 1 32 42
+f 1 42 48
+f 1 48 49
+f 1 49 43
+f 1 43 34
+f 1 34 33
+f 1 33 25
+f 1 25 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 9 16 18
+f 9 18 10
+f 10 19 11
+f 10 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 17
+f 16 17 29
+f 16 29 28
+f 16 28 37
+f 16 37 46
+f 16 46 52
+f 16 52 47
+f 16 47 41
+f 16 41 40
+f 16 40 39
+f 16 39 38
+f 16 38 31
+f 16 31 30
+f 16 30 20
+f 16 20 19
+f 16 19 18
+f 20 30 21
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 34 43 35
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 41 47 51
+f 41 51 50
+f 41 50 48
+f 41 48 42
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 45 52 46
+f 45 51 52
+f 47 52 51
+f 48 50 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_30.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61561a75befa6544b6e471ff72802f236964cca3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00163208 0.00481891 -0.01892411
+v 0.00290712 0.00481891 -0.01892411
+v -0.00024728 0.00481891 -0.01892054
+v -0.00024728 0.00808146 -0.01892411
+v 0.00290712 0.00827640 -0.01892411
+v 0.00290712 0.00481891 0.01619024
+v -0.00024728 0.00481891 0.01383453
+v -0.00024728 0.00827640 -0.01892411
+v 0.00290712 0.00827640 0.01753942
+v 0.00278823 0.00827640 0.01744305
+v 0.00218761 0.00827640 0.01695049
+v 0.00183959 0.00827640 0.01662926
+v 0.00062662 0.00827640 0.01549067
+v -0.00024728 0.00827640 0.01466974
+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 14
+f 3 14 8
+f 3 8 4
+f 5 8 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 6 9 7
+f 7 9 10
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_300.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706a6a94987ca27c7b6fc720ddc372285ad0bd20
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_300.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00740928 -0.03085310 -0.01816629
+v -0.00773052 -0.03085310 -0.01810180
+v -0.00740928 -0.02937940 -0.01855730
+v -0.00740928 -0.03085310 0.00166406
+v -0.00854170 -0.03015460 -0.01811994
+v -0.00854170 -0.03014026 -0.01812397
+v -0.00854170 -0.02957959 -0.01827312
+v -0.00789513 -0.03085310 -0.01806149
+v -0.00854170 -0.02944862 -0.01830738
+v -0.00854170 -0.02796681 -0.01864195
+v -0.00740928 -0.02894970 -0.01865404
+v -0.00740928 -0.02448181 0.00166406
+v -0.00854170 -0.03085310 0.00166406
+v -0.00854170 -0.03085310 -0.01790227
+v -0.00854170 -0.02782961 -0.01867218
+v -0.00854170 -0.02781713 -0.01867420
+v -0.00854170 -0.02721468 -0.01874272
+v -0.00740928 -0.02721468 -0.01884954
+v -0.00854170 -0.02448181 0.00166406
+v -0.00740928 -0.02448181 -0.01892210
+v -0.00854170 -0.02567736 -0.01888381
+v -0.00740928 -0.02680993 -0.01888582
+v -0.00854170 -0.02448181 -0.01890396
+v -0.00740928 -0.02466953 -0.01892412
+v -0.00762311 -0.02448181 -0.01892210
+v -0.00788947 -0.02448181 -0.01891807
+f 1 2 3
+f 1 3 11
+f 1 11 18
+f 1 18 22
+f 1 22 24
+f 1 24 20
+f 1 20 12
+f 1 12 4
+f 1 4 13
+f 1 13 14
+f 1 14 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 3 7 9
+f 4 12 19
+f 4 19 13
+f 5 8 14
+f 5 14 13
+f 5 13 19
+f 5 19 23
+f 5 23 21
+f 5 21 17
+f 5 17 16
+f 5 16 15
+f 5 15 10
+f 5 10 9
+f 5 9 7
+f 5 7 6
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 20 25
+f 12 25 26
+f 12 26 23
+f 12 23 19
+f 17 21 18
+f 18 21 22
+f 20 24 25
+f 21 23 26
+f 21 26 22
+f 22 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_31.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1cb1824a0d10512addf38106d5d938b2b19660
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.00493181 -0.01008767 0.01894389
+v -0.00493181 -0.00795228 0.01887336
+v -0.00742018 0.00061062 0.01786026
+v -0.00578790 -0.00795228 0.01861476
+v -0.00493181 -0.01223017 0.01885969
+v -0.00493181 -0.00572450 0.01865029
+v -0.00700407 0.00061062 0.01795266
+v -0.00742018 0.00274957 0.01765414
+v -0.00742018 -0.00150346 0.01783293
+v -0.00572627 -0.01008767 0.01850814
+v -0.00742018 -0.00367083 0.01770007
+v -0.00560616 -0.01223017 0.01829273
+v -0.00493181 -0.01436912 0.01852837
+v -0.00493181 -0.00450580 0.01851744
+v -0.00493181 -0.00367083 0.01842285
+v -0.00700407 0.00274957 0.01763009
+v -0.00742018 0.00485298 0.01704836
+v -0.00742018 -0.00580978 0.01746935
+v -0.00742018 -0.00773909 0.01718942
+v -0.00742018 -0.01008767 0.01666346
+v -0.00542271 -0.01436912 0.01797453
+v -0.00493181 -0.01650096 0.01792040
+v -0.00493181 -0.00152833 0.01807568
+v -0.00493181 0.00061062 0.01755081
+v -0.00493181 0.00242268 0.01695159
+v -0.00570069 0.00409973 0.01668697
+v -0.00706619 0.00484233 0.01695050
+v -0.00742018 0.00547122 0.01681819
+v -0.00742018 -0.01223017 0.01609486
+v -0.00742018 -0.01452546 0.01540542
+v -0.00742018 -0.01455388 0.01539668
+v -0.00656409 -0.01865057 0.01511292
+v -0.00626321 -0.02078952 0.01476465
+v -0.00604712 -0.02214324 0.01452081
+v -0.00493181 -0.01865412 0.01710960
+v -0.00493181 0.00259323 0.01689090
+v -0.00493790 0.00258613 0.01689801
+v -0.00493181 0.00481390 0.01553773
+v -0.00547266 0.00650516 0.01479746
+v -0.00639428 0.00552451 0.01622389
+v -0.00742018 0.00659043 0.01611290
+v -0.00742018 -0.01650452 0.01474060
+v -0.00742018 -0.01865057 0.01396587
+v -0.00662377 -0.02263356 0.01335900
+v -0.00652364 -0.02288583 0.01338524
+v -0.00573894 -0.02357157 0.01414028
+v -0.00493181 -0.02277568 0.01533708
+v -0.00493181 -0.01989770 0.01662246
+v -0.00742018 -0.02011443 0.01335900
+v -0.00725329 -0.02069714 0.01335900
+v -0.00493181 0.00502708 0.01538684
+v -0.00493181 0.00701680 0.01390792
+v -0.00611387 0.00792994 0.01425509
+v -0.00696752 0.00705589 0.01548470
+v -0.00742018 0.00825327 0.01490079
+v -0.00653777 -0.02288938 0.01335900
+v -0.00651268 -0.02295689 0.01335900
+v -0.00493181 -0.02291781 0.01526765
+v -0.00601204 -0.02418270 0.01335900
+v -0.00546242 -0.02527349 0.01338524
+v -0.00493181 -0.02518111 0.01404679
+v -0.00742018 0.01008666 0.01335900
+v -0.00493181 0.00736856 0.01363072
+v -0.00561639 0.00844514 0.01335900
+v -0.00655994 0.00937249 0.01335900
+v -0.00677214 0.00937249 0.01351318
+v -0.00742018 0.00869741 0.01455197
+v -0.00547266 -0.02529126 0.01335900
+v -0.00493181 -0.02620795 0.01335900
+v -0.00742018 0.00961410 0.01377670
+v -0.00690881 0.00966384 0.01335900
+v -0.00493181 0.00759595 0.01343827
+v -0.00493181 0.00768833 0.01335900
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 35
+f 1 35 48
+f 1 48 47
+f 1 47 58
+f 1 58 61
+f 1 61 69
+f 1 69 73
+f 1 73 72
+f 1 72 63
+f 1 63 52
+f 1 52 51
+f 1 51 38
+f 1 38 36
+f 1 36 25
+f 1 25 24
+f 1 24 23
+f 1 23 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 17
+f 3 17 28
+f 3 28 41
+f 3 41 55
+f 3 55 67
+f 3 67 70
+f 3 70 62
+f 3 62 49
+f 3 49 43
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+f 3 42 31
+f 3 31 30
+f 3 30 29
+f 3 29 20
+f 3 20 19
+f 3 19 18
+f 3 18 11
+f 3 11 9
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+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 5 12 13
+f 5 10 12
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 10 11 18
+f 10 18 19
+f 10 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 25 36 37
+f 25 37 26
+f 26 37 36
+f 26 36 38
+f 26 38 39
+f 26 39 40
+f 26 40 28
+f 26 28 27
+f 28 40 41
+f 31 42 32
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 34 43 49
+f 34 49 50
+f 34 50 44
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 44 56 45
+f 44 50 49
+f 44 49 62
+f 44 62 71
+f 44 71 65
+f 44 65 64
+f 44 64 73
+f 44 73 69
+f 44 69 68
+f 44 68 59
+f 44 59 57
+f 44 57 56
+f 45 56 57
+f 45 57 46
+f 46 58 47
+f 46 57 59
+f 46 59 60
+f 46 60 61
+f 46 61 58
+f 52 63 53
+f 53 64 65
+f 53 65 66
+f 53 66 67
+f 53 67 55
+f 53 55 54
+f 53 63 64
+f 59 68 60
+f 60 68 69
+f 60 69 61
+f 62 70 71
+f 63 72 64
+f 64 72 73
+f 65 71 70
+f 65 70 66
+f 66 70 67
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_32.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73143974193bc0be6c36030211c03d9514eebeb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_32.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v 0.01706344 0.03513757 -0.00193948
+v 0.01706344 0.03513757 -0.01450335
+v 0.01706344 0.03716416 -0.00380226
+v 0.01706149 0.03513757 0.00261840
+v 0.01706344 0.03700108 -0.01450335
+v 0.01698936 0.03513757 -0.01664357
+v 0.01706344 0.03716416 -0.01022291
+v 0.01705564 0.03716416 0.00475861
+v 0.01705954 0.03513757 0.00475861
+v 0.01689383 0.03700108 -0.01664357
+v 0.01703615 0.03716416 -0.01450335
+v 0.01705759 0.03716416 -0.01236313
+v 0.01619201 0.03513757 -0.01830026
+v 0.01654877 0.03716416 0.00673501
+v 0.01686459 0.03513757 0.00662140
+v 0.01609648 0.03700108 -0.01817343
+v 0.01606529 0.03716416 -0.01814701
+v 0.01677296 0.03716416 -0.01678625
+v 0.01683340 0.03716416 -0.01663829
+v 0.01440040 0.03513757 -0.01888683
+v 0.01647663 0.03716416 0.00690940
+v 0.01633237 0.03582520 0.00810634
+v 0.01643959 0.03513757 0.00810634
+v 0.01679246 0.03513757 0.00689883
+v 0.01440040 0.03700108 -0.01863582
+v 0.01440040 0.03716416 -0.01857505
+v 0.01225983 0.03513757 -0.01887098
+v 0.01577286 0.03716416 0.00810634
+v 0.00038727 0.03513757 0.00810634
+v 0.01225983 0.03700108 -0.01859619
+v 0.01225983 0.03716416 -0.01853542
+v 0.01011926 0.03513757 -0.01883135
+v 0.00479123 0.03716416 0.00810634
+v 0.00096238 0.03560200 0.00810634
+v -0.00225433 0.03513757 0.00763866
+v 0.01011926 0.03700108 -0.01850371
+v 0.00797869 0.03513757 -0.01876794
+v 0.01011926 0.03716416 -0.01843765
+v 0.00369950 0.03716416 0.00794252
+v 0.00369950 0.03682332 0.00810634
+v -0.00058164 0.03700108 0.00732952
+v -0.00285283 0.03513757 0.00748013
+v 0.00583422 0.03513757 -0.01865960
+v 0.00797869 0.03700108 -0.01838217
+v 0.00797869 0.03716416 -0.01831875
+v 0.00984633 0.03716416 -0.01842444
+v -0.00041593 0.03716416 0.00726875
+v -0.00058164 0.03716416 0.00723440
+v -0.00270077 0.03716416 0.00661876
+v -0.00276900 0.03711773 0.00662404
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+v -0.00285283 0.03513757 -0.01630272
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_33.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc892895e90fd375fc53d4fa0baf6c8006daf16
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.00832752 0.01771869 0.00819604
+v -0.00742051 0.01771869 0.00819604
+v -0.00742051 0.01771869 0.00834341
+v -0.00803504 0.01987692 0.00819604
+v -0.00742051 0.02135826 0.00819604
+v -0.00742051 0.01987692 0.00828444
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 4
+f 4 6 5
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_34.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34016eb231a1b98c05d3cc23ae1fb786fdb8ebb8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01777871 -0.00175361 0.00902812
+v -0.01642635 -0.00105838 0.00902641
+v -0.01617101 -0.00211499 0.00902641
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+v -0.01556643 0.01492288 0.01018951
+v -0.01734197 0.01569516 0.00902641
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+f 12 16 15
+f 13 15 14
+f 14 15 16
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_35.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c2729032fd046ecf83564f0aa1611abb6bf89f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_35.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00518998 0.01250547 0.00819604
+v -0.00285283 0.01250547 0.00819604
+v -0.00518998 0.01250547 0.00962962
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+v -0.00365651 0.02629782 0.00962962
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+f 7 9 8
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+f 11 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_36.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e561ffd6d5032d5522b0beb046d226b5f0c64a26
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,441 @@
+# https://github.com/mikedh/trimesh
+v 0.01704241 -0.04067044 -0.00319130
+v 0.01702827 -0.04067044 0.00261867
+v 0.01698587 -0.04219843 0.00047803
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+v 0.01697173 -0.04067044 0.00475931
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+v 0.01619246 -0.04384063 -0.00380325
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+v 0.01673495 -0.04219843 -0.00808217
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+v 0.01440067 -0.04384098 0.00475931
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+f 73 99 74
+f 74 99 75
+f 75 99 76
+f 76 99 100
+f 76 100 101
+f 76 101 102
+f 76 102 77
+f 81 103 104
+f 81 104 82
+f 81 83 103
+f 82 104 129
+f 82 129 105
+f 83 86 89
+f 83 89 106
+f 83 106 107
+f 83 107 108
+f 83 108 109
+f 83 109 110
+f 83 110 103
+f 84 105 85
+f 85 105 111
+f 85 111 112
+f 85 112 90
+f 88 106 89
+f 90 112 111
+f 90 111 113
+f 90 113 91
+f 91 113 114
+f 91 114 115
+f 91 115 116
+f 91 116 92
+f 92 116 117
+f 92 117 118
+f 92 118 119
+f 92 119 120
+f 92 120 94
+f 92 94 93
+f 94 120 121
+f 94 121 122
+f 94 122 95
+f 95 122 97
+f 95 97 96
+f 97 122 123
+f 97 123 124
+f 97 124 125
+f 97 125 100
+f 97 100 98
+f 98 100 99
+f 100 125 101
+f 101 125 124
+f 101 124 126
+f 101 126 127
+f 101 127 102
+f 103 110 104
+f 104 110 128
+f 104 128 146
+f 104 146 129
+f 105 129 111
+f 108 130 109
+f 109 130 131
+f 109 131 128
+f 109 128 110
+f 111 132 113
+f 111 129 132
+f 113 132 133
+f 113 133 134
+f 113 134 135
+f 113 135 136
+f 113 136 137
+f 113 137 138
+f 113 138 115
+f 113 115 114
+f 115 138 137
+f 115 137 139
+f 115 139 140
+f 115 140 117
+f 115 117 116
+f 117 140 118
+f 118 141 119
+f 119 141 120
+f 120 141 121
+f 121 142 143
+f 121 143 144
+f 121 144 122
+f 121 141 142
+f 122 144 145
+f 122 145 123
+f 128 131 148
+f 128 148 146
+f 129 146 133
+f 129 133 132
+f 130 147 148
+f 130 148 131
+f 133 146 148
+f 133 148 134
+f 134 148 147
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_37.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76aea8b81e5a3fb7146d4f821baffb4b6c97ff7d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_37.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01706145 -0.01222067 0.01546213
+v 0.01706145 -0.01581740 0.01546213
+v 0.01706145 -0.01222067 0.01117214
+v 0.01663202 -0.01222067 0.01759113
+v 0.01663004 -0.01223123 0.01760249
+v 0.01668062 -0.01437131 0.01760249
+v 0.01706145 -0.01581740 0.00915878
+v 0.01667467 -0.01581740 0.01760249
+v 0.01706145 -0.01222138 0.00915878
+v 0.01690178 -0.01222067 0.00915878
+v 0.01662905 -0.01222067 0.01760249
+v 0.01583367 -0.01222067 0.01889929
+v 0.01590805 -0.01430336 0.01890652
+v 0.01588425 -0.01437131 0.01894782
+v 0.01587929 -0.01581740 0.01895505
+v 0.01613714 -0.01581740 0.01851934
+v 0.00693178 -0.01581740 0.00915878
+v 0.00693178 -0.01222067 0.00915878
+v 0.01439961 -0.01222067 0.01928854
+v 0.01439961 -0.01430336 0.01942999
+v 0.01444523 -0.01430336 0.01941760
+v 0.01439961 -0.01581740 0.01952705
+v 0.01488160 -0.01581740 0.01936908
+v 0.01588226 -0.01430336 0.01894679
+v 0.00693178 -0.01581740 0.01836240
+v 0.00693178 -0.01222067 0.01645229
+v 0.01225943 -0.01581740 0.01970257
+v 0.01295365 -0.01581740 0.01970670
+v 0.01226934 -0.01222067 0.01918323
+v 0.01061611 -0.01581740 0.01936082
+v 0.01225943 -0.01222067 0.01918220
+v 0.01097512 -0.01222067 0.01879398
+v 0.00693178 -0.01509981 0.01799587
+v 0.00693178 -0.01328015 0.01706559
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 32
+f 1 32 31
+f 1 31 29
+f 1 29 19
+f 1 19 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 16
+f 2 16 15
+f 2 15 23
+f 2 23 22
+f 2 22 28
+f 2 28 27
+f 2 27 30
+f 2 30 25
+f 2 25 17
+f 2 17 7
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 17 18
+f 7 18 10
+f 7 10 9
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 12 14 13
+f 14 24 23
+f 14 23 15
+f 17 25 33
+f 17 33 34
+f 17 34 26
+f 17 26 18
+f 19 27 28
+f 19 28 20
+f 19 29 27
+f 20 28 22
+f 20 22 21
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 26 34 32
+f 27 29 31
+f 27 31 30
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_38.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d94f38e037a95a571ddbcc28a38b6be965bd41
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_38.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.01987786 0.01469567
+v -0.00285283 0.02098777 0.01455583
+v -0.00346434 0.01987786 0.01389730
+v -0.00343986 0.01773744 0.01390275
+v -0.00285283 0.01893895 0.01468376
+v -0.00285283 0.02201676 0.01437285
+v -0.00335705 0.02201676 0.01366771
+v -0.00410948 0.01987786 0.01282719
+v -0.00412893 0.01773744 0.01283265
+v -0.00285283 0.01773744 0.01463170
+v -0.00404383 0.01559702 0.01267297
+v -0.00329459 0.01559702 0.01374308
+v -0.00285283 0.01661837 0.01445417
+v -0.00285283 0.02283964 0.01412590
+v -0.00314932 0.02404726 0.01317431
+v -0.00384571 0.02325949 0.01236255
+v -0.00397130 0.02201676 0.01259710
+v -0.00505615 0.02201676 0.00962976
+v -0.00518998 0.02066105 0.00962976
+v -0.00518998 0.01987786 0.00984101
+v -0.00518998 0.01838934 0.00997043
+v -0.00518998 0.01773744 0.01002299
+v -0.00518998 0.01250547 0.01040780
+v -0.00456863 0.01250547 0.01130683
+v -0.00318341 0.01327339 0.01323034
+v -0.00285283 0.01559702 0.01427169
+v -0.00285283 0.02407626 0.01362655
+v -0.00285283 0.02439076 0.01348473
+v -0.00285283 0.02475870 0.01323976
+v -0.00461416 0.02414802 0.00962976
+v -0.00518998 0.01250547 0.00962976
+v -0.00373292 0.01250547 0.01231594
+v -0.00285283 0.01332225 0.01363647
+v -0.00285283 0.01407338 0.01384821
+v -0.00285283 0.01250547 0.01335233
+v -0.00285283 0.02556937 0.01237892
+v -0.00285283 0.02810215 0.00962976
+v -0.00285283 0.01250547 0.00962976
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 13
+f 1 13 26
+f 1 26 34
+f 1 34 33
+f 1 33 35
+f 1 35 38
+f 1 38 37
+f 1 37 36
+f 1 36 29
+f 1 29 28
+f 1 28 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 10 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 10
+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 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 11
+f 11 23 24
+f 11 24 12
+f 12 25 26
+f 12 26 13
+f 12 24 25
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 18
+f 16 18 17
+f 18 30 37
+f 18 37 38
+f 18 38 31
+f 18 31 19
+f 19 31 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 23 31 38
+f 23 38 35
+f 23 35 32
+f 23 32 24
+f 24 32 25
+f 25 33 34
+f 25 34 26
+f 25 32 35
+f 25 35 33
+f 29 36 30
+f 30 36 37
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_39.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83e05f6fdba50a4bc497d8328cd5c2d1c9edb84
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00742042 0.01559522 0.00819604
+v -0.00518998 0.01559522 0.00819604
+v -0.00742042 0.01559522 0.00863254
+v -0.00742042 0.02135832 0.00819604
+v -0.00518998 0.01559522 0.00986871
+v -0.00518998 0.02873880 0.00819604
+v -0.00518998 0.01624757 0.00994596
+v -0.00518998 0.01773756 0.01002285
+v -0.00518998 0.01987734 0.00984064
+v -0.00650999 0.02629794 0.00819604
+v -0.00518998 0.01838863 0.00997010
+v -0.00546529 0.02843900 0.00819604
+v -0.00518998 0.02424309 0.00906099
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 9
+f 2 9 11
+f 2 11 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 8 11
+f 4 11 9
+f 6 12 13
+f 9 13 10
+f 10 13 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_4.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1fb965d862e17904e31850feba6088880cdf4d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.00489494 0.01756527
+v -0.01149485 0.00703652 0.01721590
+v -0.01342538 0.00703652 0.01729864
+v -0.01526081 0.00703652 0.01711309
+v -0.01342538 0.00489494 0.01724181
+v -0.01149485 0.00271291 0.01710807
+v -0.01149485 0.00832358 0.01667929
+v -0.01342538 0.00852754 0.01679965
+v -0.01349137 0.00852578 0.01679881
+v -0.01526081 0.00847127 0.01675117
+v -0.01526081 0.00490724 0.01683559
+v -0.01349137 0.00489494 0.01722760
+v -0.01149485 -0.00179707 0.01511629
+v -0.01526081 0.00475955 0.01677458
+v -0.01149485 0.00939613 0.01584764
+v -0.01342538 0.00959833 0.01602901
+v -0.01349137 0.00853281 0.01679464
+v -0.01349137 0.00852754 0.01679798
+v -0.01526081 0.00954031 0.01601982
+v -0.01164156 -0.00179707 0.01499843
+v -0.01149485 -0.00179707 0.00902725
+v -0.01526081 0.00291160 0.01535115
+v -0.01149485 0.01071308 0.01477694
+v -0.01342538 0.01090649 0.01495831
+v -0.01526081 0.01087132 0.01494912
+v -0.01283483 -0.00179707 0.01368785
+v -0.01149485 0.01608286 0.00902725
+v -0.01526081 -0.00179707 0.00902725
+v -0.01526081 0.00111464 0.01322062
+v -0.01301804 -0.00179707 0.01340785
+v -0.01149485 0.01178211 0.01386672
+v -0.01342538 0.01197376 0.01404809
+v -0.01349137 0.01194212 0.01407567
+v -0.01526081 0.01102429 0.01481873
+v -0.01310799 0.01615319 0.00902725
+v -0.01342538 0.01419095 0.01172532
+v -0.01149485 0.01292499 0.01279769
+v -0.01526081 -0.00179707 0.00943346
+v -0.01526081 0.01600725 0.00902725
+v -0.01149485 0.01281422 0.01290300
+v -0.01342538 0.01312192 0.01297906
+v -0.01349137 0.01308676 0.01300999
+v -0.01526081 0.01194212 0.01399544
+v -0.01342538 0.01616550 0.00902725
+v -0.01349137 0.01419095 0.01171946
+v -0.01349137 0.01415755 0.01176209
+v -0.01526081 0.01412062 0.01155982
+v -0.01349137 0.01312016 0.01297739
+v -0.01526081 0.01304983 0.01292641
+v -0.01526081 0.01210564 0.01384248
+v -0.01526081 0.01320280 0.01274754
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 27
+f 1 27 37
+f 1 37 40
+f 1 40 31
+f 1 31 23
+f 1 23 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 19
+f 4 19 25
+f 4 25 34
+f 4 34 43
+f 4 43 50
+f 4 50 49
+f 4 49 51
+f 4 51 47
+f 4 47 39
+f 4 39 28
+f 4 28 38
+f 4 38 29
+f 4 29 22
+f 4 22 14
+f 4 14 11
+f 5 12 6
+f 6 12 11
+f 6 11 14
+f 6 14 13
+f 7 15 16
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 17
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 13 20 26
+f 13 26 30
+f 13 30 38
+f 13 38 28
+f 13 28 21
+f 13 14 20
+f 14 22 20
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 19
+f 16 19 17
+f 20 22 26
+f 21 28 39
+f 21 39 44
+f 21 44 35
+f 21 35 27
+f 22 29 30
+f 22 30 26
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 27 35 36
+f 27 36 37
+f 29 38 30
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 33
+f 33 43 34
+f 33 42 43
+f 35 44 36
+f 36 45 46
+f 36 46 41
+f 36 41 37
+f 36 44 45
+f 37 41 40
+f 39 47 45
+f 39 45 44
+f 41 46 48
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 45 47 51
+f 45 51 46
+f 46 51 48
+f 48 51 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_40.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4afcd04e3f83386034f08e49af8cfd96080036b7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_40.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00950683 0.02000924 -0.01459480
+v -0.00950683 0.02000924 -0.01892073
+v -0.01040501 0.02000924 -0.01459480
+v -0.00950683 -0.03231481 -0.01459480
+v -0.00950683 0.01987095 -0.01892370
+v -0.01040501 0.02000924 -0.01892073
+v -0.01040501 -0.03155167 -0.01459480
+v -0.00976886 -0.03210482 -0.01459480
+v -0.01040501 -0.03096266 -0.01590597
+v -0.00950683 -0.03225847 -0.01470667
+v -0.01031075 0.01266461 -0.01892412
+v -0.01040501 0.01987095 -0.01892370
+v -0.00950683 -0.00430383 -0.01892370
+v -0.01040501 -0.03079364 -0.01623694
+v -0.00950683 -0.03129046 -0.01660012
+v -0.01040501 0.01239316 -0.01892412
+v -0.01040501 0.01266461 -0.01892412
+v -0.00950683 -0.02256807 -0.01892328
+v -0.01040501 -0.00686983 -0.01892370
+v -0.01008038 -0.03029683 -0.01760914
+v -0.01040501 -0.03007660 -0.01742225
+v -0.00950683 -0.03103437 -0.01706119
+v -0.00964646 -0.03085510 -0.01719468
+v -0.00950683 -0.02470898 -0.01888132
+v -0.01040501 -0.02169225 -0.01892285
+v -0.01040501 -0.02166664 -0.01892328
+v -0.00950683 -0.03050170 -0.01772186
+v -0.00950683 -0.03093193 -0.01719468
+v -0.01040501 -0.02991782 -0.01753540
+v -0.01040501 -0.02961051 -0.01775025
+v -0.01040501 -0.02380754 -0.01887920
+v -0.00950683 -0.02684988 -0.01868384
+v -0.00950683 -0.02939028 -0.01810877
+v -0.01040501 -0.02901639 -0.01796214
+v -0.01040501 -0.02594844 -0.01867664
+v -0.00950683 -0.02722889 -0.01859993
+v -0.01040501 -0.02613795 -0.01863511
+v -0.00950683 -0.02925199 -0.01814649
+v -0.01040501 -0.02833519 -0.01814649
+v -0.01040501 -0.02726986 -0.01838423
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 28
+f 1 28 27
+f 1 27 33
+f 1 33 38
+f 1 38 36
+f 1 36 32
+f 1 32 24
+f 1 24 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 6 12
+f 3 12 17
+f 3 17 16
+f 3 16 19
+f 3 19 26
+f 3 26 25
+f 3 25 31
+f 3 31 35
+f 3 35 37
+f 3 37 40
+f 3 40 39
+f 3 39 34
+f 3 34 30
+f 3 30 29
+f 3 29 21
+f 3 21 14
+f 3 14 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 5 11 17
+f 5 17 12
+f 5 13 11
+f 7 9 8
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 13 16
+f 13 18 19
+f 13 19 16
+f 14 20 15
+f 14 21 20
+f 15 20 23
+f 15 23 22
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 27 28
+f 20 28 23
+f 20 21 29
+f 20 29 30
+f 20 30 27
+f 22 23 28
+f 24 31 25
+f 24 32 31
+f 27 30 34
+f 27 34 33
+f 31 32 35
+f 32 36 37
+f 32 37 35
+f 33 34 38
+f 34 39 38
+f 36 40 37
+f 36 38 39
+f 36 39 40
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_41.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f4801b4a295a97c338c6cde3f90cb03b5c97ed
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_41.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00355064 -0.02079385 0.02142435
+v 0.00355064 -0.01930632 0.02113737
+v 0.00155739 -0.01865453 0.02114337
+v 0.00155739 -0.02079385 0.02132348
+v 0.00355064 -0.02292636 0.02128746
+v 0.00355064 -0.01872039 0.02101489
+v 0.00349047 -0.01870222 0.02101729
+v 0.00155739 -0.01736458 0.02087321
+v -0.00003846 -0.01729645 0.02089002
+v -0.00026411 -0.01865453 0.02098728
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+v -0.00272245 -0.01437362 0.02001708
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+v -0.00190196 -0.02224278 0.01897844
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+v 0.00108979 -0.02348731 0.02051658
+v 0.00251641 -0.02406415 0.02085159
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+v 0.00355064 -0.01661968 0.01976732
+v 0.00355064 -0.01222067 0.01648810
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+v 0.00355064 -0.01656290 0.01972770
+v -0.00285220 -0.01222067 0.01681951
+v -0.00285220 -0.01222294 0.01974931
+v -0.00285220 -0.01223203 0.01975051
+v -0.00285220 -0.01437362 0.01995104
+v -0.00285220 -0.01866362 0.01955359
+v -0.00272245 -0.01651521 0.02001227
+v -0.00285220 -0.01651521 0.01992102
+v -0.00228369 -0.02079385 0.01936147
+v -0.00285220 -0.01870449 0.01954158
+v -0.00285220 -0.02079385 0.01869986
+v -0.00285220 -0.02700061 0.01490553
+v -0.00191011 -0.02854264 0.01458253
+v 0.00004804 -0.02441843 0.01909011
+v -0.00102192 -0.02997340 0.01399176
+v 0.00040407 -0.03047303 0.01443484
+v 0.00155739 -0.03068423 0.01462335
+v 0.00355064 -0.02540634 0.01996304
+v 0.00355064 -0.02527234 0.02007591
+v 0.00355064 -0.01222067 0.00915878
+v -0.00285220 -0.01222067 0.00915878
+v -0.00285220 -0.02729811 0.01469420
+v -0.00285220 -0.02887422 0.01346704
+v -0.00266667 -0.02929436 0.01327132
+v -0.00199661 -0.03070467 0.01256528
+v -0.00041768 -0.03104987 0.01329533
+v 0.00049495 -0.03256239 0.01224829
+v 0.00134804 -0.03191741 0.01327492
+v 0.00192157 -0.03277586 0.01253046
+v 0.00355064 -0.03207184 0.01369038
+v 0.00355064 -0.03199917 0.01376242
+v 0.00355064 -0.03091815 0.01482868
+v 0.00355064 -0.03542163 0.00915878
+v -0.00285220 -0.03311652 0.00915878
+v -0.00285220 -0.02920579 0.01317646
+v -0.00285220 -0.02948058 0.01293031
+v -0.00265100 -0.03334817 0.00915878
+v -0.00235138 -0.03352531 0.00915878
+v -0.00058190 -0.03427475 0.00915878
+v 0.00159751 -0.03511049 0.00915878
+v 0.00355064 -0.03290759 0.01270937
+v 0.00257596 -0.03529218 0.00915878
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 28
+f 1 28 50
+f 1 50 49
+f 1 49 63
+f 1 63 62
+f 1 62 61
+f 1 61 72
+f 1 72 64
+f 1 64 51
+f 1 51 30
+f 1 30 32
+f 1 32 29
+f 1 29 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
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+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 10 11
+f 5 13 14
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 14
+f 14 27 28
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+f 16 31 17
+f 16 29 32
+f 16 32 30
+f 17 31 19
+f 17 19 18
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+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 22 37 23
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+f 22 38 39
+f 22 39 37
+f 23 40 24
+f 23 37 41
+f 23 41 40
+f 24 40 42
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 44
+f 26 44 46
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 30 51 52
+f 30 52 33
+f 30 33 31
+f 33 52 65
+f 33 65 67
+f 33 67 66
+f 33 66 54
+f 33 54 53
+f 33 53 43
+f 33 43 42
+f 33 42 41
+f 33 41 37
+f 33 37 39
+f 33 39 36
+f 33 36 35
+f 33 35 34
+f 36 39 38
+f 40 41 42
+f 43 53 44
+f 44 54 55
+f 44 55 56
+f 44 56 46
+f 44 53 54
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 51 64 73
+f 51 73 71
+f 51 71 70
+f 51 70 69
+f 51 69 68
+f 51 68 65
+f 51 65 52
+f 54 66 55
+f 55 66 67
+f 55 67 56
+f 56 67 68
+f 56 68 57
+f 57 68 58
+f 58 60 59
+f 58 68 69
+f 58 69 70
+f 58 70 71
+f 58 71 60
+f 60 72 61
+f 60 71 73
+f 60 73 72
+f 64 72 73
+f 65 68 67
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_42.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4defa1812ad2bc5289a858d4a81f9f2f18c8f81
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_42.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.01222067 0.00475777
+v 0.01706148 -0.01222067 0.00904058
+v 0.01706148 -0.01222204 0.00915878
+v 0.01706343 -0.01223165 0.00475777
+v 0.01706343 -0.01222067 -0.01450387
+v 0.01690162 -0.01222067 0.00915878
+v 0.01706148 -0.02079282 0.00915878
+v 0.01706148 -0.02293277 0.00904058
+v 0.01706148 -0.02507272 0.00689917
+v 0.01706148 -0.02623323 0.00475777
+v 0.01706343 -0.01651292 -0.00380235
+v 0.01706343 -0.01437160 -0.01450387
+v 0.01700300 -0.01222067 -0.01664528
+v -0.00285283 -0.01222067 0.00915878
+v 0.01705953 -0.02293277 0.00915878
+v 0.01699520 -0.02623323 0.00689917
+v 0.01696011 -0.02507272 0.00904058
+v 0.01706148 -0.02623323 -0.01450387
+v 0.01706343 -0.01651292 -0.00808241
+v 0.01700300 -0.02623323 -0.01664528
+v 0.01620565 -0.01222067 -0.01831937
+v -0.00285283 -0.02623323 0.00915878
+v -0.00285283 -0.01222067 -0.01892138
+v 0.01693671 -0.02507272 0.00915878
+v 0.01659945 -0.02623323 0.00912304
+v 0.01620565 -0.02623323 -0.01831937
+v 0.01619785 -0.01222067 -0.01832211
+v 0.01658970 -0.02623323 0.00915878
+v -0.00285283 -0.02623323 -0.01892138
+v 0.01440039 -0.01222067 -0.01892138
+v 0.01225982 -0.01865287 -0.01892413
+v 0.01011925 -0.02079282 -0.01892413
+v 0.00913865 -0.02623323 -0.01892413
+v 0.01440039 -0.02623323 -0.01892138
+v 0.01225982 -0.02623323 -0.01892413
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 21
+f 1 21 27
+f 1 27 30
+f 1 30 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 14
+f 3 14 22
+f 3 22 28
+f 3 28 24
+f 3 24 15
+f 3 15 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 20
+f 5 20 13
+f 7 15 8
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 16
+f 10 16 25
+f 10 25 28
+f 10 28 22
+f 10 22 29
+f 10 29 33
+f 10 33 35
+f 10 35 34
+f 10 34 26
+f 10 26 20
+f 10 20 18
+f 10 18 19
+f 10 19 11
+f 12 18 20
+f 12 19 18
+f 13 20 26
+f 13 26 21
+f 14 23 29
+f 14 29 22
+f 15 24 17
+f 16 17 25
+f 17 24 25
+f 21 26 27
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 29
+f 24 28 25
+f 26 34 27
+f 27 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_43.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a27129249970060f5b535d551ba235830402ab23
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_43.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.00827640 0.01024662
+v -0.00285283 0.00827640 0.01275764
+v -0.00285283 0.00976634 0.01024662
+v 0.01645986 0.00827640 0.01024662
+v -0.00207060 0.00976634 0.01347917
+v -0.00285283 0.00976634 0.01272932
+v -0.00198706 0.00827640 0.01349624
+v -0.00126749 0.00976634 0.01420924
+v 0.01654340 0.00976634 0.01024662
+v 0.01653011 0.00922671 0.01024662
+v 0.01630228 0.00976634 0.01121138
+v 0.01614849 0.00827640 0.01106280
+v -0.00197187 0.00827640 0.01350866
+v -0.00116306 0.00945088 0.01420924
+v 0.01365561 0.00976634 0.01420924
+v 0.01584091 0.00976634 0.01195968
+v 0.01412267 0.00827640 0.01420924
+v -0.00075676 0.00827640 0.01420924
+v 0.01383408 0.00940173 0.01420924
+v 0.01464669 0.00976634 0.01328289
+v 0.01557321 0.00976634 0.01229368
+v 0.01410748 0.00847387 0.01420924
+v 0.01507767 0.00976634 0.01282359
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 17
+f 1 17 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 8
+f 3 8 15
+f 3 15 20
+f 3 20 23
+f 3 23 21
+f 3 21 16
+f 3 16 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 18
+f 8 18 17
+f 8 17 22
+f 8 22 19
+f 8 19 15
+f 9 11 10
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 19 22 20
+f 20 22 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_44.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d744578f231d23f74b0041cb1b6fcb05880ca9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01706177 -0.00351267 0.01101746
+v 0.01705919 -0.00351267 0.01316052
+v 0.01706177 -0.00351267 -0.01448808
+v 0.01706177 -0.00224776 0.00974661
+v 0.01703987 -0.00224776 0.01188967
+v 0.01697032 -0.00224776 0.01331725
+v 0.01705018 -0.00351267 0.01331725
+v 0.01706177 -0.00224776 -0.01448808
+v 0.01699995 -0.00351267 -0.01663796
+v 0.01689820 -0.00224776 0.01403615
+v 0.01685312 -0.00351267 0.01530359
+v 0.01699995 -0.00224776 -0.01663796
+v 0.01661357 -0.00351267 -0.01746248
+v 0.01659296 -0.00224776 0.01546031
+v 0.01682092 -0.00351267 0.01546031
+v 0.01661357 -0.00224776 -0.01746248
+v 0.01620658 -0.00351267 -0.01831766
+v 0.01641008 -0.00224776 0.01587939
+v 0.01663804 -0.00351267 0.01587939
+v 0.01620658 -0.00224776 -0.01831766
+v 0.01600824 -0.00351267 -0.01838580
+v 0.00506087 -0.00224776 0.01587939
+v 0.00546786 -0.00351267 0.01587939
+v 0.01500624 -0.00224776 -0.01871970
+v 0.01439962 -0.00351267 -0.01892072
+v 0.00480458 -0.00224776 0.01572266
+v 0.00452252 -0.00268347 0.01546372
+v 0.00400349 -0.00351267 0.01497991
+v 0.01439962 -0.00224776 -0.01892072
+v 0.00390560 -0.00351267 -0.01892072
+v 0.00452123 -0.00224776 0.01554208
+v 0.00390432 -0.00224776 0.01514686
+v 0.00390432 -0.00351267 0.01491518
+v 0.00390560 -0.00224776 -0.01892072
+v 0.00390432 -0.00351267 -0.01746248
+v 0.00390432 -0.00224776 -0.01746248
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 28
+f 1 28 33
+f 1 33 35
+f 1 35 30
+f 1 30 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 9 12
+f 3 12 8
+f 4 8 12
+f 4 12 16
+f 4 16 20
+f 4 20 24
+f 4 24 29
+f 4 29 34
+f 4 34 36
+f 4 36 32
+f 4 32 31
+f 4 31 26
+f 4 26 22
+f 4 22 18
+f 4 18 14
+f 4 14 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 9 13 16
+f 9 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 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 24
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 25 29
+f 25 30 34
+f 25 34 29
+f 26 31 27
+f 27 31 32
+f 27 32 28
+f 28 32 33
+f 30 35 36
+f 30 36 34
+f 32 36 35
+f 32 35 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_45.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18dc9d5e102a63647d2a2baf360e385791a86a7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01149480 0.00762950 -0.00528669
+v -0.01149480 0.01082865 -0.00600838
+v -0.01106117 0.00762950 -0.00528669
+v -0.01149480 0.00762950 0.00819465
+v -0.01106117 0.01082865 -0.00600838
+v -0.01149480 0.02000924 -0.00600838
+v -0.01106117 0.00762950 0.00819465
+v -0.01149480 0.01759291 0.00819465
+v -0.01106117 0.02000924 -0.00600838
+v -0.01149480 0.02000924 0.00803335
+v -0.01106117 0.01757352 0.00819465
+v -0.01145019 0.01759170 0.00819465
+v -0.01106117 0.02000924 0.00803335
+v -0.01127183 0.01758443 0.00819465
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 11
+f 3 11 7
+f 4 7 11
+f 4 11 14
+f 4 14 12
+f 4 12 8
+f 6 10 13
+f 6 13 9
+f 8 12 13
+f 8 13 10
+f 11 13 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_46.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc64f4201eb9cce7e67342b5a1c7abde0641847
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_46.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00203893 -0.01222067 -0.01892412
+v -0.00285235 -0.01222067 -0.01892033
+v 0.00203893 -0.01008984 -0.01892412
+v 0.00203893 -0.01222067 0.01782630
+v -0.00285235 -0.00601880 -0.01892033
+v -0.00285235 -0.01222067 0.01974777
+v 0.00203893 -0.00601880 -0.01892033
+v 0.00203893 -0.01202641 0.01772397
+v 0.00053779 -0.00676004 0.01659080
+v 0.00054976 -0.01103627 0.01872071
+v 0.00087441 -0.01222067 0.01894432
+v -0.00285235 -0.00601880 0.01859186
+v -0.00272307 -0.01222067 0.01979325
+v -0.00285235 -0.01008984 0.01940668
+v 0.00203893 -0.00601880 0.01451774
+v 0.00203893 -0.01193292 0.01767471
+v 0.00106642 -0.00601880 0.01559028
+v -0.00044573 -0.00601880 0.01714034
+v -0.00053815 -0.00601880 0.01721992
+v -0.00061333 -0.00601880 0.01727298
+v -0.00188607 -0.00710850 0.01859944
+v -0.00137419 -0.00853512 0.01880409
+v -0.00057262 -0.01222067 0.01953933
+v -0.00285235 -0.00736954 0.01891021
+v -0.00058268 -0.01222067 0.01954311
+v -0.00244965 -0.00601880 0.01847437
+v -0.00272307 -0.01008984 0.01942942
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 23
+f 1 23 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 24
+f 2 24 12
+f 2 12 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 26
+f 5 26 20
+f 5 20 19
+f 5 19 18
+f 5 18 17
+f 5 17 15
+f 5 15 7
+f 6 13 14
+f 8 16 9
+f 9 15 17
+f 9 17 18
+f 9 18 10
+f 9 16 15
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 12 24 25
+f 12 25 21
+f 12 21 26
+f 13 25 27
+f 13 27 14
+f 14 27 24
+f 20 26 21
+f 21 25 23
+f 21 23 22
+f 24 27 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_47.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e320953fc728eff8fd024bd47a5705f665edd51
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_47.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01556536 -0.01017319 -0.01892412
+v -0.01556536 -0.01009111 -0.01892412
+v -0.01548328 -0.01017319 -0.01892412
+v -0.01556536 -0.01017319 0.00803600
+v -0.01556536 -0.00576012 -0.01892138
+v -0.01347552 -0.00575969 -0.01892138
+v -0.01149485 -0.00575969 -0.01892138
+v -0.01149485 -0.01017319 -0.01892138
+v -0.01278222 -0.01017319 0.00902642
+v -0.01360342 -0.00820146 0.00902642
+v -0.01403215 -0.00617918 0.00902642
+v -0.01408793 -0.00575969 0.00902642
+v -0.01552990 -0.00575969 0.00821931
+v -0.01556536 -0.00575969 0.00819468
+v -0.01556536 -0.00575969 -0.01883657
+v -0.01149485 -0.00575969 0.00902642
+v -0.01149485 -0.01017319 0.00902642
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 14
+f 1 14 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 6 12 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 9 17 16
+f 9 16 12
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_48.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff881c16839b692c2c90a12923ed351ac14d4a6
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00398662 -0.03923618 -0.00380281
+v -0.00414880 -0.03915826 -0.00380281
+v -0.00398662 -0.03923569 -0.00382818
+v -0.00398662 -0.03923618 0.00047753
+v -0.00505678 -0.03870106 -0.00380281
+v -0.00505678 -0.03868978 -0.00410474
+v -0.00406698 -0.03911857 -0.00594171
+v -0.00414880 -0.03915826 0.00047753
+v -0.00398662 -0.03915728 -0.00594171
+v -0.00398662 -0.03922981 0.00072111
+v -0.00505678 -0.03870106 0.00047753
+v -0.00505678 -0.03861775 -0.00594171
+v -0.00505678 -0.03860844 -0.00602290
+v -0.00398662 -0.03907986 -0.00662169
+v -0.00398662 -0.03917982 0.00260121
+v -0.00409034 -0.03912935 0.00261897
+v -0.00505678 -0.03864127 0.00261897
+v -0.00505678 -0.03812624 -0.00798673
+v -0.00398662 -0.03902301 -0.00710631
+v -0.00398662 -0.03902350 -0.00710377
+v -0.00398662 -0.03917933 0.00261897
+v -0.00398662 -0.03907937 0.00357298
+v -0.00398662 -0.03903183 0.00392312
+v -0.00505678 -0.03852954 0.00312896
+v -0.00505678 -0.03800177 -0.00832165
+v -0.00472625 -0.03832618 -0.00796390
+v -0.00398662 -0.03898969 -0.00723824
+v -0.00398662 -0.03859668 0.00502936
+v -0.00474490 -0.03835166 0.00466400
+v -0.00505678 -0.03816397 0.00468176
+v -0.00505678 -0.03731277 -0.01009773
+v -0.00490571 -0.03736227 -0.01018907
+v -0.00422024 -0.03707951 -0.01190425
+v -0.00398662 -0.03672326 -0.01314496
+v -0.00398662 -0.03761023 0.00640455
+v -0.00486360 -0.03733728 0.00630306
+v -0.00505678 -0.03728288 0.00625485
+v -0.00505678 -0.03722163 -0.01033115
+v -0.00505678 -0.03684087 -0.01130546
+v -0.00505678 -0.03648265 -0.01218335
+v -0.00398662 -0.03653557 -0.01360167
+v -0.00398662 -0.03574513 0.00741438
+v -0.00486360 -0.03577699 0.00720632
+v -0.00505678 -0.03577601 0.00713528
+v -0.00505678 -0.03548100 -0.01460896
+v -0.00502315 -0.03549620 -0.01462418
+v -0.00434114 -0.03505859 -0.01664383
+v -0.00398662 -0.03555500 -0.01594863
+v -0.00398662 -0.03423042 0.00801571
+v -0.00486360 -0.03423042 0.00775944
+v -0.00505678 -0.03423042 0.00769094
+v -0.00505678 -0.03546091 -0.01465717
+v -0.00505678 -0.03485963 -0.01606026
+v -0.00398662 -0.03475526 -0.01768664
+v -0.00398662 -0.03482827 -0.01754963
+v -0.00398662 -0.03423042 -0.01789977
+v -0.00505678 -0.03423042 -0.01704726
+v -0.00505678 -0.03439458 -0.01690771
+v -0.00398662 -0.03474448 -0.01770440
+v -0.00398662 -0.03464353 -0.01779067
+v -0.00426068 -0.03423042 -0.01786171
+v -0.00499047 -0.03423042 -0.01711576
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 20
+f 1 20 19
+f 1 19 27
+f 1 27 34
+f 1 34 41
+f 1 41 48
+f 1 48 55
+f 1 55 54
+f 1 54 59
+f 1 59 60
+f 1 60 56
+f 1 56 49
+f 1 49 42
+f 1 42 35
+f 1 35 28
+f 1 28 23
+f 1 23 22
+f 1 22 21
+f 1 21 15
+f 1 15 10
+f 1 10 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 11
+f 2 11 5
+f 3 7 9
+f 4 10 8
+f 5 11 17
+f 5 17 24
+f 5 24 30
+f 5 30 37
+f 5 37 44
+f 5 44 51
+f 5 51 57
+f 5 57 58
+f 5 58 53
+f 5 53 52
+f 5 52 45
+f 5 45 40
+f 5 40 39
+f 5 39 38
+f 5 38 31
+f 5 31 25
+f 5 25 18
+f 5 18 13
+f 5 13 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 9
+f 8 10 15
+f 8 15 16
+f 8 16 11
+f 11 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 28 30 29
+f 28 35 36
+f 28 36 37
+f 28 37 30
+f 31 38 33
+f 31 33 32
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 40 45 46
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 42 49 43
+f 43 49 50
+f 43 50 51
+f 43 51 44
+f 45 52 46
+f 46 52 53
+f 46 53 47
+f 47 54 55
+f 47 55 48
+f 47 53 54
+f 49 56 61
+f 49 61 62
+f 49 62 57
+f 49 57 51
+f 49 51 50
+f 53 58 54
+f 54 58 59
+f 56 60 61
+f 57 62 58
+f 58 62 60
+f 58 60 59
+f 60 62 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_49.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993083e5523234be181ed494a06250a7355e02d3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01440080 -0.03864085 -0.01833243
+v 0.01510857 -0.03864085 -0.01826261
+v 0.01581038 -0.03935911 -0.01792022
+v 0.01440080 -0.03947140 -0.01801581
+v 0.01324248 -0.03864085 -0.01830853
+v 0.01595176 -0.03864085 -0.01804530
+v 0.01661524 -0.03864085 -0.01660969
+v 0.01585211 -0.03947140 -0.01770105
+v 0.01463843 -0.03947140 -0.01799229
+v 0.01436929 -0.03947140 -0.01801506
+v 0.01434374 -0.03947140 -0.01801432
+v 0.01387870 -0.03947140 -0.01799975
+v 0.01226131 -0.03864085 -0.01827754
+v 0.01682305 -0.03864085 -0.01592193
+v 0.01666038 -0.03947140 -0.01537606
+v 0.01629925 -0.03947140 -0.01656936
+v 0.01244698 -0.03947140 -0.01790753
+v 0.01226131 -0.03940074 -0.01797623
+v 0.01116431 -0.03864085 -0.01824021
+v 0.01693718 -0.03864085 -0.01451805
+v 0.01679324 -0.03947140 -0.01451805
+v 0.01674640 -0.03947140 -0.01509118
+v 0.01239077 -0.03947140 -0.01790380
+v 0.01012012 -0.03930992 -0.01793703
+v 0.01012012 -0.03864085 -0.01820361
+v 0.00823614 -0.03864085 -0.01451805
+v 0.00823614 -0.03947140 -0.01451805
+v 0.01042247 -0.03947140 -0.01774362
+v 0.01012012 -0.03947140 -0.01770927
+v 0.00823614 -0.03920479 -0.01783622
+v 0.00823614 -0.03918544 -0.01786347
+v 0.00823614 -0.03864085 -0.01807443
+v 0.00823614 -0.03947140 -0.01740758
+v 0.00859386 -0.03947140 -0.01750727
+v 0.00823614 -0.03929520 -0.01770852
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 25
+f 1 25 32
+f 1 32 26
+f 1 26 20
+f 1 20 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 16
+f 4 16 15
+f 4 15 22
+f 4 22 21
+f 4 21 27
+f 4 27 33
+f 4 33 34
+f 4 34 29
+f 4 29 28
+f 4 28 23
+f 4 23 17
+f 4 17 12
+f 4 12 11
+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 17 23 18
+f 18 24 25
+f 18 25 19
+f 18 23 24
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 26 32 31
+f 26 31 30
+f 26 30 35
+f 26 35 33
+f 26 33 27
+f 29 34 30
+f 30 34 35
+f 33 35 34
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_5.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a84915bbd194c381bf314c8e60f98e3c2f1ef04
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.00958150 0.00273560 0.01763226
+v -0.00958150 0.00489222 0.01754019
+v -0.01128508 0.00489222 0.01760103
+v -0.01149466 0.00489222 0.01756581
+v -0.00958150 0.00061024 0.01727198
+v -0.00958150 0.00695855 0.01686846
+v -0.01128508 0.00703148 0.01720793
+v -0.01149466 0.00703148 0.01721673
+v -0.01149466 0.00271129 0.01710865
+v -0.00958150 -0.00109839 0.01686846
+v -0.00958150 0.00725374 0.01674757
+v -0.01021004 0.00810458 0.01653460
+v -0.01128508 0.00830253 0.01666670
+v -0.01149466 0.00832336 0.01667951
+v -0.00958150 -0.00459899 0.01596776
+v -0.01149466 -0.00366827 0.01445937
+v -0.01011059 -0.00869344 0.01426002
+v -0.00958150 -0.01008951 0.01429685
+v -0.00958150 -0.00828712 0.01491733
+v -0.00958150 -0.00769327 0.01511589
+v -0.00958150 -0.00580753 0.01564110
+v -0.00958150 0.00878525 0.01568914
+v -0.00988322 0.01043831 0.01453864
+v -0.01128508 0.01069182 0.01475801
+v -0.01128508 0.00937215 0.01582845
+v -0.01149466 0.00939299 0.01584766
+v -0.01149466 -0.00640485 0.01330007
+v -0.00989465 -0.01008951 0.01393816
+v -0.00958150 -0.01237809 0.01326884
+v -0.00958150 0.00967776 0.01498699
+v -0.00958150 0.01079254 0.01405586
+v -0.00982198 0.01260187 0.01249704
+v -0.01128508 0.01176145 0.01384689
+v -0.01149466 0.01167811 0.01395578
+v -0.01149466 0.01071266 0.01477802
+v -0.01149466 -0.01234337 0.00945385
+v -0.01107775 -0.01415965 0.00945385
+v -0.01033684 -0.01710460 0.00945385
+v -0.00958150 -0.02001482 0.00945385
+v -0.01060241 -0.01008951 0.01286933
+v -0.00958150 0.01214694 0.01279647
+v -0.01128508 0.01290401 0.01277806
+v -0.00958150 0.01277899 0.01206390
+v -0.00958150 0.01497728 0.00945385
+v -0.00969612 0.01505021 0.00945385
+v -0.01149466 0.01292832 0.01279727
+v -0.01149466 0.01178229 0.01386691
+v -0.01149466 0.01546348 0.00945385
+v -0.01108524 0.01408130 0.01118481
+v -0.01108524 0.01541138 0.00945385
+v -0.01149466 0.01409866 0.01127928
+v -0.01128827 0.01543917 0.00945385
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 29
+f 1 29 39
+f 1 39 44
+f 1 44 43
+f 1 43 41
+f 1 41 31
+f 1 31 30
+f 1 30 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 14
+f 4 14 26
+f 4 26 35
+f 4 35 34
+f 4 34 47
+f 4 47 46
+f 4 46 51
+f 4 51 48
+f 4 48 36
+f 4 36 27
+f 4 27 16
+f 4 16 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 15
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 34 35
+f 24 35 25
+f 24 33 34
+f 25 35 26
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 29
+f 29 40 39
+f 31 41 32
+f 32 42 33
+f 32 41 43
+f 32 43 44
+f 32 44 45
+f 32 45 42
+f 33 42 46
+f 33 46 47
+f 33 47 34
+f 36 48 52
+f 36 52 50
+f 36 50 45
+f 36 45 44
+f 36 44 39
+f 36 39 38
+f 36 38 37
+f 42 45 49
+f 42 49 50
+f 42 50 51
+f 42 51 46
+f 45 50 49
+f 48 51 52
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_50.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7cc078fae0ab0a1dc26a92b373ed8a1d669c474
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_50.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00285128 0.01233613 0.01024723
+v -0.00285128 0.01233613 0.01329370
+v -0.00285128 0.01631364 0.01024723
+v 0.01297793 0.01233613 0.01024723
+v -0.00285128 0.01243385 0.01332823
+v -0.00179765 0.01233613 0.01454250
+v -0.00285128 0.01631364 0.01439943
+v 0.01297793 0.01631364 0.01024723
+v 0.01297793 0.01233613 0.01437969
+v -0.00285128 0.01332194 0.01363658
+v -0.00160707 0.01233613 0.01474724
+v -0.00196654 0.01345548 0.01472257
+v -0.00285128 0.01559569 0.01427116
+v -0.00222220 0.01559569 0.01502352
+v -0.00227024 0.01631364 0.01509321
+v 0.01297793 0.01631364 0.01641417
+v 0.01297793 0.01368714 0.01530967
+v 0.01183908 0.01233613 0.01654675
+v -0.00285128 0.01407298 0.01384810
+v -0.00202078 0.01390556 0.01478609
+v 0.00010662 0.01233613 0.01654675
+v -0.00007931 0.01288627 0.01654675
+v -0.00015678 0.01311948 0.01654675
+v -0.00026679 0.01345548 0.01654675
+v -0.00039695 0.01390556 0.01654675
+v -0.00057668 0.01453474 0.01654675
+v -0.00085869 0.01559569 0.01654675
+v -0.00181935 0.01390556 0.01501119
+v -0.00126464 0.01559569 0.01609348
+v -0.00098109 0.01622137 0.01654675
+v -0.00196654 0.01631364 0.01545212
+v 0.01297793 0.01628171 0.01640430
+v 0.01168568 0.01631364 0.01654675
+v 0.01297793 0.01440587 0.01574629
+v -0.00099659 0.01631364 0.01654675
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 31
+f 3 31 35
+f 3 35 33
+f 3 33 16
+f 3 16 8
+f 4 8 16
+f 4 16 32
+f 4 32 34
+f 4 34 17
+f 4 17 9
+f 5 6 10
+f 6 11 12
+f 6 12 10
+f 7 13 14
+f 7 14 15
+f 9 17 18
+f 10 12 20
+f 10 20 14
+f 10 14 19
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 20
+f 13 19 14
+f 14 20 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 16 18 32
+f 16 33 18
+f 17 34 18
+f 18 34 32
+f 18 33 35
+f 18 35 30
+f 18 30 27
+f 18 27 26
+f 18 26 25
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 18 22 21
+f 27 30 29
+f 27 29 28
+f 30 35 31
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_51.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc214580e0f00ea4ccded32fd79b5d6dd35ac080
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_51.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01044188 0.01631377 0.01024662
+v 0.01020036 0.01768337 0.01024662
+v 0.01199458 0.01631377 0.01024662
+v 0.01044188 0.01631377 0.01757255
+v 0.01020036 0.02000420 0.01024662
+v 0.01020036 0.01768337 0.01803123
+v 0.01199458 0.01768337 0.01024662
+v 0.01199458 0.01631377 0.01649857
+v 0.01116957 0.01631377 0.01726189
+v 0.01199440 0.02000420 0.01855187
+v 0.01020036 0.02000420 0.01903808
+v 0.01020036 0.01879790 0.01852175
+v 0.01199440 0.02000420 0.01024662
+v 0.01199458 0.01768337 0.01724726
+v 0.01199458 0.01715627 0.01709408
+f 1 2 5
+f 1 5 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 7 14
+f 3 14 15
+f 3 15 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 11 10
+f 5 10 13
+f 7 13 10
+f 7 10 14
+f 8 15 9
+f 9 15 10
+f 10 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_52.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc65d4899551dd06455c63339e7fa27e5e148292
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_52.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00060073 0.00827640 -0.00845432
+v -0.00060073 0.02139851 -0.01892148
+v -0.00060063 0.00828099 -0.01892148
+v 0.00043564 0.00827640 -0.00845432
+v -0.00060083 0.00827640 0.00731522
+v -0.00060073 0.02839300 -0.01892413
+v 0.00043564 0.00828099 -0.01892148
+v 0.00043574 0.00827640 0.00731522
+v -0.00060083 0.00827640 0.00810634
+v -0.00060083 0.03170448 0.00731522
+v -0.00060073 0.02843428 -0.01892413
+v -0.00058237 0.02843428 -0.01892413
+v 0.00043564 0.02843428 -0.01892148
+v 0.00043574 0.03170448 0.00731522
+v 0.00043574 0.00827640 0.00810634
+v -0.00060083 0.03169990 0.00810634
+v -0.00060063 0.03170448 -0.00845697
+v -0.00060073 0.03169760 -0.01876802
+v -0.00060073 0.03057390 -0.01890032
+v -0.00060083 0.03170448 0.00805078
+v 0.00043564 0.03057390 -0.01891090
+v -0.00058237 0.03057390 -0.01890296
+v 0.00043574 0.03170448 0.00810634
+v 0.00043564 0.03169760 -0.01878125
+v 0.00043564 0.03170448 -0.00845697
+v -0.00059941 0.03170448 0.00810634
+v -0.00058237 0.03169760 -0.01877067
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 4 7 8
+f 5 9 16
+f 5 16 20
+f 5 20 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 23
+f 8 23 15
+f 9 15 23
+f 9 23 26
+f 9 26 16
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 20 26
+f 10 26 23
+f 10 23 14
+f 10 14 25
+f 10 25 17
+f 11 21 12
+f 11 19 22
+f 11 22 21
+f 12 21 13
+f 13 21 14
+f 14 21 24
+f 14 24 25
+f 16 26 20
+f 17 25 24
+f 17 24 27
+f 17 27 18
+f 18 27 22
+f 18 22 19
+f 21 22 24
+f 22 27 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_53.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9be9e1838b7c974f332b12b419ee922b1fc558
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_53.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.01631377 0.01024661
+v -0.00285283 0.01631377 0.01440068
+v -0.00285283 0.01768337 0.01024661
+v 0.01044029 0.01631377 0.01024661
+v -0.00285283 0.01661833 0.01445514
+v -0.00227119 0.01631377 0.01509422
+v -0.00238049 0.01768337 0.01521033
+v -0.00285283 0.01768337 0.01462467
+v -0.00285153 0.02000420 0.01024661
+v 0.01044029 0.01768337 0.01024661
+v 0.01044029 0.01631377 0.01757351
+v -0.00196671 0.01631377 0.01545281
+v -0.00146054 0.01773684 0.01630150
+v -0.00236748 0.01773684 0.01523293
+v -0.00285153 0.01773684 0.01463392
+v -0.00285153 0.01893736 0.01468426
+v -0.00285153 0.01987667 0.01469762
+v -0.00285153 0.02000420 0.01468118
+v 0.01019956 0.02000420 0.01024661
+v 0.01044029 0.01768337 0.01785812
+v 0.01044029 0.01767578 0.01785709
+v 0.01019956 0.02000420 0.01903869
+v 0.00962834 0.01631377 0.01856708
+v -0.00093876 0.01631377 0.01661283
+v -0.00022570 0.01788604 0.01775024
+v 0.00047045 0.01869891 0.01868935
+v -0.00239220 0.01987667 0.01529664
+v -0.00049895 0.01987667 0.01760228
+v -0.00151909 0.01987667 0.01636315
+v -0.00281770 0.02000420 0.01472536
+v 0.00926920 0.01631377 0.01887635
+v 0.00781966 0.02000420 0.02019562
+v 0.00797841 0.01631377 0.01965312
+v -0.00020488 0.01631377 0.01743275
+v 0.00005537 0.01768337 0.01801944
+v 0.00062659 0.01727188 0.01856400
+v 0.00116399 0.01768337 0.01897087
+v 0.00142814 0.01788604 0.01916918
+v 0.00155956 0.01987667 0.01945584
+v 0.00043922 0.01987667 0.01872120
+v -0.00238570 0.02000420 0.01528739
+v -0.00144102 0.02000420 0.01644843
+v -0.00233495 0.02000420 0.01535109
+v 0.00043922 0.02000420 0.01872120
+v -0.00041567 0.02000420 0.01769989
+v 0.00780665 0.02000420 0.02020178
+v 0.00624910 0.02000420 0.02072374
+v 0.00583792 0.01631377 0.02023877
+v 0.00015686 0.01631377 0.01783449
+v 0.00076843 0.01631377 0.01844584
+v 0.00178337 0.01631377 0.01912089
+v 0.00147368 0.01768337 0.01916404
+v 0.00369874 0.01773684 0.02017507
+v 0.00383927 0.01993556 0.02050592
+v 0.00382496 0.02000420 0.02050592
+v 0.00167146 0.02000420 0.01951852
+v 0.00154785 0.02000420 0.01944865
+v 0.00583792 0.02000420 0.02074326
+v 0.00391344 0.02000420 0.02053777
+v 0.00369874 0.01768337 0.02016685
+v 0.00370004 0.01631377 0.01994903
+v 0.00253286 0.01631377 0.01945995
+v 0.00386139 0.02000420 0.02051927
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 31
+f 1 31 33
+f 1 33 48
+f 1 48 61
+f 1 61 62
+f 1 62 51
+f 1 51 50
+f 1 50 49
+f 1 49 34
+f 1 34 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 18
+f 3 18 9
+f 4 10 20
+f 4 20 21
+f 4 21 11
+f 5 7 8
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 18 30
+f 9 30 41
+f 9 41 43
+f 9 43 42
+f 9 42 45
+f 9 45 44
+f 9 44 57
+f 9 57 56
+f 9 56 55
+f 9 55 63
+f 9 63 59
+f 9 59 58
+f 9 58 47
+f 9 47 46
+f 9 46 32
+f 9 32 22
+f 9 22 19
+f 10 19 22
+f 10 22 20
+f 11 21 22
+f 11 22 23
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 27 15
+f 14 26 28
+f 14 28 29
+f 14 29 27
+f 15 27 16
+f 16 27 17
+f 17 27 30
+f 17 30 18
+f 20 22 21
+f 22 31 23
+f 22 32 33
+f 22 33 31
+f 24 34 25
+f 25 34 35
+f 25 35 26
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 28
+f 26 35 36
+f 27 41 30
+f 27 29 42
+f 27 42 43
+f 27 43 41
+f 28 40 44
+f 28 44 45
+f 28 45 29
+f 29 45 42
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 34 49 35
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 44
+f 47 58 48
+f 48 59 53
+f 48 53 60
+f 48 60 61
+f 48 58 59
+f 51 62 52
+f 52 62 53
+f 53 59 54
+f 53 62 60
+f 54 59 63
+f 54 63 55
+f 60 62 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_54.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..763c51862809886cf0e5d2468da9c53c71b44808
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.00494453 -0.01892411
+v -0.00285283 0.00827640 -0.01892411
+v -0.00272301 0.00494453 -0.01892411
+v -0.00285283 0.00494453 0.01374224
+v -0.00272301 0.00827640 -0.01892411
+v -0.00285283 0.00827640 0.01275564
+v -0.00257279 0.00688377 -0.01892411
+v -0.00024728 0.00494453 -0.01892082
+v -0.00024932 0.00494453 0.01381788
+v -0.00024728 0.00502835 0.01385406
+v -0.00024728 0.00827640 0.01467294
+v -0.00197216 0.00827640 0.01350875
+v -0.00198797 0.00827640 0.01349559
+v -0.00024728 0.00827640 -0.01892082
+v -0.00024728 0.00494453 0.00739182
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 11
+f 2 11 14
+f 2 14 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 5 14 7
+f 7 14 8
+f 8 14 11
+f 8 11 10
+f 8 10 15
+f 9 15 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_55.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75dc70ef34dd2a5c1cdf075311e52e5e0258afb7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_55.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.01512572 0.00902641
+v -0.01149485 0.01289943 0.00902641
+v -0.01149485 0.01512572 0.00814544
+v -0.01838338 0.01512572 0.00902641
+v -0.02144570 0.01289943 0.00902641
+v -0.01149485 0.01289943 0.00813723
+v -0.01149485 0.01512158 0.00813723
+v -0.01149619 0.01512572 -0.01892140
+v -0.01991790 0.01420861 0.00902641
+v -0.01949023 0.01512572 0.00857498
+v -0.02139056 0.01296132 0.00902641
+v -0.02333796 0.01512572 0.00615366
+v -0.02377370 0.01289943 0.00651480
+v -0.01149619 0.01289943 -0.01892140
+v -0.01342745 0.01512572 -0.01892414
+v -0.02199710 0.01512572 0.00710030
+v -0.02137711 0.01297418 0.00902641
+v -0.02354911 0.01512572 0.00577336
+v -0.02404403 0.01289943 0.00603328
+v -0.01556718 0.01289943 -0.01892140
+v -0.01556718 0.01345562 -0.01892140
+v -0.01556718 0.01512572 -0.01887762
+v -0.02474203 0.01289943 0.00475011
+v -0.02401982 0.01512572 0.00472549
+v -0.01770824 0.01289943 -0.01874356
+v -0.01770824 0.01345562 -0.01871620
+v -0.01770824 0.01512572 -0.01856846
+v -0.02494242 0.01289943 0.00419198
+v -0.02445018 0.01512572 0.00261606
+v -0.02512263 0.01289943 0.00337666
+v -0.01991521 0.01289943 -0.01815533
+v -0.01993942 0.01343295 -0.01807599
+v -0.01944181 0.01512572 -0.01800212
+v -0.02492493 0.01368599 0.00261606
+v -0.02450533 0.01512572 0.00047654
+v -0.02517912 0.01289943 0.00261606
+v -0.02071677 0.01289943 -0.01786258
+v -0.02071542 0.01413081 -0.01747134
+v -0.02051907 0.01512572 -0.01697340
+v -0.02495183 0.01376750 0.00047654
+v -0.02519391 0.01289943 0.00209076
+v -0.02450533 0.01512572 -0.00380523
+v -0.02108930 0.01289943 -0.01749870
+v -0.02133004 0.01343295 -0.01671074
+v -0.02110006 0.01497861 -0.01604317
+v -0.02095212 0.01512572 -0.01618818
+v -0.02523291 0.01289943 0.00047654
+v -0.02495183 0.01376750 -0.00380523
+v -0.02443001 0.01512572 -0.00593928
+v -0.02148739 0.01289943 -0.01669433
+v -0.02237367 0.01289943 -0.01453019
+v -0.02220422 0.01345562 -0.01450283
+v -0.02315909 0.01512572 -0.01033323
+v -0.02116327 0.01512572 -0.01571486
+v -0.02523291 0.01289943 -0.00380523
+v -0.02491283 0.01365264 -0.00593928
+v -0.02515760 0.01289943 -0.00593928
+v -0.02434932 0.01512572 -0.00633599
+v -0.02490072 0.01289943 -0.00752066
+v -0.02284573 0.01289943 -0.01322513
+v -0.02330434 0.01289943 -0.01195565
+v -0.02304208 0.01448148 -0.01124977
+v -0.02398216 0.01512572 -0.00804323
+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 27
+f 1 27 33
+f 1 33 39
+f 1 39 46
+f 1 46 54
+f 1 54 53
+f 1 53 63
+f 1 63 58
+f 1 58 49
+f 1 49 42
+f 1 42 35
+f 1 35 29
+f 1 29 24
+f 1 24 18
+f 1 18 12
+f 1 12 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 13
+f 2 13 19
+f 2 19 23
+f 2 23 28
+f 2 28 30
+f 2 30 36
+f 2 36 41
+f 2 41 47
+f 2 47 55
+f 2 55 57
+f 2 57 59
+f 2 59 61
+f 2 61 60
+f 2 60 51
+f 2 51 50
+f 2 50 43
+f 2 43 37
+f 2 37 31
+f 2 31 25
+f 2 25 20
+f 2 20 14
+f 2 14 6
+f 3 7 8
+f 4 10 9
+f 5 11 12
+f 5 12 13
+f 6 14 8
+f 6 8 7
+f 8 14 15
+f 9 10 16
+f 9 16 17
+f 11 17 16
+f 11 16 12
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 18 23 19
+f 18 24 23
+f 20 25 21
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 24 28
+f 24 29 30
+f 24 30 28
+f 25 31 26
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 34 30
+f 29 35 34
+f 30 34 36
+f 31 37 32
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 34 35 40
+f 34 40 41
+f 34 41 36
+f 35 42 48
+f 35 48 40
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 40 48 55
+f 40 55 47
+f 42 49 48
+f 43 50 44
+f 44 50 51
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 46
+f 48 49 56
+f 48 56 57
+f 48 57 55
+f 49 58 59
+f 49 59 56
+f 51 60 52
+f 52 60 61
+f 52 61 62
+f 52 62 53
+f 53 62 63
+f 56 59 57
+f 58 63 59
+f 59 63 62
+f 59 62 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_56.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c315913e2aa7a3673070c7726b3df54287043f5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_56.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00203902 -0.01222067 -0.01892412
+v 0.00203902 -0.01009034 -0.01892412
+v 0.00290743 -0.01222067 -0.01892412
+v 0.00203902 -0.01222067 0.01782953
+v 0.00290743 -0.00929952 -0.01892412
+v 0.00203902 -0.00762244 -0.01892052
+v 0.00290743 -0.01222067 0.01705243
+v 0.00211961 -0.01222067 0.01777196
+v 0.00290743 -0.00794606 0.01507372
+v 0.00203902 -0.01193306 0.01767483
+v 0.00290743 -0.00762244 -0.01892052
+v 0.00203902 -0.00762244 0.01502335
+v 0.00290743 -0.00762244 0.01468877
+v 0.00203902 -0.00794606 0.01537233
+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 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 13
+f 3 13 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 9 8
+f 9 13 12
+f 9 12 14
+f 9 14 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_57.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177a4e3716728cda1955ac316e68b833d693172d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_57.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.00224764 -0.00094233
+v 0.01706280 -0.00146849 0.00903872
+v 0.01706280 -0.00224764 0.00975776
+v 0.01706343 -0.00224764 -0.01450382
+v 0.01706343 -0.00146849 -0.00166431
+v 0.01703421 -0.00146849 0.01099249
+v 0.01704247 -0.00224741 0.01117815
+v 0.01565486 -0.00224764 0.01117815
+v 0.01702341 -0.00224764 -0.01592421
+v 0.01706343 -0.00146849 -0.01450382
+v 0.01703230 -0.00146849 0.01111921
+v 0.01703167 -0.00152829 0.01117815
+v 0.01057269 -0.00224764 0.01117815
+v 0.01700308 -0.00224764 -0.01664325
+v 0.01700308 -0.00146849 -0.01664325
+v 0.01702659 -0.00146849 0.01117815
+v 0.01057269 -0.00146849 0.01117815
+v 0.01057269 -0.00224764 -0.01892118
+v 0.01693382 -0.00146849 -0.01679059
+v 0.01620698 -0.00224764 -0.01831707
+v 0.01057269 -0.00146849 -0.01892118
+v 0.01440068 -0.00224764 -0.01892118
+v 0.01620698 -0.00146849 -0.01831707
+v 0.01500807 -0.00224764 -0.01872079
+v 0.01615679 -0.00146849 -0.01833475
+v 0.01440068 -0.00146849 -0.01892118
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 22
+f 1 22 24
+f 1 24 20
+f 1 20 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 10
+f 2 10 15
+f 2 15 19
+f 2 19 23
+f 2 23 25
+f 2 25 26
+f 2 26 21
+f 2 21 17
+f 2 17 16
+f 2 16 11
+f 2 11 6
+f 3 7 8
+f 4 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 16
+f 7 16 17
+f 7 17 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 13 17 21
+f 13 21 18
+f 14 19 15
+f 14 20 19
+f 18 21 26
+f 18 26 22
+f 19 20 23
+f 20 24 25
+f 20 25 23
+f 22 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_58.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32149d506f28070b97d4fa2f8e118a9f6e9f6b54
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00409441 -0.01222047 -0.01892412
+v 0.00409441 -0.01014773 -0.01892412
+v 0.00585155 -0.01222047 -0.01892412
+v 0.00409441 -0.01222047 0.01619575
+v 0.00585155 -0.01014773 -0.01892412
+v 0.00409441 -0.00791309 -0.01892068
+v 0.00585155 -0.01222047 0.01607886
+v 0.00517387 -0.01222047 0.01612699
+v 0.00585155 -0.00791309 0.01554601
+v 0.00409441 -0.01206194 0.01616481
+v 0.00585155 -0.00791309 -0.01892068
+v 0.00409441 -0.00791309 0.01493410
+v 0.00449723 -0.00791309 0.01507848
+v 0.00409441 -0.00969448 0.01549101
+v 0.00409441 -0.01173939 0.01608918
+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 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 9
+f 6 9 11
+f 7 9 8
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_59.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd0f9430dfcc70185a6bab2773abda0c3c0cc7a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.03144237 0.00261911
+v 0.01703914 -0.03144237 0.00475777
+v 0.01706304 -0.03498600 0.00396883
+v 0.01706343 -0.03498600 0.00261911
+v 0.01706343 -0.03144237 -0.01450387
+v 0.01705364 -0.03498600 0.00475777
+v 0.01638176 -0.03144237 0.00689917
+v 0.01706343 -0.03498600 -0.01450387
+v 0.01700349 -0.03144237 -0.01664528
+v 0.01633005 -0.03498600 0.00689917
+v 0.01560999 -0.03144237 0.00806746
+v 0.01700349 -0.03498600 -0.01664528
+v 0.01620743 -0.03144237 -0.01831936
+v 0.01554379 -0.03498600 0.00800149
+v 0.01521353 -0.03144237 0.00831212
+v 0.01620743 -0.03498600 -0.01831936
+v 0.01554026 -0.03498600 -0.01854203
+v 0.01440141 -0.03144237 -0.01892138
+v 0.01422276 -0.03144237 0.00892238
+v 0.01371661 -0.03144237 0.00915878
+v 0.01306119 -0.03199256 0.00915878
+v 0.01440141 -0.03498600 0.00806471
+v 0.01440141 -0.03498600 -0.01892138
+v 0.01306119 -0.03144237 -0.01892413
+v 0.01306119 -0.03144237 0.00915878
+v 0.01306119 -0.03498600 0.00807296
+v 0.01361083 -0.03498600 -0.01892138
+v 0.01306119 -0.03363584 -0.01892413
+v 0.01306119 -0.03498600 -0.01891863
+v 0.01306119 -0.03443650 -0.01892138
+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 18
+f 1 18 24
+f 1 24 25
+f 1 25 20
+f 1 20 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 10
+f 3 10 14
+f 3 14 22
+f 3 22 26
+f 3 26 29
+f 3 29 27
+f 3 27 23
+f 3 23 17
+f 3 17 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 7 10
+f 7 11 10
+f 9 12 16
+f 9 16 13
+f 10 11 14
+f 11 15 14
+f 13 16 17
+f 13 17 18
+f 14 15 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 17 23 18
+f 18 23 28
+f 18 28 24
+f 20 25 21
+f 21 25 24
+f 21 24 28
+f 21 28 30
+f 21 30 29
+f 21 29 26
+f 21 26 22
+f 23 27 28
+f 27 29 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_6.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2defccf3afac23497afa602c9eb37d55df696b59
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.00742042 0.00061055 0.01786059
+v -0.00742042 -0.00150196 0.01783260
+v -0.00742042 0.00275184 0.01765402
+v -0.00914467 0.00275184 0.01775360
+v -0.00742042 -0.00367202 0.01770010
+v -0.00742042 0.00485202 0.01704831
+v -0.00914467 0.00489312 0.01752481
+v -0.00958150 0.00489312 0.01754045
+v -0.00958150 0.00273540 0.01763180
+v -0.00742042 -0.00581330 0.01746885
+v -0.00742042 0.00546852 0.01681787
+v -0.00782150 0.00617954 0.01666809
+v -0.00935558 0.00694810 0.01682363
+v -0.00958150 0.00695632 0.01686890
+v -0.00958150 0.00061055 0.01727133
+v -0.00742042 -0.00773265 0.01718904
+v -0.00742042 0.00659053 0.01611176
+v -0.00742042 0.00825506 0.01490034
+v -0.00754100 0.00857153 0.01474479
+v -0.00878273 0.00760569 0.01617184
+v -0.00958150 0.00725224 0.01674710
+v -0.00958150 -0.00109919 0.01686890
+v -0.00742042 -0.01008765 0.01666315
+v -0.00742042 0.00869894 0.01455139
+v -0.00845633 0.01000179 0.01419752
+v -0.00958150 0.00878525 0.01568957
+v -0.00958150 -0.00460497 0.01596774
+v -0.00742042 -0.01222893 0.01609448
+v -0.00742042 0.00961546 0.01377615
+v -0.00742042 0.01074158 0.01278282
+v -0.00743100 0.01076213 0.01277130
+v -0.00839498 0.01219240 0.01199029
+v -0.00913896 0.01131287 0.01334738
+v -0.00958150 0.01079090 0.01405596
+v -0.00958150 0.00967711 0.01498675
+v -0.00958150 -0.00581330 0.01564102
+v -0.00958150 -0.00769155 0.01511596
+v -0.00742042 -0.01452229 0.01540482
+v -0.00742042 0.01077446 0.01274578
+v -0.00742042 0.01369664 0.00945305
+v -0.00851915 0.01461727 0.00945305
+v -0.00958150 0.01214719 0.01279598
+v -0.00958150 -0.00828749 0.01491762
+v -0.00826023 -0.01396333 0.01461147
+v -0.00743332 -0.01455517 0.01538013
+v -0.00742042 -0.01458805 0.01538425
+v -0.00742042 -0.02568081 0.00945305
+v -0.00958150 0.01497894 0.00945305
+v -0.00958150 0.01278012 0.01206436
+v -0.00958150 -0.01008765 0.01429709
+v -0.00806054 -0.01539360 0.01437034
+v -0.00742042 -0.01650328 0.01473986
+v -0.00742042 -0.02515062 0.01043898
+v -0.00742148 -0.02700832 0.00945305
+v -0.00958150 -0.02001318 0.00945305
+v -0.00958150 -0.01237689 0.01326920
+v -0.00811977 -0.01989810 0.01234005
+v -0.00763471 -0.01864868 0.01367822
+v -0.00742042 -0.01864868 0.01396543
+v -0.00742042 -0.02302167 0.01174175
+v -0.00742042 -0.02071598 0.01309802
+v -0.00817371 -0.02563149 0.00945305
+v -0.00947954 -0.02063789 0.00945305
+v -0.00898898 -0.02289426 0.00945305
+v -0.00857500 -0.02445604 0.00945305
+v -0.00742042 -0.02065433 0.01313011
+v -0.00742042 -0.02045295 0.01321982
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 23
+f 1 23 28
+f 1 28 38
+f 1 38 46
+f 1 46 52
+f 1 52 59
+f 1 59 67
+f 1 67 66
+f 1 66 61
+f 1 61 60
+f 1 60 53
+f 1 53 47
+f 1 47 40
+f 1 40 39
+f 1 39 30
+f 1 30 29
+f 1 29 24
+f 1 24 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 21
+f 8 21 26
+f 8 26 35
+f 8 35 34
+f 8 34 42
+f 8 42 49
+f 8 49 48
+f 8 48 55
+f 8 55 56
+f 8 56 50
+f 8 50 43
+f 8 43 37
+f 8 37 36
+f 8 36 27
+f 8 27 22
+f 8 22 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 14
+f 15 22 23
+f 15 23 16
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 20 26 21
+f 20 25 26
+f 22 27 23
+f 23 27 28
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 33
+f 33 42 34
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 40 47 54
+f 40 54 62
+f 40 62 65
+f 40 65 64
+f 40 64 63
+f 40 63 55
+f 40 55 48
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 43 50 51
+f 43 51 44
+f 44 51 45
+f 45 51 46
+f 46 51 52
+f 47 53 54
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 59
+f 51 59 52
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 55 63 56
+f 56 63 64
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 58
+f 58 66 67
+f 58 67 59
+f 61 66 62
+f 62 66 65
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_60.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8527dd6f72f295790bd97329750f6245c4a6dc4
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_60.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00950681 -0.03571614 -0.00380061
+v -0.01055568 -0.03495394 -0.00380061
+v -0.01049527 -0.03490961 -0.00594175
+v -0.00950681 -0.03562787 -0.00594175
+v -0.00950681 -0.03571614 0.00047821
+v -0.01106117 -0.03456805 -0.00380061
+v -0.01106117 -0.03452294 -0.00487118
+v -0.01055568 -0.03495394 0.00047821
+v -0.01106117 -0.03447607 -0.00594175
+v -0.01106117 -0.03439952 -0.00644841
+v -0.01036152 -0.03481216 -0.00726391
+v -0.00950681 -0.03556987 -0.00633562
+v -0.00950681 -0.03566888 0.00206931
+v -0.01106117 -0.03456805 0.00047821
+v -0.01051186 -0.03492152 0.00261935
+v -0.01106117 -0.03439229 -0.00649525
+v -0.01106117 -0.03398727 -0.00790591
+v -0.01049010 -0.03372128 -0.00955948
+v -0.00982697 -0.03372128 -0.01074630
+v -0.00950681 -0.03372128 -0.01130501
+v -0.00994611 -0.03451122 -0.00869018
+v -0.00950681 -0.03519883 -0.00781915
+v -0.00950681 -0.03565229 0.00261935
+v -0.01106117 -0.03450107 0.00261935
+v -0.01038374 -0.03482817 0.00397795
+v -0.01106117 -0.03372128 -0.00852014
+v -0.01068654 -0.03372128 -0.00920205
+v -0.00950681 -0.03417728 -0.01023444
+v -0.00950681 -0.03372128 0.00642100
+v -0.00950681 -0.03523085 0.00453145
+v -0.01106117 -0.03402788 0.00460086
+v -0.00996635 -0.03452587 0.00540595
+v -0.01106117 -0.03372128 0.00508322
+v -0.01106117 -0.03386287 0.00497564
+v -0.00950681 -0.03404976 0.00615900
+v -0.00950681 -0.03503674 0.00498779
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 28
+f 1 28 20
+f 1 20 29
+f 1 29 35
+f 1 35 36
+f 1 36 30
+f 1 30 23
+f 1 23 13
+f 1 13 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 14
+f 2 14 6
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 8
+f 6 14 24
+f 6 24 31
+f 6 31 34
+f 6 34 33
+f 6 33 26
+f 6 26 17
+f 6 17 16
+f 6 16 10
+f 6 10 9
+f 6 9 7
+f 8 13 15
+f 8 15 14
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 15
+f 14 15 24
+f 15 23 25
+f 15 25 24
+f 17 26 27
+f 17 27 18
+f 18 27 26
+f 18 26 33
+f 18 33 29
+f 18 29 20
+f 18 20 19
+f 20 28 21
+f 21 28 22
+f 23 30 25
+f 24 25 31
+f 25 30 32
+f 25 32 31
+f 29 33 34
+f 29 34 32
+f 29 32 35
+f 30 36 32
+f 31 32 34
+f 32 36 35
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_61.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41f0f90f6258eda7102bfe4c52f6f896c8448a1
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_61.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00624620 -0.03576027 -0.01199702
+v -0.00624620 -0.03555527 -0.01248128
+v -0.00562494 -0.03618441 -0.01199702
+v -0.00624620 0.03494399 -0.01199702
+v -0.00505689 -0.03634700 -0.01248128
+v -0.00514188 -0.03650958 -0.01199702
+v -0.00624620 0.03475313 -0.01248128
+v -0.00583719 0.03519141 -0.01199702
+v -0.00505689 -0.03648131 -0.01218438
+v -0.00505689 0.03546003 -0.01248128
+v -0.00505689 -0.03655907 -0.01199702
+v -0.00511196 0.03543175 -0.01248128
+v -0.00505689 0.03565796 -0.01199702
+v -0.00508553 0.03544589 -0.01248128
+v -0.00505689 0.03558020 -0.01218964
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 13
+f 1 13 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 12
+f 2 12 14
+f 2 14 10
+f 2 10 5
+f 4 8 7
+f 5 9 6
+f 5 10 15
+f 5 15 13
+f 5 13 11
+f 5 11 9
+f 6 9 11
+f 7 8 12
+f 8 13 12
+f 10 14 15
+f 12 13 15
+f 12 15 14
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_62.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f953707d601bca15f3487bec9dc6786240f8c3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_62.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.01590406 -0.01892226
+v -0.00697561 0.02415764 -0.01892226
+v -0.00624639 0.01590406 -0.01892226
+v -0.00697561 0.01590406 0.00031683
+v -0.00697561 0.02545424 -0.01889966
+v -0.00624639 0.02415764 -0.01892226
+v -0.00624639 0.01590406 0.00031683
+v -0.00697561 0.02545424 0.00031683
+v -0.00624639 0.02545424 -0.01889966
+v -0.00624639 0.02545424 0.00031683
+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 9
+f 2 9 6
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 8 10
+f 5 10 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_63.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028078c1469a5da8a94b4f4040bdee30a4122ad3
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.01556537 -0.00575969 0.00819619
+v -0.02129544 -0.00575969 0.00801833
+v -0.02114617 -0.00745227 0.00800240
+v -0.01984794 -0.00745227 0.00803426
+v -0.01556650 -0.00745227 0.00809266
+v -0.01556537 -0.00580939 0.00818823
+v -0.01556537 -0.00575969 -0.01883918
+v -0.02233696 -0.00575969 0.00790152
+v -0.02221483 -0.00745227 0.00782453
+v -0.01556537 -0.00745227 0.00778737
+v -0.01556537 -0.00575985 -0.01892147
+v -0.01556650 -0.00575969 -0.01892147
+v -0.02412825 -0.00575969 0.00738917
+v -0.02412825 -0.00745227 0.00719006
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_64.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a9e84dddb74f590c076bf5431face9faa9a044
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_64.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 -0.02075353 -0.01891591
+v -0.01342539 -0.02075353 -0.01882836
+v -0.01342539 -0.01865221 -0.01891864
+v -0.01149485 -0.02058264 -0.01892138
+v -0.01149485 -0.02075353 0.00826035
+v -0.01345514 -0.02075353 -0.01882562
+v -0.01345572 -0.01865221 -0.01891591
+v -0.01342539 -0.01651154 -0.01892411
+v -0.01334286 -0.01017340 -0.01892411
+v -0.01149485 -0.01635826 -0.01892138
+v -0.01149485 -0.01672073 0.00870631
+v -0.01149523 -0.01491250 0.00902641
+v -0.01338700 -0.02075353 0.00804421
+v -0.01345572 -0.02075353 -0.01881468
+v -0.01345572 -0.01651154 -0.01892138
+v -0.01343748 -0.01237622 -0.01892411
+v -0.01343748 -0.01017340 -0.01892411
+v -0.01149504 -0.01017340 -0.01892138
+v -0.01149485 -0.01635826 0.00873914
+v -0.01156759 -0.01478512 0.00902641
+v -0.01345572 -0.02075353 0.00803326
+v -0.01149504 -0.01237622 0.00902641
+v -0.01345572 -0.01635826 -0.01892138
+v -0.01343748 -0.01017340 0.00856951
+v -0.01149504 -0.01017340 0.00902641
+v -0.01258872 -0.01101331 0.00902641
+v -0.01278200 -0.01017340 0.00902641
+v -0.01343748 -0.01018480 0.00856951
+v -0.01345572 -0.01636033 0.00804147
+v -0.01345572 -0.01635826 0.00801137
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+f 17 23 30
+f 17 30 24
+f 19 25 22
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 24 30 29
+f 24 29 28
+f 24 28 27
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_65.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd325064407b8d29bcdcdab2bbba9205156e4f0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_65.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.03441296 0.00819604
+v -0.00317723 -0.03441296 0.00819604
+v -0.00285283 -0.03471066 0.00819604
+v -0.00285283 0.03208842 0.00819566
+v -0.00398662 0.03095869 0.00819566
+v -0.00398662 -0.03395497 0.00819566
+v -0.00398662 -0.03574116 0.00741421
+v -0.00285283 -0.03795482 0.00653995
+v -0.00285283 0.03347005 0.00794225
+v -0.00398662 0.03265328 0.00795513
+v -0.00398662 0.03228688 0.00801876
+v -0.00398662 0.03215712 0.00804073
+v -0.00398662 -0.03760369 0.00640661
+v -0.00285283 -0.03819145 0.00627214
+v -0.00398662 0.03311891 0.00786876
+v -0.00285283 0.03453108 0.00772103
+v -0.00334481 0.03414178 0.00774149
+v -0.00398662 0.03350058 0.00779376
+v -0.00398662 -0.03858838 0.00502969
+v -0.00338588 -0.03877922 0.00531758
+v -0.00332184 -0.03871052 0.00543311
+v -0.00285283 -0.03879448 0.00543311
+v -0.00285283 0.03472191 0.00766308
+v -0.00398662 0.03414178 0.00760853
+v -0.00398662 0.03362271 0.00776800
+v -0.00398662 -0.03886318 0.00432627
+v -0.00381305 -0.03895478 0.00432627
+v -0.00285283 -0.03922958 0.00481719
+v -0.00285283 0.03701953 0.00664904
+v -0.00398662 0.03579821 0.00696117
+v -0.00398662 0.03479061 0.00740398
+v -0.00398662 0.03471428 0.00742936
+v -0.00398662 0.03805003 0.00432627
+v -0.00324515 -0.03922195 0.00432627
+v -0.00285283 -0.03932118 0.00456794
+v -0.00285283 0.03708060 0.00661381
+v -0.00398662 0.03671420 0.00643616
+v -0.00398662 0.03772180 0.00516947
+v -0.00351761 0.03789736 0.00543273
+v -0.00345790 0.03835536 0.00432627
+v -0.00285283 -0.03935935 0.00432627
+v -0.00285283 0.03808056 0.00574561
+v -0.00398662 0.03737830 0.00573501
+v -0.00398662 0.03756913 0.00543273
+v -0.00285283 0.03822560 0.00543273
+v -0.00285283 0.03849276 0.00481188
+v -0.00285283 0.03852330 0.00473423
+v -0.00285283 0.03853856 0.00468499
+v -0.00285283 0.03862253 0.00432627
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 28
+f 1 28 35
+f 1 35 41
+f 1 41 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
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+f 5 18 25
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+f 5 44 38
+f 5 38 33
+f 5 33 26
+f 5 26 19
+f 5 19 13
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+f 9 17 18
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+f 16 23 17
+f 17 24 25
+f 17 25 18
+f 17 23 24
+f 19 26 27
+f 19 27 20
+f 20 27 28
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+f 23 29 30
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+f 23 31 32
+f 23 32 24
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+f 26 40 49
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+f 26 34 27
+f 27 34 35
+f 27 35 28
+f 29 36 37
+f 29 37 30
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+f 33 39 40
+f 34 41 35
+f 36 42 37
+f 37 42 43
+f 38 44 39
+f 39 44 43
+f 39 43 42
+f 39 42 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 40 48 49
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_66.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe53bc49552af39a010888b2c9fdee6cf0bd109
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_66.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00518998 0.01250547 0.01040732
+v -0.00634381 0.01250547 0.00973733
+v -0.00518998 0.01250547 0.00819604
+v -0.00518998 0.01559393 0.00986873
+v -0.00634381 0.01250547 0.00819604
+v -0.00634381 0.01431392 0.00941544
+v -0.00518998 0.01559393 0.00819604
+v -0.00634381 0.01559393 0.00892880
+v -0.00634381 0.01559393 0.00819604
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_67.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d585b7a74e5bdd8eeb83198be8326840342d8ebc
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_67.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01706217 -0.00084541 0.00834994
+v 0.01706217 -0.00025034 0.00775369
+v 0.01705837 -0.00084541 0.00903137
+v 0.01696334 -0.00084555 0.01127326
+v 0.01700642 -0.00084555 -0.01642669
+v 0.01706217 -0.00084541 -0.01450166
+v 0.01706090 0.00061825 0.00475202
+v 0.01705963 0.00061825 0.00689510
+v 0.01704696 0.00061825 0.00903477
+v 0.01705456 -0.00025034 0.00903137
+v 0.01706217 -0.00025034 -0.01450166
+v 0.01703556 -0.00084541 0.01048962
+v 0.01689619 -0.00084555 0.01263611
+v 0.01700135 -0.00084555 -0.01664134
+v 0.01706090 0.00061825 -0.01450507
+v 0.01683410 0.00061825 0.01117104
+v 0.01683917 0.00051666 0.01127326
+v 0.01704063 -0.00025034 0.00990018
+v 0.01700135 0.00061825 -0.01664134
+v 0.01685691 -0.00084555 0.01286779
+v 0.01683663 0.00052956 0.01127326
+v 0.01620565 -0.00084555 -0.01831424
+v 0.01645779 0.00061825 0.01331413
+v 0.01681763 0.00061768 0.01127326
+v 0.01620565 0.00061825 -0.01831424
+v 0.01677201 -0.00084555 0.01331753
+v 0.01562915 -0.00084555 -0.01850844
+v 0.01626900 -0.00084555 0.01547084
+v 0.01646032 -0.00084555 0.01477578
+v 0.01584961 0.00061825 0.01548106
+v 0.01440012 0.00061825 -0.01892071
+v 0.01440012 -0.00084555 -0.01892071
+v 0.01583568 0.00061825 0.01552195
+v 0.01576219 0.00035590 0.01587969
+v 0.01607768 -0.00084555 0.01587969
+v 0.00459198 0.00061739 -0.01892411
+v 0.00583494 0.00061825 -0.01892071
+v 0.00459198 -0.00084555 -0.01892411
+v 0.01561901 0.00061825 0.01587969
+v 0.00459198 0.00061825 0.01588310
+v 0.00459198 -0.00084555 0.01588310
+v 0.00412064 0.00061696 -0.01892411
+v 0.00412064 0.00061825 -0.01816773
+v 0.00459198 0.00061825 -0.01837557
+v 0.00412064 -0.00084555 -0.01892411
+v 0.00413458 0.00061825 0.01588310
+v 0.00458057 -0.00084555 0.01588310
+v 0.00412064 0.00061825 0.01586947
+v 0.00412064 -0.00084555 0.01558668
+v 0.00446020 -0.00052402 0.01588310
+v 0.00412064 0.00012406 0.01577407
+v 0.00419666 -0.00084555 0.01563779
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 15
+f 2 15 7
+f 3 10 12
+f 3 12 4
+f 4 12 13
+f 4 13 20
+f 4 20 26
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+f 4 28 35
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+f 4 41 47
+f 4 47 52
+f 4 52 49
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+f 4 14 5
+f 5 14 6
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+f 7 37 44
+f 7 44 43
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+f 7 46 40
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+f 7 9 8
+f 9 16 17
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+f 10 18 12
+f 11 19 15
+f 12 18 13
+f 13 17 21
+f 13 21 20
+f 14 22 25
+f 14 25 19
+f 16 23 24
+f 16 24 21
+f 16 21 17
+f 20 23 26
+f 20 21 24
+f 20 24 23
+f 22 27 25
+f 23 28 29
+f 23 29 26
+f 23 30 28
+f 25 27 31
+f 27 32 31
+f 28 30 33
+f 28 33 34
+f 28 34 35
+f 31 32 38
+f 31 38 36
+f 31 36 37
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 35 40 41
+f 36 38 45
+f 36 45 42
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 40 46 50
+f 40 50 47
+f 40 47 41
+f 42 45 49
+f 42 49 51
+f 42 51 48
+f 42 48 43
+f 46 48 51
+f 46 51 49
+f 46 49 50
+f 47 50 52
+f 49 52 50
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_68.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b352bc29880501f7e75ede55c2371d22076d4ca
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_68.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.01706343 -0.00546652 0.00655279
+v 0.01706343 -0.01222003 0.00475732
+v 0.01706343 -0.00546652 -0.01449905
+v 0.01706233 -0.00546652 0.01331945
+v 0.01706233 -0.00795041 0.01545904
+v 0.01706233 -0.01222003 0.01545904
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_69.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ff282ab668eabe860c7040698979e10b680632
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01475938 0.01647846 0.00878562
+v -0.01475938 0.01651475 0.00876702
+v -0.01479913 0.01647846 0.00878562
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+v -0.01838515 0.01647846 -0.01232642
+v -0.01475938 0.01700651 -0.01232642
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+f 17 18 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_7.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129b2145ddefb1303cd4c4acd9c14827746312a2
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01149421 -0.02179214 0.00819629
+v -0.01101883 -0.02483399 0.00819629
+v -0.01149421 -0.01233915 0.00945305
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_70.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42461badb21167b27a1faa77b037861f5dbdc804
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00582354 0.00827902 0.00909247
+v 0.00582354 0.00827902 0.01024662
+v 0.00582354 0.01225927 0.00909247
+v 0.01693912 0.00827902 0.00909247
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+v 0.01703923 0.03110567 0.01024662
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+v 0.01706234 0.01559812 0.00909247
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+v 0.01706344 0.03057825 0.01024662
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_71.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745a5eda93a575e781e8a9ac09e9b57682aa6ade
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.01778874 0.00811319
+v -0.01149485 0.02087141 0.00803105
+v -0.01342689 0.01778874 0.00814498
+v -0.01149485 0.01778874 -0.01892215
+v -0.01358000 0.02087141 0.00803105
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+v -0.01556932 0.01778874 0.00809994
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+v -0.01537763 0.02087141 0.00800456
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+v -0.01149485 0.01989133 -0.01891420
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+v -0.01636294 0.02087141 0.00796482
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+v -0.01648216 0.02087141 -0.01798953
+v -0.01762876 0.02087141 0.00761508
+v -0.01763928 0.01989133 0.00777670
+v -0.01945093 0.01778874 0.00759919
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+v -0.01937379 0.01778874 -0.01673633
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+v -0.02173946 0.01989133 0.00490466
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+v -0.02177102 0.02087141 0.00165639
+v -0.02233088 0.01989133 0.00049592
+v -0.02180258 0.02087141 0.00047472
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+f 77 85 78
+f 78 86 87
+f 78 87 82
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+f 78 85 86
+f 82 87 84
+f 84 87 88
+f 86 88 87
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_72.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe47a320464f79b74909111b6e63089606b0ea3e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_72.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00290743 0.00467521 0.01164407
+v 0.00290743 0.00467521 0.01317261
+v 0.00290743 0.00554598 0.01164407
+v 0.01596549 0.00467521 0.01164407
+v 0.00290871 0.00467521 0.01614447
+v 0.00290743 0.00554598 0.01645956
+v 0.00290743 0.00827640 0.01197245
+v 0.01574692 0.00554598 0.01164407
+v 0.01591308 0.00491494 0.01164407
+v 0.01520241 0.00827640 0.01197245
+v 0.01450579 0.00467521 0.01546737
+v 0.00395811 0.00467521 0.01705690
+v 0.00290743 0.00827640 0.01753853
+v 0.01506947 0.00827640 0.01225548
+v 0.01369413 0.00467521 0.01710459
+v 0.01405586 0.00827640 0.01438371
+v 0.01367368 0.00489378 0.01704439
+v 0.00406803 0.00467521 0.01714916
+v 0.00346089 0.00827640 0.01798341
+v 0.01141511 0.00827640 0.01885362
+v 0.01367496 0.00467521 0.01713118
+v 0.01343722 0.00628490 0.01671366
+v 0.01229834 0.00827640 0.01755885
+v 0.00546766 0.00467521 0.01823204
+v 0.00525164 0.00554598 0.01836886
+v 0.00502924 0.00649079 0.01852602
+v 0.00469435 0.00791751 0.01871757
+v 0.00460232 0.00827640 0.01875979
+v 0.01011902 0.00827640 0.01937434
+v 0.01154421 0.00703370 0.01894353
+v 0.01286970 0.00467521 0.01815933
+v 0.00652473 0.00467521 0.01885440
+v 0.00647871 0.00489378 0.01887551
+v 0.00581405 0.00827640 0.01919607
+v 0.01011902 0.00703370 0.01944392
+v 0.01181902 0.00467521 0.01901546
+v 0.01169887 0.00554598 0.01899592
+v 0.00798059 0.00827640 0.01963001
+v 0.00797037 0.00467521 0.01928364
+v 0.00798059 0.00489378 0.01931492
+v 0.00798059 0.00554598 0.01938372
+v 0.00798059 0.00703370 0.01953931
+v 0.01011902 0.00554598 0.01945487
+v 0.01011902 0.00489378 0.01945956
+v 0.01011902 0.00467521 0.01945409
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 15
+f 1 15 21
+f 1 21 31
+f 1 31 36
+f 1 36 45
+f 1 45 39
+f 1 39 32
+f 1 32 24
+f 1 24 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 7 13 19
+f 7 19 28
+f 7 28 34
+f 7 34 38
+f 7 38 29
+f 7 29 20
+f 7 20 23
+f 7 23 16
+f 7 16 14
+f 7 14 10
+f 8 10 9
+f 10 14 11
+f 11 14 16
+f 11 16 17
+f 11 17 15
+f 12 18 13
+f 13 18 19
+f 15 17 20
+f 15 20 21
+f 16 22 17
+f 16 23 22
+f 17 22 23
+f 17 23 20
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 24 32 26
+f 24 26 25
+f 26 32 27
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 29 38 35
+f 30 37 36
+f 30 36 31
+f 32 39 33
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 38
+f 35 38 43
+f 35 43 36
+f 36 44 45
+f 36 43 44
+f 38 42 45
+f 38 45 44
+f 38 44 43
+f 39 45 40
+f 40 45 41
+f 41 45 42
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_73.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b82845137794f24f173282aa30d6e555e0f76d9
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_73.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.03535446 -0.00988482
+v -0.00697561 0.03430257 -0.01250916
+v -0.00704790 0.03433668 -0.01232329
+v -0.00740928 0.03397847 -0.01265726
+v -0.00740928 0.03420022 -0.01209670
+v -0.00740928 0.03494508 -0.01019287
+v -0.00740928 0.03505879 -0.00988482
+v -0.00697561 0.03313695 -0.00988482
+v -0.00697561 0.03337576 -0.01472622
+v -0.00740928 0.03346673 -0.01386428
+v -0.00740928 0.03313695 -0.00988482
+v -0.00697561 -0.02273290 -0.00988556
+v -0.00704790 0.03334733 -0.01467512
+v -0.00697561 0.03236367 -0.01667818
+v -0.00740928 0.03217603 -0.01647528
+v -0.00734624 0.03313695 -0.01464476
+v -0.00740928 0.03309146 -0.01463662
+v -0.00740928 -0.02273290 -0.00988556
+v -0.00697561 -0.02273290 -0.01744830
+v -0.00697561 0.03228406 -0.01677741
+v -0.00740928 0.03182919 -0.01705584
+v -0.00740928 -0.02273290 -0.01744830
+v -0.00697561 0.03148235 -0.01744830
+v -0.00740928 0.03136294 -0.01744830
+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 8
+f 1 8 12
+f 1 12 19
+f 1 19 23
+f 1 23 20
+f 1 20 14
+f 1 14 9
+f 1 9 2
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 17
+f 4 17 15
+f 4 15 21
+f 4 21 24
+f 4 24 22
+f 4 22 18
+f 4 18 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 8 11 18
+f 8 18 12
+f 9 13 10
+f 9 14 15
+f 9 15 13
+f 10 13 16
+f 10 16 17
+f 12 18 22
+f 12 22 19
+f 13 15 16
+f 14 20 21
+f 14 21 15
+f 15 17 16
+f 19 22 24
+f 19 24 23
+f 20 23 24
+f 20 24 21
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_74.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536ffd0309dd39477c91450f8f4c01e403a33b93
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_74.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00203902 -0.00762189 -0.01891752
+v 0.00203902 -0.00601877 -0.01891752
+v 0.00211144 -0.00601877 -0.01892084
+v 0.00290734 -0.00762189 -0.01891752
+v 0.00203902 -0.00762189 0.01502359
+v 0.00211144 -0.00359833 -0.01892084
+v 0.00203902 -0.00601877 0.01451523
+v 0.00290743 -0.00601877 -0.01892084
+v 0.00290734 -0.00762189 0.01468800
+v 0.00290743 -0.00359833 0.01435574
+v 0.00211144 -0.00420334 0.01457171
+v 0.00203902 -0.00713859 0.01494053
+v 0.00290743 -0.00359833 -0.01892084
+v 0.00211144 -0.00359833 0.01443216
+v 0.00290743 -0.00601877 0.01415305
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 7 14
+f 2 14 6
+f 3 6 13
+f 3 13 8
+f 4 8 15
+f 4 15 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 14 10
+f 6 10 13
+f 7 12 14
+f 8 13 10
+f 8 10 15
+f 9 15 10
+f 10 14 11
+f 11 14 12
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_75.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757e644c2d9718659d7381c78e7b87e25b8f297e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01128524 0.02000924 -0.01891837
+v -0.00950666 0.02201785 -0.01891309
+v -0.00950666 0.02000924 -0.01891837
+v -0.01149485 0.02000924 -0.01889990
+v -0.01128524 0.02201785 -0.01887087
+v -0.00950666 0.02415759 -0.01886296
+v -0.00950666 0.02000924 0.00803350
+v -0.01149485 0.02201785 -0.01884712
+v -0.01149485 0.02000924 0.00803350
+v -0.01128524 0.02415759 -0.01868880
+v -0.00950666 0.02489844 -0.01876005
+v -0.00950666 0.02489844 0.00803350
+v -0.01149485 0.02416334 -0.01863603
+v -0.01149485 0.02394845 0.00803350
+v -0.01128524 0.02489844 -0.01854895
+v -0.01054473 0.02489844 0.00803350
+v -0.01149485 0.02489844 -0.01848826
+v -0.01137749 0.02489844 0.00802294
+v -0.01149485 0.02414324 0.00803086
+v -0.01149485 0.02489844 0.00802030
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 2 7 3
+f 4 8 5
+f 4 9 14
+f 4 14 19
+f 4 19 20
+f 4 20 17
+f 4 17 13
+f 4 13 8
+f 5 8 10
+f 5 10 6
+f 6 10 11
+f 7 12 16
+f 7 16 14
+f 7 14 9
+f 8 13 10
+f 10 13 15
+f 10 15 11
+f 11 15 17
+f 11 17 20
+f 11 20 18
+f 11 18 16
+f 11 16 12
+f 13 17 15
+f 14 16 18
+f 14 18 19
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_76.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa215e3757b60c889a1ec636a65640c9f954ae7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_76.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01493082 0.00061825 -0.01485663
+v 0.01493082 0.00275572 -0.01485663
+v 0.01705341 0.00061825 -0.01485663
+v 0.01493082 0.00061825 0.00935376
+v 0.01685259 0.00275572 -0.01485663
+v 0.01493082 0.00275572 0.00908596
+v 0.01705341 0.00275258 -0.01485663
+v 0.01706343 0.00061825 -0.01450352
+v 0.01701855 0.00061825 0.00935376
+v 0.01493082 0.00275321 0.00935376
+v 0.01706323 0.00275572 -0.01450589
+v 0.01699329 0.00275572 0.00903620
+v 0.01706343 0.00275258 -0.01450352
+v 0.01706343 0.00061825 0.00475862
+v 0.01697033 0.00244000 0.00935376
+v 0.01704966 0.00061825 0.00904094
+v 0.01691940 0.00275258 0.00935376
+v 0.01706343 0.00275572 -0.01236592
+v 0.01699308 0.00275258 0.00904094
+v 0.01706323 0.00275572 0.00689622
+v 0.01706343 0.00275258 0.00475862
+v 0.01706323 0.00061825 0.00689859
+v 0.01704986 0.00061825 0.00903383
+v 0.01706343 0.00275572 0.00475625
+v 0.01706323 0.00275258 0.00689859
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 23
+f 1 23 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 24
+f 2 24 18
+f 2 18 11
+f 2 11 5
+f 3 7 13
+f 3 13 8
+f 4 9 15
+f 4 15 17
+f 4 17 10
+f 5 11 7
+f 6 10 12
+f 7 11 13
+f 8 13 18
+f 8 18 24
+f 8 24 21
+f 8 21 14
+f 9 16 15
+f 10 17 12
+f 11 18 13
+f 12 19 16
+f 12 16 20
+f 12 17 19
+f 14 21 25
+f 14 25 22
+f 15 16 19
+f 15 19 17
+f 16 23 20
+f 20 23 25
+f 20 25 21
+f 20 21 24
+f 22 25 23
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_77.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80607c60fcdb56d9f672a6a59c0881017f1709eb
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_77.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.02644084 -0.01020724
+v -0.00285283 0.02644084 -0.01891987
+v -0.00398662 0.02644084 -0.01020724
+v -0.00285283 -0.00757589 -0.01020724
+v -0.00398662 0.02644084 -0.01891987
+v -0.00285283 0.02629433 -0.01892328
+v -0.00398662 0.02629433 -0.01892414
+v -0.00398662 -0.00757589 -0.01020724
+v -0.00285283 -0.00757589 -0.01892328
+v -0.00320431 -0.00757589 -0.01892328
+v -0.00398662 -0.00757589 -0.01892243
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 8
+f 4 8 11
+f 4 11 10
+f 4 10 9
+f 6 9 7
+f 7 9 10
+f 7 10 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_78.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21efae8cbe55642c59b832614fb9cad2310db8e8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_78.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00285262 -0.00601880 -0.01892411
+v -0.00285262 -0.00567893 -0.01892411
+v -0.00006272 -0.00601880 -0.01892411
+v -0.00285262 -0.00601880 0.01859260
+v -0.00285262 -0.00052606 -0.01892044
+v -0.00255086 -0.00171291 -0.01892411
+v -0.00006272 -0.00152846 -0.01892411
+v -0.00006272 -0.00601880 0.01674541
+v -0.00244954 -0.00601880 0.01847509
+v -0.00285262 -0.00581606 0.01854119
+v -0.00072469 -0.00052499 -0.01892044
+v -0.00158602 -0.00052606 -0.01892411
+v -0.00285262 -0.00052606 0.01682253
+v -0.00072469 -0.00052606 -0.01892411
+v -0.00006272 -0.00052499 -0.01892044
+v -0.00006272 -0.00555901 0.01658750
+v -0.00044587 -0.00601880 0.01713835
+v -0.00272263 -0.00366876 0.01784712
+v -0.00264862 -0.00563322 0.01843102
+v -0.00053845 -0.00601880 0.01722282
+v -0.00123592 -0.00366876 0.01691434
+v -0.00265791 -0.00158976 0.01712734
+v -0.00285262 -0.00101543 0.01704287
+v -0.00285262 -0.00366876 0.01788384
+v -0.00072469 -0.00052499 0.01482477
+v -0.00153304 -0.00234425 0.01664626
+v -0.00190144 -0.00091702 0.01626433
+v -0.00201177 -0.00052606 0.01615049
+v -0.00047318 -0.00052499 0.01463381
+v -0.00006272 -0.00052499 0.01413070
+v -0.00006272 -0.00173926 0.01512591
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
+f 1 10 24
+f 1 24 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 30
+f 3 30 31
+f 3 31 16
+f 3 16 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 5 13 25
+f 5 25 11
+f 7 14 15
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 18
+f 10 19 24
+f 11 15 14
+f 11 14 12
+f 11 25 29
+f 11 29 30
+f 11 30 15
+f 13 23 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 25
+f 16 31 17
+f 17 31 20
+f 18 24 19
+f 18 23 24
+f 20 31 21
+f 21 26 22
+f 21 31 26
+f 22 26 23
+f 26 31 27
+f 27 31 28
+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_79.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc6a2bae2a25fc41cbf7a04989de3549c4d6c94
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_79.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00062233 0.01469775 0.01654737
+v -0.00057841 0.01453452 0.01654737
+v -0.00051985 0.01469775 0.01666141
+v 0.01115327 0.01469775 0.01654737
+v -0.00026853 0.01345548 0.01654737
+v 0.00010236 0.01345548 0.01694874
+v -0.00022705 0.01469775 0.01697768
+v 0.01108373 0.01469775 0.01670309
+v 0.01183892 0.01236233 0.01654737
+v -0.00008064 0.01288625 0.01654737
+v 0.00055011 0.01469775 0.01776731
+v -0.00007088 0.01469775 0.01714580
+v 0.00029024 0.01233598 0.01674409
+v 0.00124430 0.01345548 0.01801881
+v 0.01059451 0.01469775 0.01746483
+v 0.01183160 0.01233598 0.01656839
+v 0.01184136 0.01233598 0.01654737
+v 0.00010602 0.01233598 0.01654737
+v 0.00102957 0.01469775 0.01821622
+v 0.00054889 0.01233598 0.01698560
+v 0.00142730 0.01233598 0.01779384
+v 0.00251555 0.01233598 0.01874919
+v 0.01008210 0.01469775 0.01811149
+v 0.01083119 0.01233598 0.01798746
+v 0.00231425 0.01345548 0.01887770
+v 0.00209953 0.01469775 0.01900655
+v 0.00269856 0.01233598 0.01882568
+v 0.00369897 0.01345548 0.01945718
+v 0.00937937 0.01469775 0.01896383
+v 0.00982711 0.01233598 0.01906787
+v 0.00369897 0.01469775 0.01967699
+v 0.00311824 0.01469775 0.01943376
+v 0.00366481 0.01233598 0.01922877
+v 0.00583888 0.01233598 0.01980032
+v 0.00797879 0.01469775 0.01968663
+v 0.00797879 0.01345548 0.01973797
+v 0.00797879 0.01233598 0.01975450
+v 0.00583888 0.01345548 0.01993296
+v 0.00583888 0.01469775 0.02006698
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 19
+f 1 19 26
+f 1 26 32
+f 1 32 31
+f 1 31 39
+f 1 39 35
+f 1 35 29
+f 1 29 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 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 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 13
+f 6 13 14
+f 6 14 11
+f 8 15 9
+f 9 16 17
+f 9 15 16
+f 10 18 13
+f 11 14 19
+f 13 18 17
+f 13 17 16
+f 13 16 24
+f 13 24 30
+f 13 30 37
+f 13 37 34
+f 13 34 33
+f 13 33 27
+f 13 27 22
+f 13 22 21
+f 13 21 20
+f 13 20 14
+f 14 21 22
+f 14 22 19
+f 14 20 21
+f 15 23 24
+f 15 24 16
+f 19 22 25
+f 19 25 26
+f 22 27 28
+f 22 28 25
+f 23 29 24
+f 24 29 30
+f 25 28 31
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 28 33 34
+f 28 34 31
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 31 34 38
+f 31 38 39
+f 34 37 38
+f 35 39 36
+f 36 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_8.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1beea1749cea3b8b2e9f1253627e302f8d03b84
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.00207569 0.01233598 0.01420963
+v -0.00199006 0.01203079 0.01420963
+v -0.00179976 0.01233598 0.01454401
+v 0.01307378 0.01233598 0.01420963
+v -0.00194407 0.01186787 0.01420963
+v -0.00176011 0.01207132 0.01450133
+v -0.00160787 0.01233598 0.01474815
+v 0.01183049 0.01233598 0.01656836
+v 0.01360979 0.01051163 0.01420963
+v -0.00154761 0.01059349 0.01420963
+v 0.00029037 0.01233598 0.01674404
+v 0.01083141 0.01233598 0.01798689
+v 0.01119457 0.01026168 0.01867918
+v 0.01410775 0.00847389 0.01420963
+v -0.00116384 0.00945104 0.01420963
+v -0.00075787 0.00827680 0.01420963
+v 0.00034587 0.01200973 0.01668438
+v 0.00054886 0.01233598 0.01698593
+v 0.00982599 0.01233598 0.01906774
+v 0.01132302 0.00917446 0.01878918
+v 0.01229831 0.00827680 0.01755947
+v 0.01405541 0.00827680 0.01438312
+v 0.01412361 0.00827680 0.01420963
+v -0.00045973 0.00827680 0.01449257
+v 0.00062340 0.01058276 0.01639762
+v 0.00199038 0.00917446 0.01714245
+v 0.00158441 0.01137433 0.01759997
+v 0.00142741 0.01233598 0.01779370
+v 0.01011937 0.00917446 0.01932441
+v 0.01015743 0.01111087 0.01907924
+v 0.00797850 0.01233598 0.01975457
+v 0.01141659 0.00827680 0.01885431
+v 0.00184132 0.00827680 0.01663075
+v 0.00218861 0.00827680 0.01695200
+v 0.00288321 0.01073893 0.01851610
+v 0.00254701 0.01216630 0.01872953
+v 0.00251530 0.01233598 0.01874923
+v 0.01011937 0.00827680 0.01937421
+v 0.00583921 0.01233598 0.01980054
+v 0.00797850 0.01131472 0.01976989
+v 0.00278965 0.00827680 0.01744345
+v 0.00346045 0.00827680 0.01798360
+v 0.00329711 0.00917446 0.01821291
+v 0.00460067 0.00827680 0.01876073
+v 0.00436755 0.00917446 0.01886854
+v 0.00363807 0.01139738 0.01903710
+v 0.00269767 0.01233598 0.01882530
+v 0.00797850 0.00917446 0.01969601
+v 0.00797850 0.00827680 0.01963034
+v 0.00366503 0.01233598 0.01922864
+v 0.00583921 0.01131472 0.01967959
+v 0.00581383 0.00827680 0.01919635
+v 0.00583921 0.00917446 0.01935670
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 18
+f 1 18 28
+f 1 28 37
+f 1 37 47
+f 1 47 50
+f 1 50 39
+f 1 39 31
+f 1 31 19
+f 1 19 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
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+f 1 23 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
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+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 13 19 20
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+f 13 21 14
+f 14 22 23
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+f 16 38 49
+f 16 49 52
+f 16 52 44
+f 16 44 42
+f 16 42 41
+f 16 41 34
+f 16 34 33
+f 16 33 24
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 17 24 25
+f 18 27 28
+f 19 29 30
+f 19 30 20
+f 19 31 29
+f 20 30 32
+f 20 32 21
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+f 24 26 25
+f 26 33 34
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+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 29 38 32
+f 29 32 30
+f 29 31 38
+f 31 39 40
+f 31 40 38
+f 34 41 35
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 38 40 48
+f 38 48 49
+f 39 50 51
+f 39 51 49
+f 39 49 48
+f 39 48 40
+f 42 44 43
+f 44 52 45
+f 45 50 46
+f 45 52 50
+f 46 50 47
+f 49 51 53
+f 49 53 52
+f 50 52 53
+f 50 53 51
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_80.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffebc9f79b6968cf96b4705e460853079d8b4274
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00603797 0.02698817 0.00819534
+v -0.00651000 0.02629226 0.00819534
+v -0.00603797 -0.00523231 0.00819534
+v -0.00603797 0.02843715 0.00813541
+v -0.00680939 0.02416081 0.00819534
+v -0.00697561 0.02852120 0.00803459
+v -0.00697561 0.02843715 0.00803811
+v -0.00604027 -0.00582064 0.00819534
+v -0.00603797 -0.00582064 0.00815162
+v -0.00603797 0.02852120 0.00812765
+v -0.00697561 0.02262778 0.00819534
+v -0.00697561 0.02852120 0.00099415
+v -0.00697561 -0.00582064 0.00819534
+v -0.00603797 -0.00582400 0.00227942
+v -0.00603797 0.02852120 0.00099415
+v -0.00697561 -0.00582400 0.00099415
+v -0.00697561 -0.00582400 0.00227942
+v -0.00603797 -0.00582400 0.00099415
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 18
+f 1 18 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 6
+f 5 7 11
+f 6 10 15
+f 6 15 12
+f 6 12 16
+f 6 16 17
+f 6 17 13
+f 6 13 11
+f 6 11 7
+f 8 13 17
+f 8 17 14
+f 8 14 9
+f 12 15 18
+f 12 18 16
+f 14 17 16
+f 14 16 18
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_81.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7bb608c99786d80ff3a396e60631897bf13b59
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_81.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00099859 0.01631364 0.01654737
+v -0.00098244 0.01622175 0.01654737
+v -0.00094022 0.01631364 0.01661387
+v 0.01168846 0.01631364 0.01654737
+v -0.00085950 0.01559580 0.01654737
+v -0.00019633 0.01559580 0.01728861
+v -0.00020502 0.01631364 0.01743389
+v 0.01116936 0.01631364 0.01726331
+v 0.01059436 0.01469814 0.01746497
+v 0.01108367 0.01469814 0.01670314
+v 0.01115445 0.01469814 0.01654737
+v -0.00062230 0.01469814 0.01654737
+v -0.00007090 0.01469814 0.01714585
+v 0.00055004 0.01469814 0.01776710
+v 0.00087417 0.01559580 0.01835872
+v 0.00076737 0.01631364 0.01844654
+v 0.00015636 0.01631364 0.01783505
+v -0.00051922 0.01469814 0.01666158
+v 0.00937981 0.01469814 0.01896371
+v 0.01008271 0.01469814 0.01811152
+v 0.00927052 0.01631364 0.01887733
+v 0.00102940 0.01469814 0.01821633
+v 0.00209990 0.01469814 0.01900635
+v 0.00194467 0.01559580 0.01909959
+v 0.00178198 0.01631364 0.01912164
+v 0.00797897 0.01469814 0.01968687
+v 0.00797897 0.01631364 0.01965435
+v 0.00311825 0.01469814 0.01943389
+v 0.00369945 0.01559580 0.01983577
+v 0.00253208 0.01631364 0.01946027
+v 0.00583796 0.01631364 0.02023910
+v 0.00583796 0.01559580 0.02016356
+v 0.00583796 0.01469814 0.02006671
+v 0.00369945 0.01469814 0.01967712
+v 0.00369945 0.01631364 0.01994998
+f 1 2 3
+f 1 3 7
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+f 2 5 6
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+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
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+f 9 19 26
+f 9 26 33
+f 9 33 34
+f 9 34 28
+f 9 28 23
+f 9 23 22
+f 9 22 14
+f 9 14 13
+f 9 13 18
+f 9 18 12
+f 9 12 11
+f 9 11 10
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 19 21 27
+f 19 27 26
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 27 31
+f 26 31 32
+f 26 32 33
+f 28 34 29
+f 29 35 30
+f 29 34 33
+f 29 33 35
+f 31 35 32
+f 32 35 33
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_82.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd6b54eda4345f0564c0974dc8984170c7ecb8a
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_82.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00950666 0.00892149 -0.01891618
+v -0.00950666 0.00953819 -0.01891883
+v -0.00907299 0.00892149 -0.01891618
+v -0.00950666 0.00892149 0.00819604
+v -0.00948463 0.00964632 -0.01891883
+v -0.00950666 0.01971990 -0.01892149
+v -0.00914481 0.02201654 -0.01892414
+v -0.00907299 0.02192843 -0.01892414
+v -0.00935346 0.01029106 -0.01891883
+v -0.00907299 0.00892149 0.00819604
+v -0.00950666 0.01093380 0.00819604
+v -0.00950666 0.01987607 -0.01892149
+v -0.00907299 0.02201654 -0.01892414
+v -0.00950666 0.02201654 -0.01891352
+v -0.00914481 0.02415700 -0.01889759
+v -0.00907299 0.02406889 -0.01890025
+v -0.00907299 0.01093380 0.00819604
+v -0.00950666 0.01750135 0.00819338
+v -0.00950666 0.02415700 -0.01886308
+v -0.00907299 0.02629746 -0.01871177
+v -0.00907299 0.02415700 -0.01889759
+v -0.00907299 0.01736519 0.00819338
+v -0.00935490 0.01749334 0.00819338
+v -0.00907299 0.02825370 0.00800756
+v -0.00950666 0.02782722 0.00800756
+v -0.00950666 0.02629746 -0.01863478
+v -0.00914481 0.02629746 -0.01870380
+v -0.00907299 0.02855205 -0.01819145
+v -0.00907299 0.02921281 0.00792261
+v -0.00950666 0.02802344 0.00799959
+v -0.00950666 0.02846995 -0.01811446
+v -0.00926227 0.02856406 -0.01814898
+v -0.00907299 0.02897653 -0.01807199
+v -0.00907299 0.02937699 0.00788810
+v -0.00910499 0.02937699 0.00788279
+v -0.00950666 0.02926286 0.00783500
+v -0.00950666 0.02900256 0.00788810
+v -0.00950666 0.02881034 -0.01797111
+v -0.00950666 0.02937699 -0.01758884
+v -0.00907299 0.02937699 -0.01778263
+v -0.00950666 0.02937699 0.00781111
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 25
+f 1 25 30
+f 1 30 37
+f 1 37 36
+f 1 36 41
+f 1 41 39
+f 1 39 38
+f 1 38 31
+f 1 31 26
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+f 1 19 14
+f 1 14 12
+f 1 12 6
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+f 2 6 7
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+f 3 22 17
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+f 4 10 17
+f 4 17 11
+f 5 8 9
+f 6 12 7
+f 7 13 8
+f 7 12 14
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+f 7 15 16
+f 7 16 13
+f 11 17 18
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+f 15 19 20
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+f 15 21 16
+f 17 22 23
+f 17 23 18
+f 18 24 25
+f 18 23 24
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 22 24 23
+f 24 29 30
+f 24 30 25
+f 26 31 32
+f 26 32 28
+f 26 28 27
+f 28 32 33
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 31 33 32
+f 31 38 33
+f 33 38 39
+f 33 39 40
+f 34 40 39
+f 34 39 41
+f 34 41 35
+f 35 41 36
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_83.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1e883df7b90ff79daf7f507e66ef056da6628e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_83.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01109648 -0.03498634 0.00833183
+v 0.01015843 -0.03498634 0.00863404
+v 0.01109648 -0.03692024 0.00803786
+v 0.01109648 -0.03498634 -0.01890812
+v 0.00797919 -0.03498634 0.00910384
+v 0.00778529 -0.03498634 0.00912856
+v 0.00754634 -0.03498634 0.00915604
+v 0.00583818 -0.03537214 0.00915604
+v 0.01011883 -0.03692024 0.00811754
+v 0.01109648 -0.03692024 -0.01870207
+v 0.01109648 -0.03577686 -0.01888889
+v 0.00932960 -0.03498634 -0.01889164
+v 0.00128444 -0.03498634 0.00915604
+v 0.00369854 -0.03544104 0.00915604
+v 0.00804200 -0.03692024 0.00825765
+v 0.00912206 -0.03692024 -0.01863613
+v 0.01109648 -0.03675309 -0.01873229
+v 0.01011883 -0.03577686 -0.01887241
+v 0.00718860 -0.03498634 -0.01884768
+v 0.00159850 -0.03511128 0.00915604
+v -0.00273404 -0.03498634 0.00810930
+v -0.00273131 -0.03692024 0.00709827
+v -0.00058211 -0.03692024 0.00761477
+v 0.00257751 -0.03529320 0.00915604
+v 0.00164356 -0.03692024 0.00806534
+v 0.00698242 -0.03692024 -0.01850976
+v 0.00369854 -0.03577686 -0.01858943
+v 0.00583818 -0.03577686 -0.01871031
+v 0.00797919 -0.03577686 -0.01880372
+v 0.00504759 -0.03498634 -0.01877900
+v -0.00285147 -0.03498634 0.00804885
+v -0.00285147 -0.03692024 0.00706530
+v 0.00482912 -0.03692024 -0.01831744
+v 0.00076831 -0.03498634 -0.01845206
+v 0.00290932 -0.03498634 -0.01866636
+v 0.00155890 -0.03577686 -0.01834766
+v -0.00285147 -0.03498634 -0.01784215
+v -0.00285147 -0.03692024 -0.01412774
+v 0.00303903 -0.03692024 -0.01811414
+v -0.00125800 -0.03498634 -0.01813337
+v 0.00155890 -0.03692024 -0.01792732
+v 0.00055121 -0.03692024 -0.01777072
+v 0.00038462 -0.03689298 -0.01775424
+v -0.00274087 -0.03498634 -0.01788336
+v -0.00284600 -0.03498634 -0.01784490
+v -0.00285147 -0.03574941 -0.01676794
+v -0.00285147 -0.03677675 -0.01450412
+v -0.00255380 -0.03692024 -0.01450412
+v 0.00041603 -0.03692024 -0.01772402
+v 0.00028768 -0.03692024 -0.01760038
+v -0.00150651 -0.03692024 -0.01579538
+v -0.00172088 -0.03688011 -0.01565801
+v -0.00285147 -0.03666203 -0.01480358
+v -0.00180417 -0.03692024 -0.01544921
+v -0.00167446 -0.03692024 -0.01561130
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 19
+f 1 19 30
+f 1 30 35
+f 1 35 34
+f 1 34 40
+f 1 40 44
+f 1 44 45
+f 1 45 37
+f 1 37 31
+f 1 31 21
+f 1 21 13
+f 1 13 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 15
+f 3 15 25
+f 3 25 23
+f 3 23 22
+f 3 22 32
+f 3 32 38
+f 3 38 48
+f 3 48 54
+f 3 54 55
+f 3 55 51
+f 3 51 50
+f 3 50 49
+f 3 49 42
+f 3 42 41
+f 3 41 39
+f 3 39 33
+f 3 33 26
+f 3 26 16
+f 3 16 10
+f 4 11 12
+f 7 13 20
+f 7 20 24
+f 7 24 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 11 18 12
+f 11 17 18
+f 12 18 19
+f 13 21 22
+f 13 22 23
+f 13 23 20
+f 14 24 25
+f 14 25 15
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 20 23 25
+f 20 25 24
+f 21 31 32
+f 21 32 22
+f 26 33 27
+f 27 34 35
+f 27 35 28
+f 27 33 36
+f 27 36 34
+f 28 30 29
+f 28 35 30
+f 31 37 46
+f 31 46 53
+f 31 53 47
+f 31 47 38
+f 31 38 32
+f 33 39 36
+f 34 36 40
+f 36 39 41
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 40
+f 37 45 43
+f 37 43 46
+f 38 47 48
+f 42 49 43
+f 43 45 44
+f 43 49 50
+f 43 50 51
+f 43 51 46
+f 46 51 52
+f 46 52 53
+f 47 53 54
+f 47 54 48
+f 51 55 52
+f 52 55 54
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_84.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b318a6cb9b9efafeecc478e26b9a7fd32eba08
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_84.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00950666 0.02489844 -0.01876213
+v -0.01128524 0.02489844 -0.01854966
+v -0.00950666 0.02629893 -0.01863622
+v -0.00950666 0.02489844 0.00803477
+v -0.01144561 0.02489844 -0.01850245
+v -0.01128524 0.02629893 -0.01828736
+v -0.00950666 0.02847186 -0.01811686
+v -0.00950666 0.02593690 0.00803215
+v -0.01054473 0.02489844 0.00803215
+v -0.01149485 0.02489844 -0.01848671
+v -0.01149485 0.02629893 -0.01822441
+v -0.01149485 0.02650853 -0.01817457
+v -0.01149485 0.02771262 -0.01783620
+v -0.01128524 0.02779543 -0.01786505
+v -0.00950666 0.02864188 -0.01798047
+v -0.00950666 0.02627951 0.00802953
+v -0.01149485 0.02489844 0.00802166
+v -0.01130626 0.02864188 -0.01691289
+v -0.01127454 0.02864188 -0.01694437
+v -0.01149485 0.02861074 -0.01675551
+v -0.01145787 0.02864188 -0.01675813
+v -0.00950666 0.02864188 0.00792723
+v -0.00950666 0.02782878 0.00800854
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+v -0.01149485 0.02864188 -0.01668731
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_85.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d570e4f3216c42d82e04f292d2b8ef584fe7607e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_85.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 -0.02766105 0.00519678
+v -0.00285283 -0.02766105 0.00915878
+v -0.00285283 -0.02623474 0.00519678
+v 0.01697565 -0.02766105 0.00519678
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+v -0.00285283 -0.02623474 0.00915878
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+v 0.01699317 -0.02623474 0.00690049
+v 0.01659987 -0.02623474 0.00912349
+v 0.01625719 -0.02737986 0.00915878
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+f 13 16 15
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_86.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023ec5e66e9f6e5581c2397b85ad1f7406dcf16b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_86.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01706285 -0.03577690 0.00475633
+v 0.01659680 -0.03498634 0.00610603
+v 0.01633866 -0.03577690 0.00689557
+v 0.01667564 -0.03692017 0.00590331
+v 0.01706285 -0.03692017 0.00475633
+v 0.01706285 -0.03498634 0.00396679
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+v 0.01632931 -0.03498634 0.00689557
+v 0.01633924 -0.03692017 0.00689557
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+v 0.01706226 -0.03759750 0.00475633
+v 0.01633924 -0.03759750 0.00689557
+v 0.01706285 -0.03692017 -0.01450210
+v 0.01706285 -0.03498634 -0.01450210
+v 0.01554322 -0.03759750 0.00799986
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+v 0.01120803 -0.03759750 0.00803187
+v 0.01226160 -0.03759750 0.00803454
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+v 0.01700269 -0.03498634 -0.01664134
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+v 0.01120803 -0.03759750 -0.01858319
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\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_87.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32548d83e2a591c6b8b346b4f12723f0cf378025
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_87.obj
@@ -0,0 +1,519 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 0.02202738 0.00803228
+v -0.01243325 0.02087226 0.00803491
+v -0.01149485 0.02087226 0.00803228
+v -0.01149485 0.02202738 -0.01884319
+v -0.01149586 0.02838788 0.00760819
+v -0.01149586 0.02832681 0.00763190
+v -0.01149586 0.02799058 0.00772409
+v -0.01149586 0.02757635 0.00781102
+v -0.01149586 0.02698481 0.00791638
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+v -0.01244031 0.02087226 0.00803491
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+v -0.01149586 0.02650732 -0.01817150
+v -0.01149586 0.02771173 -0.01783171
+v -0.01149586 0.02838788 -0.01699670
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diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_88.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc99373f7aecf8b16718be242af0dbb1bedd211d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_88.obj
@@ -0,0 +1,324 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_89.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc739baeb576ebcc4b05ecc994ff2e7f53df7d57
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_89.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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+f 19 35 29
+f 19 29 33
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+f 21 29 36
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+f 24 39 40
+f 25 36 29
+f 26 29 35
+f 26 35 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
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+f 27 44 28
+f 28 44 45
+f 30 46 47
+f 30 47 31
+f 34 48 35
+f 35 48 41
+f 39 45 44
+f 39 44 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 43 49 44
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_9.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804d62c12d35a720b6058c06d8adc0a358516bb8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01149520 -0.00179809 0.01511612
+v -0.01149520 -0.00179707 0.01051788
+v -0.01430873 -0.00179707 0.01051788
+v -0.01164175 -0.00179809 0.01499872
+v -0.01149520 -0.00366996 0.01445923
+v -0.01149520 -0.00179707 0.00953882
+v -0.01506773 -0.00179707 0.00953882
+v -0.01283516 -0.00179809 0.01368821
+v -0.01225874 -0.00234726 0.01427794
+v -0.01149520 -0.00640670 0.01329888
+v -0.01149520 -0.01216748 0.00953882
+v -0.01301809 -0.00179809 0.01340755
+v -0.01304292 -0.00787050 0.00953882
+v -0.01248399 -0.00514390 0.01247490
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
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+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 13
+f 6 13 7
+f 7 12 8
+f 7 13 14
+f 7 14 12
+f 8 12 14
+f 8 14 9
+f 9 14 10
+f 10 14 11
+f 11 14 13
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_90.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ca8e67ad5ac382b0ca51927234ebefb0d43817
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,342 @@
+# https://github.com/mikedh/trimesh
+v -0.01345572 -0.03248428 -0.00380209
+v -0.01345572 -0.03244167 -0.00474161
+v -0.01345572 -0.03248428 0.00047588
+v -0.01394679 -0.03199029 -0.00380209
+v -0.01345572 -0.03238485 -0.00593976
+v -0.01345572 -0.03241168 0.00261618
+v -0.01394679 -0.03199029 0.00047588
+v -0.01556536 -0.03029839 -0.00380209
+v -0.01492045 -0.03086972 -0.00593976
+v -0.01389764 -0.03193820 -0.00593976
+v -0.01345572 -0.03225386 -0.00652300
+v -0.01476372 -0.03070558 0.00425242
+v -0.01391106 -0.03195241 0.00261618
+v -0.01345572 -0.03173145 0.00493331
+v -0.01556536 -0.03029839 0.00047588
+v -0.01556536 -0.03019422 -0.00593976
+v -0.01556536 -0.03006954 -0.00648605
+v -0.01474616 -0.03068664 -0.00753905
+v -0.01345572 -0.03169042 -0.00823314
+v -0.01556536 -0.03022264 0.00261618
+v -0.01354039 -0.03161466 0.00499929
+v -0.01556536 -0.02956134 0.00486733
+v -0.01345572 -0.03167621 0.00504943
+v -0.01556536 -0.02952189 -0.00815396
+v -0.01556206 -0.02952189 -0.00816716
+v -0.01345572 -0.03089655 -0.00984298
+v -0.01345572 -0.03164623 -0.00832814
+v -0.01442526 -0.03035047 0.00568017
+v -0.01553914 -0.02952189 0.00500193
+v -0.01556536 -0.02952189 0.00494651
+v -0.01345572 -0.03153417 0.00519986
+v -0.01556495 -0.01636077 -0.01887133
+v -0.01556495 -0.01651544 -0.01886869
+v -0.01556495 -0.01865714 -0.01872354
+v -0.01556495 -0.02079726 -0.01844907
+v -0.01556495 -0.02084776 -0.01843852
+v -0.01556495 -0.02281901 -0.01802154
+v -0.01556495 -0.02394116 -0.01744358
+v -0.01556495 -0.02395063 -0.01743566
+v -0.01556495 -0.02480447 -0.01663601
+v -0.01556495 -0.02486128 -0.01657268
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+v -0.01556495 -0.02812670 -0.01093029
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+v -0.01556495 -0.02950137 0.00498345
+v -0.01556495 -0.02935933 0.00514180
+v -0.01556495 -0.02774950 0.00660122
+v -0.01556495 -0.02733915 0.00677276
+v -0.01556495 -0.02616335 0.00716598
+v -0.01556495 -0.02494335 0.00756449
+v -0.01556495 -0.02427575 0.00769908
+v -0.01556495 -0.02395063 0.00774659
+v -0.01556495 -0.02293422 0.00788118
+v -0.01556495 -0.02079410 0.00800522
+v -0.01556495 -0.01865714 0.00803161
+v -0.01556495 -0.01636077 0.00803161
+v -0.01478230 -0.01636077 -0.01889244
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+v -0.01358706 -0.02952189 0.00675165
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+v -0.01478230 -0.02725077 0.00708945
+v -0.01551539 -0.02577667 0.00731641
+v -0.01540698 -0.02493546 0.00763574
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+v -0.01481637 -0.02293422 0.00799994
+v -0.01345593 -0.02293580 0.00803161
+v -0.01478230 -0.01645862 0.00803689
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+v -0.01345593 -0.01651544 -0.01892147
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+v -0.01345593 -0.02820404 -0.01523465
+v -0.01345593 -0.01636077 -0.01892147
+v -0.01345593 -0.01636077 0.00800786
+v -0.01345593 -0.01636235 0.00803953
+v -0.01345593 -0.02483287 0.00800258
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+v -0.01345593 -0.02667628 0.00773867
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+v -0.01345593 -0.02839816 0.00718182
+v -0.01391313 -0.02555887 0.00786535
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+f 84 107 85
+f 85 107 108
+f 85 108 93
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+f 85 109 110
+f 85 110 111
+f 85 111 112
+f 85 112 113
+f 85 113 86
+f 86 113 112
+f 86 112 88
+f 88 112 89
+f 89 112 90
+f 90 112 111
+f 90 111 114
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+f 91 114 110
+f 91 110 109
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+f 91 93 92
+f 93 108 94
+f 94 108 115
+f 94 115 95
+f 96 106 97
+f 107 115 108
+f 110 114 111
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_91.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461bc2a45e66ec2a403977fcb50787011160bb16
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_91.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01357967 -0.01635819 -0.01892143
+v -0.01556536 -0.01223223 -0.01892412
+v -0.01343783 -0.01635819 -0.01892143
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+v -0.01343783 -0.01635819 0.00804194
+v -0.01556536 -0.01635819 0.00803386
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+v -0.01541166 -0.01635819 0.00803655
+v -0.01350864 -0.01017379 0.00856409
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 4
+f 2 4 9
+f 2 9 10
+f 2 10 6
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 8
+f 6 10 13
+f 6 13 11
+f 6 11 7
+f 8 11 12
+f 9 12 11
+f 9 11 13
+f 9 13 10
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_92.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aef62e8bc5b1a6ef8b37651c991a0fd9d7d6cf7
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_92.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v -0.01149485 -0.03423682 -0.00380293
+v -0.01162613 -0.03413652 -0.00380293
+v -0.01149485 -0.03422626 -0.00405301
+v -0.01149485 -0.03423682 0.00047759
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+v -0.01282711 -0.03301870 -0.00594186
+v -0.01156567 -0.03408901 -0.00594186
+v -0.01162613 -0.03413652 0.00047759
+v -0.01149485 -0.03414312 -0.00594186
+v -0.01149485 -0.03416819 0.00261918
+v -0.01345572 -0.03248420 -0.00380293
+v -0.01345572 -0.03244197 -0.00474204
+v -0.01287644 -0.03306621 0.00047759
+v -0.01345572 -0.03238522 -0.00594186
+v -0.01263709 -0.03283525 -0.00760725
+v -0.01149485 -0.03413124 -0.00601901
+v -0.01158237 -0.03410089 0.00261918
+v -0.01284035 -0.03303058 0.00261918
+v -0.01149485 -0.03359411 0.00480067
+v -0.01265475 -0.03285241 0.00431915
+v -0.01345572 -0.03248420 0.00047759
+v -0.01345572 -0.03225325 -0.00652448
+v -0.01345572 -0.03169104 -0.00823509
+v -0.01229255 -0.03250664 -0.00903320
+v -0.01149485 -0.03356639 -0.00807813
+v -0.01345572 -0.03241162 0.00261918
+v -0.01149485 -0.03351096 0.00499754
+v -0.01231117 -0.03252380 0.00574510
+v -0.01345572 -0.03167652 0.00505075
+v -0.01345572 -0.03173195 0.00493369
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+v -0.01149485 -0.03170688 0.00672145
+v -0.01299813 -0.03109716 0.00629047
+v -0.01345572 -0.03153399 0.00519973
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+v -0.01149485 -0.02930759 -0.01686530
+v -0.01345572 -0.02950687 0.00680392
+v -0.01149485 -0.02927063 0.00757543
+v -0.01345572 -0.02727123 -0.01682274
+v -0.01218583 -0.02810926 -0.01755699
+v -0.01149485 -0.02922972 -0.01697970
+v -0.01328969 -0.02708382 0.00769514
+v -0.01345572 -0.02839960 0.00718436
+v -0.01149485 -0.02840224 0.00780156
+v -0.01345572 -0.02635665 -0.01773258
+v -0.01285475 -0.02668394 -0.01789486
+v -0.01149485 -0.02847879 -0.01772460
+v -0.01345572 -0.02667866 0.00774037
+v -0.01345572 -0.02710362 0.00762864
+v -0.01149485 -0.02742432 0.00793724
+v -0.01178065 -0.02770938 0.00787605
+v -0.01345572 -0.02527578 -0.01810237
+v -0.01149485 -0.02722372 -0.01814493
+v -0.01149485 -0.02728179 -0.01812897
+v -0.01248565 -0.02628406 0.00799044
+v -0.01345572 -0.02510421 0.00797182
+v -0.01149485 -0.02687926 0.00800375
+v -0.01345572 -0.02520451 -0.01812099
+v -0.01149485 -0.02508178 -0.01861848
+v -0.01149485 -0.02100378 0.00825648
+v -0.01345572 -0.02483630 0.00800641
+v -0.01345572 -0.02514380 -0.01813429
+v -0.01149485 -0.02486534 -0.01866371
+v -0.01149485 -0.02075434 0.00826180
+v -0.01345572 -0.02296491 0.00803301
+v -0.01345572 -0.02290420 -0.01859986
+v -0.01342578 -0.02079394 -0.01882865
+v -0.01149485 -0.02272472 -0.01887121
+v -0.01338700 -0.02075434 0.00804365
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+v -0.01345572 -0.02075434 0.00803567
+v -0.01345572 -0.02079394 -0.01882333
+v -0.01345572 -0.02076358 -0.01882599
+v -0.01342578 -0.02075434 -0.01882865
+v -0.01345572 -0.02075434 -0.01881800
+v -0.01345553 -0.02075434 -0.01882599
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 25
+f 1 25 34
+f 1 34 33
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+f 1 32 39
+f 1 39 46
+f 1 46 52
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+f 1 10 4
+f 1 4 8
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+f 2 13 5
+f 3 7 9
+f 4 10 8
+f 5 11 12
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+f 5 13 21
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+f 6 15 7
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+f 8 10 17
+f 8 17 18
+f 8 18 13
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+f 11 26 30
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+f 11 29 42
+f 11 42 48
+f 11 48 53
+f 11 53 59
+f 11 59 65
+f 11 65 64
+f 11 64 72
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+f 11 77 81
+f 11 81 87
+f 11 87 91
+f 11 91 89
+f 11 89 88
+f 11 88 82
+f 11 82 78
+f 11 78 74
+f 11 74 68
+f 11 68 61
+f 11 61 55
+f 11 55 51
+f 11 51 50
+f 11 50 49
+f 11 49 44
+f 11 44 43
+f 11 43 31
+f 11 31 23
+f 11 23 22
+f 11 22 14
+f 11 14 12
+f 13 18 21
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 15 22 23
+f 17 20 18
+f 18 20 26
+f 18 26 21
+f 19 27 20
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+f 23 31 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 24 31 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 32
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 31 43 35
+f 35 43 36
+f 36 43 37
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 47 41
+f 41 47 48
+f 41 48 42
+f 44 49 45
+f 45 50 51
+f 45 51 46
+f 45 49 50
+f 46 51 52
+f 47 53 48
+f 47 54 53
+f 51 55 56
+f 51 56 52
+f 52 56 57
+f 53 54 58
+f 53 58 59
+f 54 60 58
+f 55 61 56
+f 56 61 62
+f 56 62 63
+f 56 63 57
+f 58 64 65
+f 58 65 59
+f 58 60 64
+f 60 66 67
+f 60 67 64
+f 61 68 62
+f 62 68 69
+f 62 69 70
+f 62 70 63
+f 64 67 71
+f 64 71 72
+f 66 73 71
+f 66 71 67
+f 68 74 69
+f 69 74 75
+f 71 73 76
+f 71 76 77
+f 71 77 72
+f 74 78 75
+f 75 78 79
+f 76 80 77
+f 77 80 81
+f 78 82 79
+f 79 82 83
+f 79 83 84
+f 80 85 81
+f 80 86 90
+f 80 90 92
+f 80 92 91
+f 80 91 87
+f 80 87 85
+f 81 85 87
+f 82 88 83
+f 83 88 89
+f 83 89 90
+f 83 90 86
+f 83 86 84
+f 89 92 90
+f 89 91 92
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_93.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5366cc096b776c715cab3c8dd35824279e2047
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_93.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01608648 -0.03864074 -0.01762506
+v 0.01608648 -0.03795683 -0.01816289
+v 0.01661536 -0.03864074 -0.01660936
+v 0.01608648 -0.03864074 -0.00018708
+v 0.01608648 -0.03791271 -0.01817347
+v 0.01609422 -0.03791731 -0.01816995
+v 0.01689013 -0.03791731 -0.01664463
+v 0.01682357 -0.03864074 -0.01592164
+v 0.01705501 -0.03864074 -0.00018708
+v 0.01608648 -0.03759756 -0.00018708
+v 0.01608648 -0.03759756 -0.01820169
+v 0.01611115 -0.03759756 -0.01819287
+v 0.01678818 -0.03759756 -0.01689503
+v 0.01690706 -0.03759756 -0.01664463
+v 0.01702479 -0.03759756 -0.01518985
+v 0.01706333 -0.03791731 -0.01450389
+v 0.01703837 -0.03864074 -0.01378091
+v 0.01705731 -0.03760706 -0.00018708
+v 0.01706333 -0.03864074 -0.00380375
+v 0.01705731 -0.03759756 -0.00018708
+v 0.01705444 -0.03759756 -0.01482306
+v 0.01706333 -0.03759756 -0.01450389
+v 0.01706343 -0.03759756 -0.00412292
+v 0.01706343 -0.03791731 -0.00380375
+v 0.01706333 -0.03864074 -0.00949944
+v 0.01706295 -0.03864074 -0.01164018
+v 0.01706343 -0.03759756 -0.00380375
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 26
+f 1 26 25
+f 1 25 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 18
+f 4 18 20
+f 4 20 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 12 13
+f 9 19 18
+f 10 20 27
+f 10 27 23
+f 10 23 22
+f 10 22 21
+f 10 21 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+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 18 24 27
+f 18 27 20
+f 18 19 24
+f 19 25 24
+f 23 27 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_94.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd095463bcd110b9e5bb587bc7419fdd7d50b1d
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_94.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01106117 -0.03446573 -0.00600977
+v -0.01106117 -0.03439925 -0.00644960
+v -0.01106117 -0.02916039 -0.00600977
+v -0.01144225 -0.03417335 -0.00600977
+v -0.01106117 -0.03439198 -0.00649748
+v -0.01149480 -0.02916039 -0.00600977
+v -0.01106117 -0.02916039 -0.01716262
+v -0.01149480 -0.03413284 -0.00600977
+v -0.01149480 -0.03413129 -0.00602090
+v -0.01149480 -0.03356627 -0.00808089
+v -0.01106117 -0.03398692 -0.00790718
+v -0.01149480 -0.02916039 -0.01705127
+v -0.01106117 -0.02964646 -0.01704459
+v -0.01106219 -0.02916039 -0.01738532
+v -0.01149480 -0.03347072 -0.00830470
+v -0.01132700 -0.03367325 -0.00814992
+v -0.01106117 -0.03332115 -0.00946163
+v -0.01149480 -0.02923101 -0.01698112
+v -0.01136257 -0.02944549 -0.01687088
+v -0.01149480 -0.02930839 -0.01686754
+v -0.01106117 -0.02991599 -0.01661812
+v -0.01149480 -0.02935773 -0.01679405
+v -0.01149480 -0.03285740 -0.00971996
+v -0.01106117 -0.03304851 -0.01009187
+v -0.01106117 -0.03050230 -0.01559370
+v -0.01149480 -0.03031327 -0.01510375
+v -0.01149480 -0.03239625 -0.01073548
+v -0.01106117 -0.03256191 -0.01119536
+v -0.01106117 -0.03065809 -0.01526633
+v -0.01106117 -0.03106316 -0.01441227
+v -0.01106117 -0.03123661 -0.01404036
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 24
+f 1 24 28
+f 1 28 31
+f 1 31 30
+f 1 30 29
+f 1 29 25
+f 1 25 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 7 14
+f 3 14 12
+f 3 12 6
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 12 18
+f 6 18 20
+f 6 20 22
+f 6 22 26
+f 6 26 27
+f 6 27 23
+f 6 23 15
+f 6 15 10
+f 6 10 9
+f 6 9 8
+f 7 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 14 13
+f 12 13 18
+f 13 19 20
+f 13 20 18
+f 13 21 22
+f 13 22 19
+f 15 23 24
+f 15 24 17
+f 15 17 16
+f 19 22 20
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 27
+f 25 27 26
+f 27 29 30
+f 27 30 31
+f 27 31 28
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_95.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34aef411b83f9b189c2bb1b00e8b6b44c9523064
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_95.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00624639 -0.00930560 0.00031683
+v -0.00697561 -0.00930560 0.00031683
+v -0.00624639 -0.02101436 0.00031683
+v -0.00624639 0.01589989 0.00031495
+v -0.00697561 -0.02101436 0.00031683
+v -0.00697561 0.01589989 0.00031495
+v -0.00624639 -0.03798152 0.00031495
+v -0.00624639 0.01589989 -0.01892412
+v -0.00697561 -0.03587183 0.00031118
+v -0.00697468 -0.03642563 0.00031495
+v -0.00697297 -0.03752266 0.00031495
+v -0.00694192 -0.03754376 0.00031495
+v -0.00697561 0.01589989 -0.01892412
+v -0.00697561 -0.03752266 -0.00151008
+v -0.00624639 -0.03798152 -0.00380408
+v -0.00697561 0.01556234 -0.01892412
+v -0.00624639 -0.02507551 -0.01892224
+v -0.00697561 -0.03642563 -0.00029151
+v -0.00697561 -0.03752266 -0.00380408
+v -0.00624639 -0.03792878 -0.00512623
+v -0.00688146 -0.03750157 -0.00594364
+v -0.00697561 -0.02507551 -0.01892224
+v -0.00624639 -0.02590884 -0.01892035
+v -0.00697561 -0.03743828 -0.00594364
+v -0.00624639 -0.03789186 -0.00594364
+v -0.00650971 -0.03724313 -0.00808508
+v -0.00624639 -0.03750157 -0.00767449
+v -0.00697561 -0.02721157 -0.01888833
+v -0.00624639 -0.02721157 -0.01889775
+v -0.00697561 -0.03708490 -0.00739386
+v -0.00697561 -0.03691085 -0.00808508
+v -0.00697561 -0.03668406 -0.00864822
+v -0.00624639 -0.03692140 -0.00932625
+v -0.00624639 -0.03705853 -0.00898912
+v -0.00624639 -0.03740663 -0.00806813
+v -0.00624639 -0.02797105 -0.01887515
+v -0.00697561 -0.02724321 -0.01888645
+v -0.00697561 -0.03642563 -0.00926409
+v -0.00624639 -0.03681592 -0.00958239
+v -0.00624639 -0.02935290 -0.01871883
+v -0.00697561 -0.02935290 -0.01864914
+v -0.00659665 -0.03642563 -0.00991010
+v -0.00697561 -0.03415244 -0.01461299
+v -0.00684955 -0.03420518 -0.01471846
+v -0.00624639 -0.03495412 -0.01397451
+v -0.00626088 -0.03493830 -0.01398958
+v -0.00624639 -0.03010711 -0.01860582
+v -0.00697561 -0.02938454 -0.01864349
+v -0.00697561 -0.03410497 -0.01471846
+v -0.00624639 -0.03445834 -0.01513658
+v -0.00697561 -0.03316089 -0.01659810
+v -0.00624639 -0.03411024 -0.01583909
+v -0.00624639 -0.03429484 -0.01546994
+v -0.00624639 -0.03018623 -0.01858699
+v -0.00624639 -0.03149950 -0.01823856
+v -0.00697561 -0.03151005 -0.01807847
+v -0.00624639 -0.03367776 -0.01662259
+v -0.00697561 -0.03282334 -0.01709156
+v -0.00624639 -0.03216933 -0.01804645
+v -0.00624639 -0.03277587 -0.01783927
+v -0.00697561 -0.03151533 -0.01807658
+v -0.00697561 -0.03249633 -0.01756241
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 20
+f 1 20 25
+f 1 25 27
+f 1 27 35
+f 1 35 34
+f 1 34 33
+f 1 33 39
+f 1 39 45
+f 1 45 50
+f 1 50 53
+f 1 53 52
+f 1 52 57
+f 1 57 60
+f 1 60 59
+f 1 59 55
+f 1 55 54
+f 1 54 47
+f 1 47 40
+f 1 40 36
+f 1 36 29
+f 1 29 23
+f 1 23 17
+f 1 17 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 22
+f 2 22 28
+f 2 28 37
+f 2 37 41
+f 2 41 48
+f 2 48 56
+f 2 56 61
+f 2 61 62
+f 2 62 58
+f 2 58 51
+f 2 51 49
+f 2 49 43
+f 2 43 38
+f 2 38 32
+f 2 32 31
+f 2 31 30
+f 2 30 24
+f 2 24 19
+f 2 19 14
+f 2 14 18
+f 2 18 9
+f 2 9 5
+f 3 5 7
+f 4 8 13
+f 4 13 6
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 7 12 14
+f 7 14 19
+f 7 19 15
+f 8 16 13
+f 8 17 16
+f 9 18 11
+f 9 11 10
+f 11 14 12
+f 11 18 14
+f 15 19 21
+f 15 21 20
+f 16 17 22
+f 17 23 22
+f 19 24 21
+f 20 21 25
+f 21 24 26
+f 21 26 27
+f 21 27 25
+f 22 23 28
+f 23 29 28
+f 24 30 26
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 29 36
+f 28 36 37
+f 32 38 39
+f 32 39 33
+f 36 40 41
+f 36 41 37
+f 38 42 39
+f 38 43 44
+f 38 44 42
+f 39 42 46
+f 39 46 45
+f 40 47 41
+f 41 47 48
+f 42 44 46
+f 43 49 44
+f 44 50 46
+f 44 49 51
+f 44 51 52
+f 44 52 53
+f 44 53 50
+f 45 46 50
+f 47 54 48
+f 48 54 55
+f 48 55 56
+f 51 57 52
+f 51 58 57
+f 55 59 56
+f 56 59 60
+f 56 60 61
+f 57 58 62
+f 57 62 60
+f 60 62 61
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_96.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa13a4cf0ccd084ebd1295cf5bc6f440b4d34dd0
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_96.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00505689 -0.02278836 -0.01248133
+v -0.00505689 -0.02278836 -0.01425737
+v -0.00624620 -0.02278836 -0.01248133
+v -0.00505689 -0.03634847 -0.01248133
+v -0.00624620 -0.02278836 -0.01425737
+v -0.00505689 -0.03562374 -0.01425737
+v -0.00624620 -0.03555605 -0.01248133
+v -0.00568246 -0.03593168 -0.01248133
+v -0.00624620 -0.03495874 -0.01397797
+v -0.00624620 -0.03494945 -0.01400109
+v -0.00505689 -0.03626750 -0.01268249
+v -0.00624620 -0.03482867 -0.01425737
+v -0.00574475 -0.03517377 -0.01425737
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 5
+f 3 5 12
+f 3 12 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 13
+f 7 9 8
+f 10 12 13
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_97.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb49f2cabd84953e616eb93b912fe1ba6666fb8
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_97.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00488656 -0.03305214 0.00819615
+v -0.00406260 -0.03393133 0.00819615
+v -0.00480594 -0.03134870 0.00927373
+v -0.00488656 -0.03151778 0.00911560
+v -0.00488656 0.00846430 0.00819615
+v -0.00285283 -0.03471753 0.00819615
+v -0.00285283 -0.03299296 0.00927373
+v -0.00369352 -0.03238006 0.00927373
+v -0.00471874 -0.03143747 0.00927373
+v -0.00476214 -0.03139520 0.00927373
+v -0.00488656 -0.03123035 0.00927373
+v -0.00488656 0.00846430 0.00927373
+v -0.00285283 0.00846430 0.00819615
+v -0.00285283 0.00846430 0.00927373
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 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 9
+f 3 9 8
+f 3 8 7
+f 3 7 14
+f 3 14 12
+f 3 12 11
+f 3 11 4
+f 5 12 14
+f 5 14 13
+f 6 13 14
+f 6 14 7
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_98.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15527f964c5da261207022347e41685846ac896b
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_98.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00697561 0.03587977 -0.00856729
+v -0.00697561 0.03535090 -0.00988408
+v -0.00729195 0.03568919 -0.00856729
+v -0.00697561 -0.01279083 -0.00856729
+v -0.00700724 0.03533184 -0.00988408
+v -0.00697561 -0.01279083 -0.00988408
+v -0.00740928 0.03561772 -0.00856729
+v -0.00740928 0.03554625 -0.00874673
+v -0.00740928 -0.01279083 -0.00856729
+v -0.00740928 0.03506026 -0.00988408
+v -0.00740928 -0.01279083 -0.00988408
+f 1 2 3
+f 1 3 7
+f 1 7 9
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+f 1 4 6
+f 1 6 2
+f 2 5 3
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+f 2 11 10
+f 2 10 5
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+f 7 11 9
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_99.obj b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec346a2ddb046feaf2e7becdf4447785eedf466f
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/collision/model_normalized_collision_99.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00285283 0.03766869 -0.01020724
+v -0.00285283 0.03596892 -0.01450516
+v -0.00398662 0.03604584 -0.01262738
+v -0.00398662 0.03700175 -0.01020724
+v -0.00285283 0.02644386 -0.01020724
+v -0.00335880 0.03567116 -0.01450516
+v -0.00374224 0.03589970 -0.01335905
+v -0.00285283 0.03500642 -0.01659613
+v -0.00398662 0.03434387 -0.01663195
+v -0.00398662 0.03527012 -0.01456741
+v -0.00398662 0.02644386 -0.01020724
+v -0.00285283 0.02644386 -0.01891820
+v -0.00285283 0.03408127 -0.01786760
+v -0.00300521 0.03404611 -0.01785140
+v -0.00388263 0.03383955 -0.01775418
+v -0.00398662 0.03390108 -0.01751285
+v -0.00398662 0.02644386 -0.01891820
+v -0.00285283 0.02844029 -0.01891820
+v -0.00285283 0.03404611 -0.01788039
+v -0.00285283 0.03284518 -0.01829227
+v -0.00285283 0.03271443 -0.01833576
+v -0.00398662 0.03368902 -0.01778317
+v -0.00398662 0.02844029 -0.01888921
+v -0.00285283 0.03057955 -0.01878346
+v -0.00398662 0.03267707 -0.01811831
+v -0.00398662 0.03057955 -0.01866152
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+f 1 3 4
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+f 1 11 5
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+f 6 10 7
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+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
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+f 17 23 18
+f 18 23 24
+f 21 25 22
+f 21 24 26
+f 21 26 25
+f 23 26 24
\ No newline at end of file
diff --git a/new_half_muffin/new_half_muffin_1/model.xml b/new_half_muffin/new_half_muffin_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e9ed59797f5e50105f85cf8c46fc24c57fe45f5
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/model.xml
@@ -0,0 +1,616 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_half_muffin_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_285.obj" name="model_normalized_collision_285._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_283.obj" name="model_normalized_collision_283._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_148.obj" name="model_normalized_collision_148._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_233.obj" name="model_normalized_collision_233._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_101.obj" name="model_normalized_collision_101._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_230.obj" name="model_normalized_collision_230._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_237.obj" name="model_normalized_collision_237._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_280.obj" name="model_normalized_collision_280._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_239.obj" name="model_normalized_collision_239._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_262.obj" name="model_normalized_collision_262._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_175.obj" name="model_normalized_collision_175._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_249.obj" name="model_normalized_collision_249._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_261.obj" name="model_normalized_collision_261._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_130.obj" name="model_normalized_collision_130._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_259.obj" name="model_normalized_collision_259._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_150.obj" name="model_normalized_collision_150._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_154.obj" name="model_normalized_collision_154._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_120.obj" name="model_normalized_collision_120._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_241.obj" name="model_normalized_collision_241._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_213.obj" name="model_normalized_collision_213._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_131.obj" name="model_normalized_collision_131._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_173.obj" name="model_normalized_collision_173._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_113.obj" name="model_normalized_collision_113._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_184.obj" name="model_normalized_collision_184._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_122.obj" name="model_normalized_collision_122._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_137.obj" name="model_normalized_collision_137._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_295.obj" name="model_normalized_collision_295._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_74.obj" name="model_normalized_collision_74._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_185.obj" name="model_normalized_collision_185._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_204.obj" name="model_normalized_collision_204._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_206.obj" name="model_normalized_collision_206._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_189.obj" name="model_normalized_collision_189._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_158.obj" name="model_normalized_collision_158._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_115.obj" name="model_normalized_collision_115._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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diff --git a/new_half_muffin/new_half_muffin_1/visual/image0.png b/new_half_muffin/new_half_muffin_1/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fc1d6c499eee2c16cd051e6d3e4f1e2b11da732
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584317a30131b6132d55fc3950d6fcb1957f10a709543937090c8b20da947ecd
+size 1071306
diff --git a/new_half_muffin/new_half_muffin_1/visual/model_normalized_0.obj b/new_half_muffin/new_half_muffin_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05e6af8aea7cbcb573ad04431de4a205f775c18e
--- /dev/null
+++ b/new_half_muffin/new_half_muffin_1/visual/model_normalized_0.obj
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+mtllib materials.mtl
+usemtl ypzhst__base_link_vray
+o visuals
+
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+v 0.16630381 -0.13849287 -0.33123144
+v 0.23028248 -0.13409611 -0.12923453
+v 0.22505598 -0.13234826 -0.26507865
+v 0.03473350 -0.24643645 -0.04082753
+v -0.10528889 -0.24709868 -0.24446171
+v -0.02241561 -0.23361621 -0.30952414
+v 0.13265760 -0.23132916 -0.12927585
+v -0.10433710 -0.19986345 0.03292076
+v 0.11725693 -0.23086300 -0.08474093
+v 0.09128493 -0.24570861 -0.09964158
+v 0.04619911 -0.23177269 0.00376407
+v 0.08914053 -0.15919637 -0.36665415
+f 9 2 5
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 14 5 2
+f 16 6 2
+f 16 4 6
+f 20 11 19
+f 22 7 12
+f 23 3 4
+f 23 4 16
+f 24 5 14
+f 28 17 6
+f 28 6 3
+f 29 11 17
+f 30 11 29
+f 32 19 11
+f 32 30 18
+f 32 11 30
+f 33 2 6
+f 34 17 11
+f 34 11 20
+f 35 12 7
+f 38 22 13
+f 38 7 22
+f 39 22 12
+f 40 3 23
+f 40 22 30
+f 40 23 13
+f 40 13 22
+f 41 8 24
+f 42 13 23
+f 42 23 16
+f 42 16 27
+f 42 27 15
+f 42 15 25
+f 43 7 25
+f 43 35 7
+f 43 21 35
+f 44 25 15
+f 44 43 25
+f 44 21 43
+f 44 36 8
+f 44 37 21
+f 44 8 37
+f 45 9 5
+f 45 5 26
+f 46 27 16
+f 46 9 27
+f 46 16 2
+f 46 2 9
+f 47 15 27
+f 47 45 26
+f 47 27 9
+f 47 9 45
+f 48 28 3
+f 48 17 28
+f 48 29 17
+f 48 3 29
+f 49 30 22
+f 49 18 30
+f 49 39 18
+f 49 22 39
+f 50 30 29
+f 50 29 3
+f 50 40 30
+f 50 3 40
+f 51 31 19
+f 51 41 31
+f 51 8 41
+f 51 37 8
+f 51 19 37
+f 52 20 19
+f 52 19 31
+f 52 33 20
+f 53 31 14
+f 53 14 2
+f 54 33 6
+f 54 20 33
+f 54 34 20
+f 54 6 17
+f 54 17 34
+f 55 2 33
+f 55 53 2
+f 55 31 53
+f 55 52 31
+f 55 33 52
+f 56 37 1
+f 56 21 37
+f 57 26 36
+f 57 47 26
+f 57 15 47
+f 57 44 15
+f 57 36 44
+f 58 24 8
+f 58 8 36
+f 58 5 24
+f 58 36 26
+f 58 26 5
+f 59 37 19
+f 59 19 32
+f 59 32 18
+f 60 25 7
+f 60 7 38
+f 60 42 25
+f 60 38 13
+f 60 13 42
+f 61 39 37
+f 61 18 39
+f 61 59 18
+f 61 37 59
+f 62 39 1
+f 62 1 37
+f 62 37 39
+f 63 1 39
+f 63 56 1
+f 63 35 21
+f 63 21 56
+f 63 39 12
+f 63 12 35
+f 64 41 24
+f 64 24 14
+f 64 14 31
+f 64 31 41
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_0.obj b/teapot/teapot_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2791d70f6fc9d31bdc19d60bbdfe83683a866557
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.18533863 -0.26209228 0.15873397
+v 0.32936110 -0.06871424 -0.25112108
+v 0.29243143 -0.15216711 0.14338743
+v 0.32831308 -0.05396324 0.15823284
+v 0.21952811 -0.17706261 0.20322967
+v 0.31211790 -0.11091683 0.15813588
+v 0.22354939 -0.23901767 -0.28264644
+v 0.29545454 -0.08630882 -0.26157538
+v 0.25431456 -0.19882465 0.18800068
+v 0.30882650 -0.12372930 -0.28348664
+v 0.32297478 -0.08164437 0.11277879
+v 0.19497676 -0.24596379 -0.20501306
+v 0.31233882 -0.05966362 0.15871510
+v 0.21512315 -0.23218620 0.19072668
+v 0.26190658 -0.17471960 0.19228882
+v 0.27834545 -0.17990488 -0.17520738
+v 0.22149370 -0.23633434 0.14192922
+v 0.30759601 -0.12279134 0.12770189
+v 0.32598197 -0.08252903 -0.25121385
+v 0.31353898 -0.11230640 -0.28387707
+v 0.32944481 -0.05396534 0.09769530
+v 0.32565409 -0.06796086 0.15816396
+v 0.18774895 -0.26544226 -0.20525269
+v 0.22325789 -0.22648202 -0.28515120
+v 0.31621269 -0.07258262 -0.25109131
+v 0.26326193 -0.19453203 0.12762009
+v 0.27833661 -0.17888448 -0.28345786
+v 0.23505355 -0.22156310 0.18270380
+v 0.20840831 -0.25184495 -0.20530783
+v 0.21357853 -0.24539234 -0.28410550
+v 0.30788591 -0.11526423 -0.28557324
+v 0.31330497 -0.05990141 0.09816672
+v 0.24940302 -0.20748149 0.18255944
+v 0.22531512 -0.22789250 0.18788066
+v 0.19565502 -0.25520783 0.15858250
+f 9 3 6
+f 12 1 5
+f 12 5 8
+f 13 8 5
+f 13 5 4
+f 14 5 1
+f 15 9 6
+f 15 4 5
+f 15 14 9
+f 15 5 14
+f 16 10 3
+f 18 6 3
+f 18 3 10
+f 19 18 10
+f 19 6 18
+f 19 11 6
+f 19 2 11
+f 20 8 2
+f 20 19 10
+f 20 2 19
+f 21 11 2
+f 21 13 4
+f 22 6 11
+f 22 15 6
+f 22 4 15
+f 22 21 4
+f 22 11 21
+f 23 1 12
+f 24 12 8
+f 25 2 8
+f 25 21 2
+f 26 16 3
+f 26 17 7
+f 26 7 16
+f 27 16 7
+f 27 10 16
+f 29 1 23
+f 29 23 7
+f 29 7 17
+f 30 23 12
+f 30 12 24
+f 30 7 23
+f 30 27 7
+f 30 24 27
+f 31 24 8
+f 31 8 20
+f 31 27 24
+f 31 20 10
+f 31 10 27
+f 32 25 8
+f 32 8 13
+f 32 13 21
+f 32 21 25
+f 33 26 3
+f 33 3 9
+f 33 28 17
+f 33 17 26
+f 34 14 1
+f 34 9 14
+f 34 33 9
+f 34 28 33
+f 35 17 28
+f 35 29 17
+f 35 1 29
+f 35 34 1
+f 35 28 34
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_1.obj b/teapot/teapot_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce958e14f7b4a4404ca5339c47b4520966522993
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.15909091 -0.19236942 -0.26157538
+v -0.15930107 -0.19266037 -0.27074539
+v -0.09848486 0.24702451 -0.26158020
+v -0.09766614 0.29047612 -0.25069929
+v -0.27735208 0.09073468 -0.25099983
+v -0.26355051 -0.12485992 -0.25088266
+v -0.27838556 0.07587488 -0.28448255
+v -0.23326935 -0.18040349 -0.25094333
+v -0.20523455 0.20009214 -0.23522626
+v -0.09589173 0.28518288 -0.28689798
+v -0.27876388 -0.08181114 -0.25073419
+v -0.19702984 -0.19920751 -0.28321400
+v -0.23571082 0.17626471 -0.28257034
+v -0.24320388 0.16683305 -0.23563510
+v -0.18928996 0.23175890 -0.23549086
+v -0.27964595 -0.06687484 -0.28270057
+v -0.26197732 0.13243010 -0.27820990
+v -0.21960079 0.18232537 -0.23526969
+v -0.14903085 0.26073875 -0.28376610
+v -0.20472711 0.21736436 -0.27729673
+v -0.22605944 -0.18609297 -0.28303779
+v -0.27894758 -0.08144429 -0.27582526
+v -0.26543032 0.12018187 -0.28300726
+v -0.24706195 0.16090432 -0.27762809
+v -0.26171456 0.13270082 -0.25096364
+v -0.14998014 0.26289960 -0.25031461
+v -0.12152463 0.27745810 -0.28261844
+v -0.23639218 0.17697654 -0.23627715
+v -0.19024960 0.23140630 -0.27826623
+v -0.24756499 -0.15314162 -0.28219583
+v -0.27729272 0.09059584 -0.27748591
+v -0.24700178 0.16080787 -0.25057261
+v -0.12171365 0.27896962 -0.25093228
+v -0.20429224 0.21685253 -0.23618433
+v -0.23272594 -0.18085205 -0.27855288
+v -0.26124114 -0.12393927 -0.28264477
+f 1 2 3
+f 1 3 4
+f 10 3 2
+f 10 4 3
+f 12 2 1
+f 12 1 8
+f 12 10 2
+f 12 7 10
+f 13 10 7
+f 14 6 8
+f 14 11 6
+f 14 5 11
+f 15 9 8
+f 15 8 1
+f 15 1 4
+f 15 14 9
+f 16 11 5
+f 16 5 7
+f 18 14 8
+f 18 8 9
+f 18 9 14
+f 19 10 13
+f 21 7 12
+f 21 12 8
+f 22 6 11
+f 22 11 16
+f 23 17 13
+f 23 13 7
+f 24 13 17
+f 25 17 5
+f 25 5 14
+f 27 4 10
+f 27 10 19
+f 27 19 26
+f 28 20 13
+f 28 24 14
+f 28 13 24
+f 29 19 13
+f 29 13 20
+f 29 26 19
+f 29 20 15
+f 29 15 26
+f 31 23 7
+f 31 7 5
+f 31 5 17
+f 31 17 23
+f 32 25 14
+f 32 14 24
+f 32 24 17
+f 32 17 25
+f 33 26 15
+f 33 15 4
+f 33 27 26
+f 33 4 27
+f 34 28 14
+f 34 14 15
+f 34 15 20
+f 34 20 28
+f 35 30 21
+f 35 21 8
+f 35 8 6
+f 35 6 30
+f 36 30 6
+f 36 6 22
+f 36 22 16
+f 36 21 30
+f 36 16 7
+f 36 7 21
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_10.obj b/teapot/teapot_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4241b47ce26bf74d6680bcc466a7babb093425
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.14162927 -0.27733709 0.19005278
+v 0.26925074 -0.07249170 0.18377665
+v 0.21941279 -0.07948308 0.28266173
+v 0.21353685 0.05234556 0.28272399
+v 0.21980342 0.05395534 0.22843072
+v 0.23256077 0.03169395 0.28295707
+v 0.14048492 -0.17227263 0.28473137
+v 0.21026275 -0.24089286 0.18797210
+v 0.14966053 -0.26483259 0.15866499
+v 0.23273851 -0.02409420 0.28328650
+v 0.26171694 0.04937035 0.21334791
+v 0.12559765 -0.17167598 0.23064393
+v 0.22725203 0.04788967 0.28443440
+v 0.16625412 -0.26779831 0.18871665
+v 0.18802888 -0.13368374 0.28230211
+v 0.22520035 -0.21356407 0.15857805
+v 0.27109128 -0.04189848 0.18612645
+v 0.13096833 -0.22740293 0.18520098
+v 0.12423230 -0.19842138 0.22583154
+v 0.23273381 0.04666217 0.27597276
+v 0.19407259 -0.25187987 0.18785619
+v 0.14385943 -0.28309034 0.15844741
+v 0.16009564 -0.16000695 0.28313438
+v 0.13249583 -0.21536460 0.19019959
+v 0.12706279 -0.21902019 0.21129143
+v 0.17962919 -0.26549486 0.15886697
+v 0.17864190 -0.26392707 0.18348531
+v 0.21216699 -0.24318197 0.15847185
+f 8 2 3
+f 10 3 2
+f 10 7 3
+f 11 5 4
+f 11 9 5
+f 11 6 10
+f 12 7 4
+f 12 4 5
+f 13 4 7
+f 13 11 4
+f 13 10 6
+f 13 7 10
+f 14 7 1
+f 15 8 3
+f 15 3 7
+f 16 2 8
+f 17 9 11
+f 17 16 9
+f 17 2 16
+f 17 11 10
+f 17 10 2
+f 18 5 9
+f 19 1 7
+f 19 7 12
+f 19 12 18
+f 20 13 6
+f 20 6 11
+f 20 11 13
+f 21 8 7
+f 21 7 14
+f 22 14 1
+f 22 9 16
+f 22 18 9
+f 23 15 7
+f 23 7 8
+f 23 8 15
+f 24 18 12
+f 24 12 5
+f 24 5 18
+f 25 19 18
+f 25 1 19
+f 25 22 1
+f 25 18 22
+f 27 21 14
+f 27 14 22
+f 27 22 26
+f 27 8 21
+f 28 26 22
+f 28 22 16
+f 28 16 8
+f 28 27 26
+f 28 8 27
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_11.obj b/teapot/teapot_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3adc806a3ce8816f7ef4576189b07ddeefeded1
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26566916 0.17162227 0.15845977
+v 0.27141431 0.17548682 -0.25062035
+v 0.22427937 0.23421451 0.18282152
+v 0.14209960 0.28819999 0.15853229
+v 0.14393938 0.26217603 -0.26158020
+v 0.21788681 0.19963466 0.19650024
+v 0.25983640 0.19734341 0.18395825
+v 0.19425399 0.26172461 -0.28258369
+v 0.21636328 0.22792461 0.18962303
+v 0.14773717 0.27045811 0.15859715
+v 0.24999999 0.17126694 -0.26158020
+v 0.24627569 0.19805835 0.19005561
+v 0.24991521 0.21750290 -0.25128019
+v 0.14317878 0.29067277 -0.25067511
+v 0.19350071 0.26085545 0.15882740
+v 0.22023214 0.23265767 -0.28590490
+v 0.22847974 0.22515880 0.18760574
+v 0.25335273 0.20616745 0.18322093
+v 0.18323601 0.26736974 -0.28357344
+v 0.16666301 0.27686766 0.15853620
+v 0.23568852 0.23181640 -0.25036023
+v 0.21072028 0.24977820 -0.28302340
+v 0.19606363 0.24164247 -0.28217785
+v 0.24462547 0.21016411 0.18751997
+v 0.24957050 0.21675285 -0.12884246
+v 0.16776473 0.27934813 -0.25101646
+v 0.23483640 0.23114249 -0.13037912
+f 7 1 2
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 10 4 5
+f 10 5 6
+f 11 6 5
+f 11 2 1
+f 11 1 6
+f 12 6 1
+f 12 1 7
+f 13 7 2
+f 14 5 4
+f 16 2 11
+f 16 13 2
+f 17 9 6
+f 17 3 9
+f 19 5 14
+f 20 4 3
+f 20 3 15
+f 21 8 15
+f 22 13 16
+f 22 21 13
+f 22 8 21
+f 22 19 8
+f 22 16 19
+f 23 16 11
+f 23 11 5
+f 23 19 16
+f 23 5 19
+f 24 17 6
+f 24 6 12
+f 24 12 7
+f 24 7 18
+f 24 18 3
+f 24 3 17
+f 25 18 7
+f 25 7 13
+f 25 13 21
+f 26 19 14
+f 26 8 19
+f 26 14 4
+f 26 4 20
+f 26 20 15
+f 26 15 8
+f 27 21 15
+f 27 15 3
+f 27 25 21
+f 27 3 18
+f 27 18 25
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_12.obj b/teapot/teapot_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a530b04f9d01f529790104300a17f3ce0a9e4a
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.18919045 0.15599632 0.20328875
+v -0.09836001 0.20130974 0.21870397
+v -0.19317521 0.22091612 0.18653471
+v -0.09632963 0.28463155 0.18640594
+v -0.23274174 0.15485445 0.00689196
+v -0.13596394 0.26458848 0.18695808
+v -0.22559287 0.18011771 0.18736040
+v -0.13900894 0.26915848 0.00690726
+v -0.17891456 0.23544674 0.18577862
+v -0.10811650 0.28069554 0.18592797
+v -0.23082857 0.15407653 0.19095478
+v -0.22399264 0.19380148 0.00729235
+v -0.09709625 0.28938487 0.15855179
+v -0.15218740 0.24326008 0.00718463
+v -0.14794133 0.26033354 0.18315133
+v -0.22106070 0.19172430 0.18294032
+v -0.18982466 0.23187834 0.00603953
+v -0.09551585 0.24117486 0.20121139
+v -0.10314503 0.20923657 0.19074627
+v -0.12150014 0.27790863 0.15810465
+v -0.12088203 0.27662407 0.18221577
+v -0.14943858 0.26266884 0.00690017
+v -0.19062393 0.23079439 0.05200072
+v -0.20422047 0.21692594 0.06669268
+v -0.20397756 0.21728959 0.02207287
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 4
+f 11 7 5
+f 11 5 1
+f 11 1 7
+f 12 5 7
+f 13 10 4
+f 15 9 6
+f 16 12 7
+f 16 7 3
+f 17 5 12
+f 17 14 5
+f 17 8 14
+f 18 13 4
+f 18 4 2
+f 19 8 13
+f 19 14 8
+f 19 2 5
+f 19 5 14
+f 19 18 2
+f 19 13 18
+f 20 13 8
+f 21 15 6
+f 21 6 10
+f 21 20 15
+f 21 10 13
+f 21 13 20
+f 22 8 17
+f 22 20 8
+f 22 15 20
+f 23 9 15
+f 23 22 17
+f 23 15 22
+f 24 3 9
+f 24 9 23
+f 24 16 3
+f 24 12 16
+f 24 23 17
+f 25 24 17
+f 25 17 12
+f 25 12 24
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_13.obj b/teapot/teapot_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aef3dc3f53ceb711407694c42d07e3263ffb66f
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.08126931 -0.30221851 0.15810640
+v 0.08523062 -0.29334115 -0.25173834
+v 0.08404552 -0.28688801 0.15850539
+v -0.14033370 -0.26164896 0.15830137
+v -0.06388587 -0.29936570 -0.28355160
+v -0.06818182 -0.25297548 -0.26157538
+v -0.08488285 -0.25668756 0.17625761
+v 0.08234770 -0.30827900 -0.25098728
+v -0.04903260 -0.29936868 0.17235321
+v -0.14241293 -0.26565494 -0.20523995
+v -0.06827573 -0.25343946 -0.27150227
+v -0.11633341 -0.25802800 0.15854171
+v -0.07725937 -0.29539571 -0.02341404
+v -0.06679693 -0.29433104 0.17335688
+v -0.05295386 -0.29815822 0.17357745
+v -0.11835291 -0.26126204 -0.28287834
+v -0.07236597 -0.27912761 -0.28084002
+v -0.10657680 -0.28370017 -0.28333346
+v -0.10512932 -0.28019986 0.15739967
+v -0.13576318 -0.26974744 -0.20566975
+v -0.07744995 -0.29507109 -0.28337553
+v -0.13407866 -0.26512406 0.15831803
+f 1 2 3
+f 6 3 2
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 11 6 2
+f 12 7 6
+f 12 6 4
+f 12 4 7
+f 13 5 9
+f 14 7 4
+f 14 13 9
+f 15 9 1
+f 15 1 3
+f 15 3 7
+f 15 14 9
+f 15 7 14
+f 16 10 4
+f 16 4 6
+f 16 6 11
+f 17 11 2
+f 17 2 5
+f 17 16 11
+f 17 5 16
+f 18 16 5
+f 18 10 16
+f 19 13 14
+f 20 18 13
+f 20 10 18
+f 20 13 19
+f 20 4 10
+f 21 18 5
+f 21 5 13
+f 21 13 18
+f 22 19 14
+f 22 14 4
+f 22 20 19
+f 22 4 20
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_14.obj b/teapot/teapot_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd048e11c3a63a28b1d8402d3f9061ffb0d93d38
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.47786266 -0.04962543 0.25553676
+v 0.49062253 -0.03759303 -0.05124718
+v 0.48983286 0.04328166 0.21563236
+v 0.44444878 0.05078248 0.27416451
+v 0.43509872 -0.04883976 -0.09425471
+v 0.47737437 0.04375174 0.25548918
+v 0.49022918 -0.05016861 0.21672276
+v 0.44347212 -0.05000142 0.27922867
+v 0.45562606 0.05022204 -0.10507309
+v 0.47827330 0.04938034 0.24383378
+v 0.48999826 0.00363675 0.23081609
+v 0.48997179 -0.04907508 -0.03654100
+v 0.43483840 0.04353485 -0.09415455
+v 0.45316305 0.04410197 0.27728578
+v 0.45802603 -0.04970117 -0.10804181
+v 0.48938700 0.04424185 -0.05119575
+v 0.46628650 0.04749840 0.26614032
+v 0.48999862 -0.03907580 0.23002190
+v 0.44363248 0.04418835 0.28087231
+v 0.45389574 -0.04708623 0.27680948
+v 0.47687629 -0.04811544 -0.08899101
+v 0.47898110 0.04890280 -0.07816539
+v 0.47753003 0.04426704 -0.08935405
+v 0.46455438 0.04779019 -0.10222516
+v 0.46522663 -0.04889218 -0.10336863
+f 8 7 1
+f 10 6 3
+f 10 9 4
+f 11 6 1
+f 11 3 6
+f 11 7 2
+f 11 2 3
+f 12 2 7
+f 13 5 8
+f 13 4 9
+f 15 8 5
+f 15 7 8
+f 15 12 7
+f 15 13 9
+f 15 5 13
+f 16 3 2
+f 16 10 3
+f 17 10 4
+f 17 6 10
+f 17 4 14
+f 17 1 6
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 13 8
+f 19 4 13
+f 19 14 4
+f 20 8 1
+f 20 17 14
+f 20 1 17
+f 20 19 8
+f 20 14 19
+f 21 2 12
+f 21 12 15
+f 22 9 10
+f 22 10 16
+f 23 16 2
+f 23 2 21
+f 23 22 16
+f 24 9 22
+f 24 22 23
+f 24 15 9
+f 25 23 21
+f 25 21 15
+f 25 24 23
+f 25 15 24
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_15.obj b/teapot/teapot_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ca6cab3fdcb322b8fdc0025f98ce6f74f8d4d92
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.23196914 0.12459284 0.19497574
+v -0.21969698 0.15611542 -0.26158020
+v -0.22141644 0.17244362 0.00697137
+v -0.22752798 0.18175950 0.18349185
+v -0.28393080 0.06299236 -0.25102284
+v -0.22498663 0.17468928 -0.25137941
+v -0.22635514 0.16031438 0.15857184
+v -0.25000000 0.08035785 -0.26157538
+v -0.25898967 0.12262948 0.18393746
+v -0.25321554 0.14968790 -0.25077157
+v -0.26943570 0.06620258 -0.08387837
+v -0.23668572 0.16224586 0.18816535
+v -0.24324306 0.16704077 -0.25059627
+v -0.27224881 0.11018908 0.00996099
+v -0.26696957 0.12055393 -0.25077605
+v -0.27202465 0.06668196 -0.25114803
+v -0.27811867 0.06436429 -0.08359362
+v -0.24530296 0.12402798 0.19052207
+v -0.23021039 0.16731236 0.18882848
+v -0.24829144 0.14776464 0.18083817
+v -0.23063690 0.18364538 0.00693785
+v -0.28089561 0.07706925 -0.25105230
+v -0.28056773 0.06219967 -0.14520909
+v -0.23275845 0.17483467 0.18214340
+v -0.23525514 0.17657797 0.00735458
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 11 8 1
+f 13 6 2
+f 13 2 10
+f 15 14 10
+f 15 10 2
+f 15 2 8
+f 16 5 8
+f 16 8 11
+f 17 11 1
+f 17 1 9
+f 17 9 14
+f 18 12 9
+f 18 9 1
+f 18 1 12
+f 19 12 1
+f 19 1 4
+f 19 4 12
+f 20 9 12
+f 20 14 9
+f 21 4 6
+f 21 6 13
+f 22 15 8
+f 22 8 5
+f 22 5 14
+f 22 14 15
+f 23 16 11
+f 23 5 16
+f 23 11 17
+f 23 17 14
+f 23 14 5
+f 24 20 12
+f 24 12 4
+f 24 4 21
+f 25 21 13
+f 25 13 10
+f 25 10 14
+f 25 14 20
+f 25 24 21
+f 25 20 24
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_16.obj b/teapot/teapot_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ce52bd37d6b260a249089f35e76b96a8b3cf53
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.32322322 0.07968673 0.15843933
+v 0.32575126 0.08035629 -0.20518667
+v 0.29938290 0.14981291 -0.27819217
+v 0.25983640 0.19734341 0.18395825
+v 0.26276351 0.15447269 0.19484797
+v 0.30999055 0.11940636 0.15822627
+v 0.30748194 0.08378790 0.15864291
+v 0.28714671 0.15030526 0.18864658
+v 0.27372647 0.16159874 -0.28277712
+v 0.27832985 0.17532646 0.18208207
+v 0.31255806 0.12059531 -0.20528482
+v 0.26135599 0.18313533 0.18939096
+v 0.29125812 0.15374197 -0.28508589
+v 0.31356143 0.08553077 -0.20486320
+v 0.26058561 0.19825188 -0.28496888
+v 0.29249659 0.16100183 -0.22037214
+v 0.28304097 0.16378101 0.18629592
+v 0.28039532 0.17601563 -0.28377520
+v 0.27139110 0.18008750 0.18693064
+v 0.29328312 0.16102873 -0.27668766
+v 0.26849061 0.19270334 -0.28336199
+v 0.26667941 0.19039829 0.18258104
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 6
+f 11 6 1
+f 11 1 2
+f 11 2 3
+f 11 3 6
+f 12 4 5
+f 12 5 8
+f 13 3 2
+f 14 7 5
+f 14 5 9
+f 14 2 7
+f 14 13 2
+f 14 9 13
+f 15 9 5
+f 15 5 4
+f 15 13 9
+f 16 10 6
+f 17 8 6
+f 17 6 10
+f 18 3 13
+f 18 13 15
+f 19 17 10
+f 19 4 12
+f 19 12 8
+f 19 8 17
+f 20 3 18
+f 20 16 6
+f 20 6 3
+f 20 10 16
+f 21 18 15
+f 21 15 4
+f 21 20 18
+f 22 19 10
+f 22 4 19
+f 22 21 4
+f 22 10 20
+f 22 20 21
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_17.obj b/teapot/teapot_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ea7141f8552a94e5195bdbaba92f0b71a1b3ff
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.13111008 0.23564251 0.17649050
+v -0.02133886 0.31186275 -0.25069912
+v -0.02343404 0.29675857 0.00701279
+v -0.03775124 0.30701116 0.15847255
+v -0.14998014 0.26289960 -0.25031461
+v -0.02127430 0.30991627 0.00765245
+v -0.04099198 0.29078258 0.15866301
+v -0.14393940 0.23187300 -0.26158020
+v -0.13875505 0.26860416 0.15833688
+v -0.03509833 0.30758882 0.14296742
+v -0.02429519 0.30099883 -0.25087531
+v -0.09218176 0.29273279 -0.25076326
+v -0.09191073 0.29168774 0.15826273
+v -0.16209108 0.23574649 0.00702540
+v -0.04911996 0.30619177 -0.25086795
+v -0.12150014 0.27790863 0.15810465
+v -0.15071414 0.24113022 0.15862224
+v -0.14943858 0.26266884 0.00690017
+v -0.16469396 0.23891924 -0.25114845
+v -0.04887776 0.30486630 0.14275948
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 8 3 1
+f 10 6 2
+f 10 2 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 8 2
+f 11 2 3
+f 11 3 8
+f 12 8 5
+f 13 1 4
+f 14 8 1
+f 15 2 8
+f 15 8 12
+f 15 12 13
+f 16 12 5
+f 16 5 9
+f 16 13 12
+f 16 9 1
+f 16 1 13
+f 17 14 1
+f 17 1 9
+f 17 9 14
+f 18 14 9
+f 18 9 5
+f 19 5 8
+f 19 8 14
+f 19 18 5
+f 19 14 18
+f 20 4 2
+f 20 2 15
+f 20 15 13
+f 20 13 4
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_18.obj b/teapot/teapot_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79ae1fb70299b8dc202d710d873458428b537d5
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 0.14096391 -0.26158020
+v 0.27372647 0.16159874 -0.28277712
+v 0.16776473 0.27934813 -0.25101646
+v -0.04911996 0.30619177 -0.25086795
+v -0.15915745 0.14099891 -0.27091247
+v 0.09353158 0.30405420 -0.28425102
+v 0.24991521 0.21750290 -0.25128019
+v 0.26795575 0.14256687 -0.27316722
+v 0.09476202 0.30642488 -0.25134141
+v -0.09207149 0.29020183 -0.28314180
+v 0.23568852 0.23181640 -0.25036023
+v -0.15909091 0.14096391 -0.26158020
+v -0.04861846 0.30456063 -0.28294930
+v 0.16637283 0.27729308 -0.28309725
+v -0.10238242 0.27007398 -0.28317178
+v -0.15909091 0.21672149 -0.26158020
+v -0.09218176 0.29273279 -0.25076326
+v 0.23569391 0.23137351 -0.27812999
+v 0.25584015 0.20866797 -0.28375419
+v -0.16100794 0.21889493 -0.27522274
+v 0.24994299 0.21776190 -0.27689616
+v 0.22593899 0.23738907 -0.28295812
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 11 3 4
+f 12 5 1
+f 12 1 7
+f 12 7 11
+f 13 9 6
+f 13 4 9
+f 13 6 10
+f 14 9 3
+f 14 6 9
+f 15 10 6
+f 15 2 5
+f 17 12 11
+f 17 11 4
+f 17 16 12
+f 17 13 10
+f 17 4 13
+f 18 14 3
+f 18 3 11
+f 19 6 14
+f 19 15 6
+f 19 2 15
+f 19 7 2
+f 20 10 15
+f 20 15 5
+f 20 5 12
+f 20 12 16
+f 20 17 10
+f 20 16 17
+f 21 18 11
+f 21 11 7
+f 21 19 18
+f 21 7 19
+f 22 19 14
+f 22 14 18
+f 22 18 19
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_19.obj b/teapot/teapot_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8787d6e46900e1330ff17b760586fbaa273df3fa
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25937429 -0.18851455 0.19022603
+v 0.32565409 -0.06796086 0.15816396
+v 0.33268636 -0.04892454 0.23746587
+v 0.26276351 0.15447269 0.19484797
+v 0.25501090 -0.18118842 0.15855094
+v 0.32414383 0.07618268 0.15833917
+v 0.23249091 -0.07031110 0.23334117
+v 0.28209870 -0.16836506 0.15842678
+v 0.32971721 0.05200012 0.23829864
+v 0.27275102 0.16097950 0.15858346
+v 0.23365390 -0.17619942 0.19944267
+v 0.31211790 -0.11091683 0.15813588
+v 0.28108466 -0.16770798 0.18237917
+v 0.26453728 -0.19189325 0.15842465
+v 0.21737635 0.13919513 0.21479674
+v 0.29523542 0.14806424 0.18129872
+v 0.22569189 -0.09645286 0.22695534
+v 0.29647561 0.14835708 0.15794836
+v 0.26780811 -0.18331199 0.18736120
+v 0.31071051 -0.11032126 0.18322916
+v 0.27011147 -0.18475587 0.15811219
+v 0.23549302 -0.17775560 0.17684788
+v 0.22588074 0.14519494 0.18796873
+v 0.28714671 0.15030526 0.18864658
+v 0.30999055 0.11940636 0.15822627
+v 0.23080109 -0.15875307 0.20426854
+v 0.30859901 0.11908088 0.18163689
+f 6 3 2
+f 9 3 6
+f 9 7 3
+f 11 1 3
+f 12 2 3
+f 13 8 12
+f 15 9 4
+f 15 7 9
+f 17 11 3
+f 17 3 7
+f 17 7 15
+f 18 6 2
+f 18 2 12
+f 18 10 16
+f 19 13 3
+f 19 3 1
+f 19 14 13
+f 19 1 14
+f 20 13 12
+f 20 12 3
+f 20 3 13
+f 21 12 8
+f 21 8 13
+f 21 13 14
+f 21 18 12
+f 21 14 5
+f 21 5 10
+f 21 10 18
+f 22 5 14
+f 22 14 1
+f 22 1 11
+f 23 15 4
+f 23 4 10
+f 23 22 15
+f 23 10 5
+f 23 5 22
+f 24 16 10
+f 24 10 4
+f 24 4 9
+f 24 9 16
+f 25 18 16
+f 25 9 6
+f 25 6 18
+f 26 17 15
+f 26 15 22
+f 26 22 11
+f 26 11 17
+f 27 25 16
+f 27 16 9
+f 27 9 25
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_2.obj b/teapot/teapot_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..723ae31681431770a87340474ea69cad2a896ff1
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14648142 -0.27370497 -0.25088719
+v 0.32776200 -0.06816429 -0.28425718
+v 0.26515150 0.14096391 -0.26158020
+v -0.15909091 0.14096391 -0.26158020
+v -0.16064932 -0.22448282 -0.27769162
+v 0.26795575 0.14256687 -0.27316722
+v 0.32936110 -0.06871424 -0.25112108
+v 0.14423191 -0.26880229 -0.28013694
+v -0.15909091 -0.22267245 -0.26157538
+v -0.15915745 0.14099891 -0.27091247
+v 0.25386375 -0.21266479 -0.25171458
+v 0.25151294 -0.21055923 -0.28366489
+v -0.06887950 -0.27022439 -0.27475861
+v 0.32419695 -0.08237227 -0.28460273
+v 0.31693583 -0.05740762 -0.28381045
+v 0.29649000 -0.15403424 -0.25087260
+v -0.11455486 -0.25469916 -0.27702378
+v -0.06818182 -0.26812700 -0.26157538
+v 0.32598197 -0.08252903 -0.25121385
+v 0.29466180 -0.15366672 -0.28350534
+v -0.11363637 -0.25297548 -0.26157538
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 6 3
+f 7 2 6
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 12 8 5
+f 12 11 1
+f 12 1 8
+f 13 8 1
+f 14 5 10
+f 14 12 5
+f 15 10 6
+f 15 6 2
+f 15 14 10
+f 15 2 14
+f 16 7 1
+f 16 1 11
+f 17 5 8
+f 17 8 13
+f 18 13 1
+f 19 14 2
+f 19 2 7
+f 19 16 14
+f 19 7 16
+f 20 16 11
+f 20 11 12
+f 20 12 14
+f 20 14 16
+f 21 9 5
+f 21 5 17
+f 21 17 13
+f 21 13 18
+f 21 18 1
+f 21 1 9
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_20.obj b/teapot/teapot_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bb35965b0ba230e071a79aa7d36111cf25af5c
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.08126931 -0.30221851 0.15810640
+v 0.18812039 -0.25106601 -0.25043861
+v 0.17962919 -0.26549486 0.15886697
+v 0.12815400 -0.25164833 0.19959128
+v 0.08523062 -0.29334115 -0.25173834
+v 0.19143242 -0.24074355 0.15850157
+v 0.12402235 -0.28500450 0.18990718
+v 0.08404552 -0.28688801 0.15850539
+v 0.14393938 -0.25297548 -0.26157538
+v 0.12351495 -0.29754528 -0.25074115
+v 0.19497676 -0.24596379 -0.20501306
+v 0.14309909 -0.25107531 0.19762456
+v 0.10915296 -0.29565623 0.15858718
+v 0.08234770 -0.30827900 -0.25098728
+v 0.16123374 -0.24135084 0.17643974
+v 0.18204467 -0.27068468 -0.25073729
+v 0.13693908 -0.28050333 0.18949629
+v 0.15045619 -0.28012454 0.15753995
+v 0.12692338 -0.29272508 -0.28461471
+v 0.13232846 -0.27663660 -0.28243882
+v 0.13949512 -0.28811811 -0.28451471
+v 0.14648977 -0.27412867 -0.28419226
+f 7 4 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 11 6 3
+f 11 2 9
+f 12 3 6
+f 13 7 1
+f 14 8 5
+f 14 1 8
+f 14 13 1
+f 14 10 13
+f 15 9 4
+f 15 11 9
+f 15 6 11
+f 15 12 6
+f 15 4 12
+f 16 11 3
+f 16 2 11
+f 17 3 12
+f 17 7 13
+f 17 12 4
+f 17 4 7
+f 18 13 10
+f 18 17 13
+f 18 3 17
+f 18 16 3
+f 18 10 16
+f 19 14 5
+f 19 10 14
+f 20 19 5
+f 20 5 9
+f 21 16 10
+f 21 10 19
+f 22 20 9
+f 22 9 2
+f 22 2 16
+f 22 16 21
+f 22 21 19
+f 22 19 20
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_21.obj b/teapot/teapot_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3350244b19ae41c8dd4b85a21eb497573407017a
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.18205462 0.04855622 0.28160217
+v -0.03995696 0.22370343 0.19871970
+v -0.05990642 0.19826834 0.28243734
+v -0.10123670 0.22162632 0.18589356
+v -0.19184916 0.05055351 0.20668767
+v -0.03542011 0.20737640 0.28199235
+v -0.23082857 0.15407653 0.19095478
+v -0.24326452 0.12973013 0.15859080
+v -0.08692015 0.22369919 0.18821334
+v -0.18698164 0.19941311 0.19405133
+v -0.04411366 0.18771670 0.24047074
+v -0.15546640 0.11601168 0.28059790
+v -0.23633915 0.08081523 0.17869079
+v -0.22635514 0.16031438 0.15857184
+v -0.04329711 0.20263443 0.21680479
+v -0.17048258 0.05351398 0.28134518
+v -0.17463273 0.07481531 0.28140274
+v -0.08921898 0.18470713 0.28014813
+v -0.20374675 0.04990266 0.21794618
+v -0.22829730 0.07866233 0.20157249
+v -0.18940679 0.20158320 0.17366023
+v -0.23050709 0.15356644 0.15837531
+v -0.17337481 0.05357559 0.22794553
+v -0.04180795 0.21483571 0.20515404
+v -0.04515550 0.18918503 0.28040325
+v -0.18970547 0.04707651 0.24650255
+v -0.18476462 0.05269926 0.21314044
+f 6 3 1
+f 9 6 2
+f 9 4 6
+f 10 6 4
+f 10 3 6
+f 11 2 6
+f 12 10 7
+f 13 8 2
+f 13 2 5
+f 14 4 9
+f 14 9 2
+f 15 2 11
+f 16 6 1
+f 17 12 7
+f 17 7 1
+f 17 1 3
+f 17 3 12
+f 18 12 3
+f 18 3 10
+f 18 10 12
+f 19 13 5
+f 20 1 7
+f 20 7 8
+f 20 8 13
+f 20 19 1
+f 20 13 19
+f 21 10 4
+f 21 4 14
+f 21 14 7
+f 21 7 10
+f 22 8 7
+f 22 7 14
+f 22 14 2
+f 22 2 8
+f 23 15 11
+f 23 11 16
+f 23 16 1
+f 24 15 5
+f 24 5 2
+f 24 2 15
+f 25 16 11
+f 25 11 6
+f 25 6 16
+f 26 19 5
+f 26 1 19
+f 26 23 1
+f 26 5 23
+f 27 23 5
+f 27 5 15
+f 27 15 23
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_22.obj b/teapot/teapot_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b17ace5bb2582fe31868327f252323b842855
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14253925 0.25925283 0.19426687
+v 0.14775741 0.27099648 -0.28313633
+v 0.13631081 0.28880718 0.18034420
+v 0.08306245 0.30624652 0.15842936
+v 0.09848484 0.27732755 -0.26158020
+v 0.09476202 0.30642488 -0.25134141
+v 0.12668685 0.28605243 0.18758050
+v 0.13973069 0.28184173 0.18710671
+v 0.12776253 0.25963327 0.19627696
+v 0.13708560 0.29012039 -0.28365752
+v 0.12371234 0.29305208 0.18151560
+v 0.08075318 0.30923485 -0.25063081
+v 0.08627425 0.29111874 0.15867257
+v 0.12396445 0.29507810 -0.28380137
+v 0.08462676 0.29834669 -0.25072676
+v 0.08035573 0.30795079 -0.09944938
+v 0.13351088 0.27478128 -0.28155447
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 9 7 4
+f 9 8 7
+f 9 1 8
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 3 6
+f 11 4 7
+f 11 8 3
+f 11 7 8
+f 12 4 6
+f 13 9 4
+f 13 5 9
+f 14 10 2
+f 14 5 12
+f 14 12 6
+f 14 6 10
+f 15 12 5
+f 15 5 13
+f 16 13 4
+f 16 4 12
+f 16 15 13
+f 16 12 15
+f 17 14 2
+f 17 2 5
+f 17 5 14
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_23.obj b/teapot/teapot_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4148dfc13dbef41f50e5198697742d44515683
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.32650593 -0.06812199 0.09735229
+v 0.32821775 -0.06852486 -0.20546991
+v 0.35682996 0.05093065 -0.11556409
+v 0.30748194 0.08378790 0.15864291
+v 0.31065324 -0.07116927 0.09784456
+v 0.31470884 0.08152999 -0.20511730
+v 0.34178723 0.01984024 0.23377884
+v 0.35461608 -0.03827067 -0.09186116
+v 0.31580100 -0.07252100 -0.20509822
+v 0.32662768 0.07682866 -0.20544502
+v 0.32414383 0.07618268 0.15833917
+v 0.34267026 -0.01061946 0.23331561
+v 0.35114307 -0.02363167 -0.12387919
+v 0.30543199 0.02025488 0.23534978
+v 0.30971839 0.08440358 0.02235903
+v 0.32831308 -0.05396324 0.15823284
+v 0.30590665 -0.01099105 0.23530125
+v 0.31302146 -0.05652906 0.15848776
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 3 2
+f 10 2 6
+f 11 7 3
+f 11 4 7
+f 11 3 10
+f 12 1 8
+f 12 8 3
+f 12 3 7
+f 13 8 2
+f 13 2 3
+f 13 3 8
+f 14 6 9
+f 14 7 4
+f 15 10 6
+f 15 11 10
+f 15 4 11
+f 15 14 4
+f 15 6 14
+f 16 5 1
+f 16 1 12
+f 17 14 9
+f 17 9 5
+f 17 12 7
+f 17 7 14
+f 18 17 5
+f 18 5 16
+f 18 16 12
+f 18 12 17
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_24.obj b/teapot/teapot_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0e6e53503f49a1aa40590a682b2651487295e3
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.31580100 -0.07252100 -0.20509822
+v 0.32776200 -0.06816429 -0.28425718
+v 0.32296390 0.09053324 -0.20540929
+v 0.28240428 0.15736049 -0.20514381
+v 0.26519829 -0.05599031 -0.27062795
+v 0.29681979 0.14838883 -0.28413583
+v 0.29550737 0.13300476 -0.20487993
+v 0.32821775 -0.06852486 -0.20546991
+v 0.31500290 -0.07212763 -0.28426526
+v 0.26515150 -0.05600578 -0.26157538
+v 0.32249556 0.09004855 -0.28234156
+v 0.29869204 0.14967573 -0.20542595
+v 0.26515150 0.15611542 -0.26158020
+v 0.32349194 0.09076454 -0.23567668
+v 0.27372647 0.16159874 -0.28277712
+v 0.30828677 0.13291046 -0.27675518
+v 0.30750099 0.13225794 -0.22086584
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 6 2
+f 10 1 4
+f 10 9 1
+f 10 5 9
+f 11 2 6
+f 12 7 3
+f 12 4 7
+f 13 10 4
+f 13 5 10
+f 14 8 2
+f 14 3 8
+f 14 2 11
+f 15 9 5
+f 15 6 9
+f 15 5 13
+f 15 13 4
+f 15 12 6
+f 15 4 12
+f 16 11 6
+f 16 6 12
+f 16 14 11
+f 17 16 12
+f 17 12 3
+f 17 3 14
+f 17 14 16
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_25.obj b/teapot/teapot_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161cb5f5db7ca84a07b39e1920831d24f1a9ab1a
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.24151576 0.16626792 0.00685761
+v -0.15407695 0.25493717 -0.28576179
+v -0.16633827 0.22511919 -0.28068721
+v -0.15629822 0.25808149 0.00691985
+v -0.20378810 0.21744161 -0.05283513
+v -0.17004515 0.22919378 0.00722266
+v -0.24320388 0.16683305 -0.23563510
+v -0.20407894 0.21715887 0.00708912
+v -0.18076488 0.23651018 -0.28433625
+v -0.21613909 0.17979212 0.00718897
+v -0.18982466 0.23187834 0.00603953
+v -0.16634614 0.25088875 0.00751469
+v -0.23525514 0.17657797 0.00735458
+v -0.23639218 0.17697654 -0.23627715
+v -0.16498301 0.24941459 -0.28423964
+v -0.19129426 0.21846148 -0.28848088
+v -0.21960079 0.18232537 -0.23526969
+v -0.18938483 0.23150198 -0.06844877
+f 3 2 4
+f 6 3 4
+f 10 3 6
+f 10 1 7
+f 11 5 8
+f 12 6 4
+f 12 11 8
+f 12 10 6
+f 13 7 1
+f 13 12 8
+f 13 1 10
+f 13 10 12
+f 14 8 5
+f 14 13 8
+f 14 7 13
+f 14 5 9
+f 15 4 2
+f 15 2 9
+f 15 12 4
+f 15 9 11
+f 15 11 12
+f 16 9 2
+f 16 2 3
+f 16 3 7
+f 16 14 9
+f 16 7 14
+f 17 10 7
+f 17 7 3
+f 17 3 10
+f 18 11 9
+f 18 9 5
+f 18 5 11
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_26.obj b/teapot/teapot_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccda2863a48ad6392b14dc1654f273fee2c66f7
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23063619 -0.15361100 0.00717868
+v -0.23834277 -0.14890556 -0.25071391
+v -0.26883565 -0.05674086 0.00701266
+v -0.32149049 -0.05333523 0.00865019
+v -0.25552228 -0.14221275 -0.25081073
+v -0.31555437 -0.06300791 0.01089623
+v -0.23484849 -0.11661185 -0.26157538
+v -0.23089053 -0.15371614 -0.00797520
+v -0.25021000 -0.14116866 0.00647693
+v -0.28495727 -0.05400146 -0.25085074
+v -0.27876388 -0.08181114 -0.25073419
+v -0.31276322 -0.04943495 -0.01787185
+v -0.27333781 -0.05760547 -0.25048067
+v -0.26355051 -0.12485992 -0.25088266
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 3 1
+f 7 2 5
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 6 5
+f 9 1 6
+f 9 8 1
+f 9 5 8
+f 11 10 7
+f 11 4 10
+f 12 10 4
+f 12 4 3
+f 12 3 10
+f 13 10 3
+f 13 3 7
+f 13 7 10
+f 14 11 7
+f 14 7 5
+f 14 5 4
+f 14 4 11
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_27.obj b/teapot/teapot_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b353822bee5f9cd940c9cab33ba6e7668f6c5c
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.36907509 -0.06490303 0.23342525
+v -0.36179277 -0.04301267 0.23398291
+v -0.45545049 0.03543678 0.26481408
+v -0.36977568 0.06121549 0.23364798
+v -0.41012392 -0.02281425 0.17700174
+v -0.39139207 0.04449870 0.26253746
+v -0.37345036 -0.06110990 0.21924986
+v -0.40735040 0.02898989 0.17839576
+v -0.37282838 0.05451697 0.25344129
+v -0.39139999 -0.04959061 0.26166457
+v -0.49578902 0.01093987 0.20053299
+v -0.39861824 0.04803750 0.25913857
+v -0.37253028 -0.05815355 0.25134578
+v -0.45445579 -0.04181643 0.26426525
+v -0.47633067 0.03237122 0.22368649
+v -0.49146392 -0.03121807 0.21552932
+v -0.39885765 -0.05291970 0.25760577
+v -0.49093651 0.02497166 0.21699104
+v -0.46366216 0.03571418 0.25501213
+v -0.49430854 -0.02427035 0.20321891
+v -0.48421263 -0.03833248 0.22149892
+v -0.49430279 0.02009657 0.20823044
+v -0.47662013 0.03083713 0.23969563
+v -0.46371223 -0.04222560 0.25488027
+v -0.48895400 0.01996961 0.20379858
+v -0.48039889 -0.03955494 0.22932084
+v -0.47694750 -0.03767510 0.23777717
+f 7 2 1
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 2 4
+f 10 9 6
+f 11 8 5
+f 12 9 4
+f 12 4 3
+f 12 3 6
+f 12 6 9
+f 13 1 2
+f 13 2 9
+f 13 9 10
+f 14 10 6
+f 14 6 3
+f 15 4 8
+f 17 13 10
+f 17 10 14
+f 17 14 1
+f 17 1 13
+f 19 3 4
+f 19 4 15
+f 20 16 11
+f 20 11 5
+f 20 5 7
+f 21 7 1
+f 21 20 7
+f 21 16 20
+f 22 11 16
+f 22 16 18
+f 23 19 15
+f 23 15 18
+f 23 18 16
+f 23 3 19
+f 24 1 14
+f 24 14 3
+f 24 3 23
+f 25 8 11
+f 25 11 22
+f 25 15 8
+f 25 22 18
+f 25 18 15
+f 26 21 1
+f 26 1 24
+f 26 16 21
+f 27 24 23
+f 27 23 16
+f 27 26 24
+f 27 16 26
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_28.obj b/teapot/teapot_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056a370d57927e4462e10c52fcbe519eb0cf7130
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.44347212 -0.05000142 0.27922867
+v 0.45562417 -0.04629253 0.24289339
+v 0.44444878 0.05078248 0.27416451
+v 0.31203483 0.05058968 0.24340498
+v 0.30987352 -0.04739934 0.23098197
+v 0.45708658 0.04198762 0.24094440
+v 0.33547981 0.04434952 0.27529014
+v 0.32971721 0.05200012 0.23829864
+v 0.33411985 -0.03855631 0.22018882
+v 0.44363248 0.04418835 0.28087231
+v 0.34738017 0.05021347 0.27699344
+v 0.34658749 -0.04843049 0.27839446
+v 0.31355278 -0.02430481 0.25617409
+v 0.45217966 0.04926172 0.25549104
+v 0.33528621 0.03356912 0.22009729
+v 0.32356634 0.04533058 0.26620686
+v 0.42955779 0.05038330 0.27960375
+v 0.30792418 0.04964061 0.23043112
+v 0.33564953 -0.03739177 0.27655962
+v 0.31302129 0.03327183 0.25536971
+v 0.32532123 -0.04559050 0.26602049
+v 0.31230854 -0.04552986 0.24342816
+f 5 2 1
+f 6 1 2
+f 9 6 2
+f 9 2 5
+f 10 1 6
+f 11 8 4
+f 11 3 8
+f 12 5 1
+f 12 11 7
+f 12 1 10
+f 12 10 11
+f 14 8 3
+f 14 6 8
+f 14 10 6
+f 14 3 10
+f 15 6 9
+f 16 11 4
+f 16 7 11
+f 17 11 10
+f 17 10 3
+f 17 3 11
+f 18 5 13
+f 18 4 8
+f 18 8 6
+f 18 6 15
+f 18 15 9
+f 18 9 5
+f 19 12 7
+f 19 16 13
+f 19 7 16
+f 20 16 4
+f 20 13 16
+f 20 18 13
+f 20 4 18
+f 21 19 13
+f 21 5 12
+f 21 12 19
+f 22 21 13
+f 22 13 5
+f 22 5 21
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_29.obj b/teapot/teapot_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6d195944e96cf4bca674479be85e4bf54a444d
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08339253 0.29275510 0.09784858
+v 0.08462676 0.29834669 -0.25072676
+v 0.08020846 0.30777726 0.09797672
+v -0.03528917 0.30819848 0.09783334
+v -0.03788160 0.29249321 0.09784401
+v -0.02133886 0.31186275 -0.25069912
+v 0.08075318 0.30923485 -0.25063081
+v -0.03818778 0.29405649 0.00696343
+v -0.02429519 0.30099883 -0.25087531
+v -0.03531247 0.30769051 0.00772329
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 2 5
+f 9 7 2
+f 9 6 7
+f 9 2 8
+f 10 8 4
+f 10 4 6
+f 10 9 8
+f 10 6 9
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_3.obj b/teapot/teapot_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb00f420716cd5c42c7f9bba73590014a093421
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.09446879 -0.29794311 0.18213080
+v 0.15834891 -0.23653460 0.19975126
+v 0.10719257 -0.19181961 0.28328867
+v -0.09558120 -0.17250373 0.28335019
+v -0.10406077 -0.26427977 0.15866225
+v 0.15154480 -0.15630555 0.22695678
+v -0.01916135 -0.20603398 0.28229551
+v 0.12402235 -0.28500450 0.18990718
+v 0.13076214 -0.27299099 0.15853338
+v 0.14789231 -0.15223550 0.28351258
+v -0.09972078 -0.17906213 0.23483207
+v 0.06459494 -0.20656971 0.28126039
+v -0.03502291 -0.29859526 0.18850529
+v -0.04941113 -0.29952622 0.15773502
+v 0.12572083 -0.29042518 0.15829814
+v 0.14565539 -0.22599710 0.18298755
+v 0.15907050 -0.22264153 0.20380866
+v 0.13466382 -0.17832674 0.28341906
+v -0.10017829 -0.22595220 0.18274805
+v 0.08008846 -0.29691527 0.18967381
+v -0.09106673 -0.28105540 0.18882137
+v 0.09478653 -0.29930298 0.15809565
+v 0.14416681 -0.25342631 0.17582447
+v 0.15016226 -0.17028448 0.21332194
+v -0.06190710 -0.19257892 0.28224594
+v -0.04883039 -0.29767133 0.18369320
+v -0.09298476 -0.28562413 0.15820419
+v -0.08917172 -0.17767595 0.28227364
+f 7 3 4
+f 10 6 4
+f 11 5 4
+f 11 4 6
+f 12 3 7
+f 12 8 3
+f 14 5 9
+f 15 8 1
+f 15 2 8
+f 16 9 5
+f 17 10 2
+f 17 6 10
+f 17 2 16
+f 18 8 2
+f 18 2 10
+f 18 3 8
+f 18 10 4
+f 18 4 3
+f 19 11 6
+f 19 5 11
+f 20 1 8
+f 20 8 12
+f 20 13 1
+f 20 12 7
+f 20 7 13
+f 21 13 7
+f 21 4 5
+f 22 1 13
+f 22 13 14
+f 22 15 1
+f 22 14 9
+f 22 9 15
+f 23 15 9
+f 23 2 15
+f 23 16 2
+f 23 9 16
+f 24 17 16
+f 24 6 17
+f 24 19 6
+f 24 16 5
+f 24 5 19
+f 25 21 7
+f 25 7 4
+f 26 14 13
+f 26 13 21
+f 27 21 5
+f 27 5 14
+f 27 26 21
+f 27 14 26
+f 28 25 4
+f 28 4 21
+f 28 21 25
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_30.obj b/teapot/teapot_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5746cddee527c6b53d1e8f8f2fe19c45662f4805
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.46256634 -0.05450173 -0.08433876
+v 0.45353113 -0.04791866 -0.11135441
+v 0.46550210 0.05124267 -0.08629625
+v 0.35538050 0.05164616 -0.10401033
+v 0.31374311 -0.07197096 -0.08391656
+v 0.42926116 0.04988548 -0.11382258
+v 0.31451749 -0.07217321 -0.12935576
+v 0.32264314 0.02028263 -0.08376220
+v 0.45509966 0.04471894 -0.11006032
+v 0.45562606 0.05022204 -0.10507309
+v 0.32343541 0.02033780 -0.12920615
+v 0.35474977 0.04441485 -0.09653110
+v 0.35682996 0.05093065 -0.11556409
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 3 2
+f 9 2 6
+f 10 9 6
+f 10 3 9
+f 11 6 2
+f 11 2 7
+f 11 8 4
+f 11 7 5
+f 11 5 8
+f 12 8 3
+f 12 3 4
+f 12 4 8
+f 13 10 6
+f 13 4 3
+f 13 3 10
+f 13 11 4
+f 13 6 11
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_31.obj b/teapot/teapot_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26cc7ccc7a9b7f0d9ae9cb0bd0aaa2ff402dee1c
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.27042746 -0.05703719 -0.08387606
+v -0.27333781 -0.05760547 -0.25048067
+v -0.27202465 0.06668196 -0.25114803
+v -0.26943570 0.06620258 -0.08387837
+v -0.28440593 0.05855162 -0.07680772
+v -0.28440938 -0.04910432 -0.07685192
+v -0.28393080 0.06299236 -0.25102284
+v -0.28495727 -0.05400146 -0.25085074
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 7 5 4
+f 7 4 3
+f 8 2 1
+f 8 1 6
+f 8 6 5
+f 8 5 7
+f 8 7 3
+f 8 3 2
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_4.obj b/teapot/teapot_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387f6f4b7f1da222d3ceb150eeaa2468ffde344b
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.09533735 -0.27686754 0.18976986
+v -0.05375269 -0.22473192 0.19233548
+v -0.05539010 -0.18296058 0.28430253
+v -0.22829730 0.07866233 0.20157249
+v -0.23884503 -0.13385492 0.15851941
+v -0.19473958 0.08223802 0.19713615
+v -0.03986183 -0.18311662 0.27712620
+v -0.09844153 -0.28318157 0.15844792
+v -0.20555812 -0.19616036 0.18774245
+v -0.17048258 0.05351398 0.28134518
+v -0.23633915 0.08081523 0.17869079
+v -0.04905739 -0.21174833 0.22387228
+v -0.04048346 -0.18503043 0.23816845
+v -0.21133340 0.08276862 0.18777366
+v -0.10489684 -0.16598908 0.28324703
+v -0.14814009 -0.25350112 0.18382223
+v -0.22327236 -0.18402532 0.15798288
+v -0.19153915 0.08117833 0.22145891
+v -0.18781430 -0.03803107 0.27531847
+v -0.22706801 -0.06935188 0.19966509
+v -0.10406077 -0.26427977 0.15866225
+v -0.18205462 0.04855622 0.28160217
+v -0.12019910 -0.26698484 0.18856994
+v -0.16241187 -0.23853716 0.18838857
+v -0.22461320 -0.17147533 0.18703900
+v -0.12256326 -0.27149514 0.15777594
+v -0.22164850 -0.18199428 0.18219460
+v -0.17337481 0.05357559 0.22794553
+v -0.17313751 -0.08017869 0.28163920
+v -0.18581327 0.04656604 0.27556480
+v -0.12872078 -0.14707774 0.28132150
+v -0.14951652 -0.25563350 0.15825945
+v -0.14169538 -0.13336434 0.28117179
+f 7 3 1
+f 8 2 1
+f 10 3 7
+f 12 7 1
+f 12 1 2
+f 13 2 6
+f 13 10 7
+f 13 12 2
+f 13 7 12
+f 14 6 2
+f 15 1 3
+f 18 4 10
+f 18 6 14
+f 18 14 11
+f 18 11 4
+f 20 11 5
+f 20 4 11
+f 20 19 4
+f 21 5 11
+f 21 11 14
+f 21 14 2
+f 21 2 8
+f 22 15 3
+f 22 3 10
+f 22 10 4
+f 23 8 1
+f 23 1 15
+f 24 23 15
+f 24 16 23
+f 25 5 17
+f 25 20 5
+f 25 19 20
+f 26 17 5
+f 26 23 16
+f 26 8 23
+f 26 21 8
+f 26 5 21
+f 27 17 16
+f 27 25 17
+f 27 9 25
+f 27 24 9
+f 27 16 24
+f 28 13 6
+f 28 6 18
+f 28 18 10
+f 28 10 13
+f 29 22 19
+f 29 15 22
+f 29 19 25
+f 30 22 4
+f 30 4 19
+f 30 19 22
+f 31 24 15
+f 31 9 24
+f 32 26 16
+f 32 16 17
+f 32 17 26
+f 33 31 15
+f 33 15 29
+f 33 29 25
+f 33 25 9
+f 33 9 31
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_5.obj b/teapot/teapot_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b83fbf3b2bc81db0190bd897d46954a4eee3bbf
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.08587723 0.19238494 0.28281472
+v 0.14673382 0.22151479 0.18617789
+v 0.12371234 0.29305208 0.18151560
+v -0.03511919 0.30568915 0.18284252
+v -0.10123670 0.22162632 0.18589356
+v 0.08090836 0.20543864 0.28240532
+v 0.14253925 0.25925283 0.19426687
+v -0.04121228 0.19660794 0.22578664
+v 0.08339253 0.29275510 0.09784858
+v 0.07985987 0.30562528 0.18099149
+v -0.03542011 0.20737640 0.28199235
+v 0.14166017 0.21267706 0.21117492
+v 0.12668685 0.28605243 0.18758050
+v -0.04118856 0.29175303 0.09810402
+v 0.14405225 0.26242042 0.17499762
+v 0.09504847 0.29647617 0.18739053
+v -0.03528917 0.30819848 0.09783334
+v 0.08020846 0.30777726 0.09797672
+v -0.09632963 0.28463155 0.18640594
+v -0.04019822 0.19410104 0.28293142
+v 0.08660427 0.19705732 0.22568923
+v 0.12418075 0.29542954 0.15838920
+v -0.06565877 0.29738947 0.18519760
+v -0.10215355 0.26988273 0.15857615
+v -0.09647856 0.21313861 0.21240871
+v -0.09191073 0.29168774 0.15826273
+v -0.09156337 0.29028986 0.18059560
+f 7 6 1
+f 8 5 2
+f 10 4 6
+f 11 6 4
+f 12 7 1
+f 12 2 7
+f 13 7 3
+f 13 6 7
+f 14 9 2
+f 14 2 5
+f 15 7 2
+f 15 2 9
+f 15 3 7
+f 16 10 6
+f 16 3 10
+f 16 13 3
+f 16 6 13
+f 17 4 10
+f 17 9 14
+f 18 17 10
+f 18 9 17
+f 18 15 9
+f 20 8 1
+f 20 1 6
+f 20 6 11
+f 20 11 19
+f 21 8 2
+f 21 2 12
+f 21 12 1
+f 21 1 8
+f 22 18 10
+f 22 10 3
+f 22 3 15
+f 22 15 18
+f 23 19 11
+f 23 11 4
+f 24 17 14
+f 24 14 5
+f 24 5 19
+f 25 5 8
+f 25 8 20
+f 25 20 19
+f 25 19 5
+f 26 23 4
+f 26 4 17
+f 26 24 19
+f 26 17 24
+f 27 26 19
+f 27 19 23
+f 27 23 26
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_6.obj b/teapot/teapot_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059ccc54ef6fcf0d3c65c1cb3cbce4d4896d026e
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.06805993 -0.29800996 0.00693874
+v -0.10757723 -0.28553099 -0.27846268
+v -0.11376925 -0.22303318 -0.27102583
+v -0.23884503 -0.13385492 0.15851941
+v -0.18182211 -0.22909289 0.17283166
+v -0.25552228 -0.14221275 -0.25081073
+v -0.11574553 -0.24143702 0.17626161
+v -0.06808323 -0.29810510 -0.00821908
+v -0.11678928 -0.27445362 0.15880560
+v -0.22605944 -0.18609297 -0.28303779
+v -0.21969698 -0.14691487 -0.26157538
+v -0.22327236 -0.18402532 0.15798288
+v -0.07223618 -0.27998502 0.00716474
+v -0.11363637 -0.22267245 -0.26157538
+v -0.19628077 -0.21507062 0.17262843
+v -0.16132621 -0.25103588 0.00590438
+v -0.10668608 -0.28334129 0.00715831
+v -0.11115504 -0.27798009 -0.28509975
+v -0.24113390 -0.13511814 0.00705322
+v -0.15930107 -0.19266037 -0.27074539
+v -0.25240560 -0.14136953 -0.06914159
+v -0.23326935 -0.18040349 -0.25094333
+v -0.07236954 -0.28022185 -0.00798235
+v -0.18905665 -0.22231189 0.17354987
+v -0.14951652 -0.25563350 0.15825945
+v -0.16188510 -0.25180369 -0.28167811
+v -0.11974669 -0.28016076 -0.27658492
+v -0.24698130 -0.15286753 -0.06906633
+v -0.24958816 -0.15376576 -0.25086288
+v -0.21804000 -0.19432522 0.06729308
+v -0.17519844 -0.23619353 0.14281496
+v -0.13513638 -0.26851292 -0.28340265
+v -0.22009933 -0.19549281 -0.28201267
+v -0.20366378 -0.20807680 0.15756746
+v -0.18963867 -0.22190243 0.17260385
+f 8 1 2
+f 8 2 3
+f 9 7 5
+f 9 1 7
+f 11 10 6
+f 13 7 1
+f 13 1 8
+f 14 4 7
+f 14 11 4
+f 14 3 11
+f 14 7 13
+f 15 7 4
+f 15 4 12
+f 17 2 1
+f 17 1 9
+f 18 10 3
+f 18 3 2
+f 19 11 6
+f 19 6 4
+f 19 4 11
+f 20 11 3
+f 20 3 10
+f 20 10 11
+f 21 12 4
+f 21 4 6
+f 23 13 8
+f 23 8 3
+f 23 14 13
+f 23 3 14
+f 24 5 7
+f 24 7 15
+f 25 9 5
+f 25 17 9
+f 27 2 17
+f 27 16 26
+f 27 25 16
+f 27 17 25
+f 28 21 6
+f 28 12 21
+f 28 22 12
+f 29 6 10
+f 29 10 22
+f 29 28 6
+f 29 22 28
+f 30 12 22
+f 31 25 5
+f 31 16 25
+f 32 26 10
+f 32 10 18
+f 32 27 26
+f 32 18 2
+f 32 2 27
+f 33 22 10
+f 33 10 26
+f 33 30 22
+f 33 26 16
+f 34 15 12
+f 34 12 30
+f 34 30 33
+f 35 16 31
+f 35 24 15
+f 35 15 34
+f 35 34 33
+f 35 33 16
+f 35 31 5
+f 35 5 24
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_7.obj b/teapot/teapot_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cfde2ce9e8a12d09857efe2c4f38c2afeee288
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.05189311 -0.31202757 -0.23647117
+v 0.22325789 -0.22648202 -0.28515120
+v 0.22180579 -0.22516065 -0.20512864
+v 0.14393938 -0.22267245 -0.26157538
+v -0.07236597 -0.27912761 -0.28084002
+v 0.16516798 -0.27993621 -0.25158034
+v 0.14398809 -0.22279226 -0.27089344
+v -0.06887705 -0.28553357 -0.23546506
+v 0.20840831 -0.25184495 -0.20530783
+v 0.06552544 -0.31144802 -0.27807587
+v -0.06818182 -0.26812700 -0.26157538
+v 0.20755555 -0.25196777 -0.28213160
+v 0.18774895 -0.26544226 -0.20525269
+v -0.06388587 -0.29936570 -0.28355160
+v 0.12351495 -0.29754528 -0.25074115
+v 0.16508454 -0.28047175 -0.27682271
+v -0.06441619 -0.30101080 -0.23587778
+v 0.18403377 -0.25317145 -0.20486069
+v 0.12333283 -0.29515986 -0.28339009
+v -0.02066061 -0.31164818 -0.27647106
+v 0.06581985 -0.31197529 -0.26690599
+v -0.00644209 -0.31226445 -0.23625018
+v 0.21258481 -0.23285308 -0.20493270
+v 0.17692166 -0.25750732 -0.20510218
+v -0.02044524 -0.31195975 -0.26694505
+f 7 2 5
+f 7 3 2
+f 7 4 3
+f 9 2 3
+f 11 7 5
+f 11 4 7
+f 11 5 8
+f 11 8 3
+f 11 3 4
+f 12 2 9
+f 14 5 2
+f 15 13 1
+f 15 6 13
+f 16 12 9
+f 16 9 13
+f 16 13 6
+f 16 6 15
+f 17 8 5
+f 17 5 14
+f 18 13 9
+f 18 3 8
+f 19 10 14
+f 19 12 16
+f 19 16 15
+f 19 15 10
+f 19 14 2
+f 19 2 12
+f 20 14 10
+f 20 17 14
+f 21 15 1
+f 21 10 15
+f 21 20 10
+f 22 1 13
+f 22 13 17
+f 22 21 1
+f 23 18 9
+f 23 9 3
+f 23 3 18
+f 24 17 13
+f 24 13 18
+f 24 18 8
+f 24 8 17
+f 25 22 17
+f 25 17 20
+f 25 20 21
+f 25 21 22
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_8.obj b/teapot/teapot_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962765593f1ad12a1d364e1886799ef77a40b207
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.22754458 -0.17252264 0.18333494
+v -0.23240655 -0.17564429 0.00688115
+v -0.23196914 0.12459284 0.19497574
+v -0.22989217 -0.14463651 0.19011385
+v -0.42465562 0.03397236 0.22835504
+v -0.41301169 -0.04732157 0.22138791
+v -0.26728614 0.10697772 -0.08457531
+v -0.37282838 0.05451697 0.25344129
+v -0.24556625 0.13088395 0.00714767
+v -0.29395412 -0.03492422 -0.07475607
+v -0.36188805 -0.06036966 0.24718159
+v -0.28720455 0.10828590 0.18488292
+v -0.41464471 0.04453898 0.23489494
+v -0.25529075 0.11266750 -0.08388228
+v -0.39873874 -0.01991209 0.15127458
+v -0.29484509 -0.04879906 -0.06118294
+v -0.37253028 -0.05815355 0.25134578
+v -0.27783084 0.11047440 0.19197597
+v -0.27042746 -0.05703719 -0.08387606
+v -0.29429854 0.04407785 -0.07451704
+v -0.32123861 -0.03308284 -0.01481987
+v -0.40032113 -0.04066279 0.18109586
+v -0.39656745 -0.05537377 0.23456944
+v -0.36557414 0.06074222 0.24335826
+v -0.28440938 -0.04910432 -0.07685192
+v -0.36813191 0.00382015 0.07567002
+v -0.39689955 0.02549428 0.15164497
+v -0.35142326 -0.02098169 0.04548582
+v -0.32191864 -0.04613802 -0.00031010
+v -0.32079723 0.04274417 -0.01481161
+v -0.36734581 -0.00852145 0.07582302
+v -0.35146575 0.02841532 0.04564577
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 9 3 2
+f 11 4 3
+f 11 3 8
+f 12 3 9
+f 13 9 7
+f 13 7 5
+f 13 12 9
+f 14 9 2
+f 14 7 9
+f 15 6 5
+f 16 2 6
+f 17 1 4
+f 17 4 11
+f 17 13 5
+f 17 11 8
+f 17 8 13
+f 18 8 3
+f 18 3 12
+f 18 12 13
+f 19 7 14
+f 19 14 2
+f 20 19 10
+f 20 7 19
+f 21 16 15
+f 21 10 16
+f 22 6 15
+f 23 6 1
+f 23 1 17
+f 23 17 5
+f 23 5 6
+f 24 18 13
+f 24 13 8
+f 24 8 18
+f 25 16 10
+f 25 10 19
+f 25 19 2
+f 25 2 16
+f 26 20 10
+f 27 5 7
+f 27 26 15
+f 27 15 5
+f 28 21 15
+f 28 10 21
+f 29 16 6
+f 29 6 22
+f 29 22 15
+f 29 15 16
+f 30 27 7
+f 30 7 20
+f 31 26 10
+f 31 10 28
+f 31 28 15
+f 31 15 26
+f 32 30 20
+f 32 20 26
+f 32 26 27
+f 32 27 30
\ No newline at end of file
diff --git a/teapot/teapot_6/collision/model_normalized_collision_9.obj b/teapot/teapot_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc0a79a334d823990da0f81e3a87be95990d826
--- /dev/null
+++ b/teapot/teapot_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.22725203 0.04788967 0.28443440
+v 0.26171694 0.04937035 0.21334791
+v 0.25800713 0.19601731 0.18712491
+v 0.14092908 0.28477570 0.18492794
+v 0.08532791 0.22413767 0.19859238
+v 0.13324675 0.18368179 0.28018864
+v 0.21980342 0.05395534 0.22843072
+v 0.19667355 0.24205984 0.14350254
+v 0.20248701 0.11588164 0.28086658
+v 0.19729908 0.25117998 0.18643052
+v 0.09053716 0.18823757 0.28072413
+v 0.22819959 0.06799229 0.21230815
+v 0.25385866 0.04749598 0.21874227
+v 0.27275102 0.16097950 0.15858346
+v 0.14209960 0.28819999 0.15853229
+v 0.08090836 0.20543864 0.28240532
+v 0.21727645 0.08750057 0.28146271
+v 0.20971922 0.24922973 0.15843659
+v 0.21353685 0.05234556 0.28272399
+v 0.08895126 0.18767472 0.24151648
+v 0.17864740 0.25409715 0.14343787
+v 0.09239535 0.20284100 0.28086883
+v 0.20843943 0.24810240 0.18080073
+v 0.26227163 0.19906553 0.15842614
+v 0.08833468 0.20256068 0.21770543
+v 0.18945824 0.24712120 0.14330018
+v 0.16666301 0.27686766 0.15853620
+v 0.16529144 0.27530897 0.18041886
+v 0.08767300 0.21545915 0.20486893
+v 0.19350071 0.26085545 0.15882740
+v 0.19270396 0.25951446 0.17988619
+f 1 2 3
+f 9 3 6
+f 10 6 3
+f 10 4 6
+f 12 7 5
+f 12 2 7
+f 13 7 2
+f 13 2 1
+f 13 1 7
+f 14 3 2
+f 14 12 8
+f 14 2 12
+f 15 5 4
+f 16 9 6
+f 16 1 9
+f 16 4 5
+f 17 9 1
+f 17 1 3
+f 17 3 9
+f 19 7 1
+f 19 16 11
+f 19 1 16
+f 20 19 11
+f 20 7 19
+f 20 16 5
+f 20 11 16
+f 21 12 5
+f 21 5 15
+f 22 16 6
+f 22 6 4
+f 22 4 16
+f 23 10 3
+f 24 14 8
+f 24 8 18
+f 24 3 14
+f 24 23 3
+f 24 18 23
+f 25 20 5
+f 25 7 20
+f 26 8 12
+f 26 12 21
+f 26 18 8
+f 27 21 15
+f 28 4 10
+f 28 27 15
+f 28 15 4
+f 29 25 5
+f 29 5 7
+f 29 7 25
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\ No newline at end of file
diff --git a/teapot/teapot_6/model.xml b/teapot/teapot_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7b93a0a4fd3f0eeb469fbdaa3431b07d87b1ca8
--- /dev/null
+++ b/teapot/teapot_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="teapot_76">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
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+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
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+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
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+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
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+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.125 0.125 0.125" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.045" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.5106250000000302e-05 0.00032290562500000147 -0.03606011" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.5106250000000302e-05 0.00032290562500000147 0.03559142125" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.038982843749999996 0.0619736275 -0.00023434437500000072" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/teapot/teapot_6/visual/image0.png b/teapot/teapot_6/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a709ba3820bd79fc51ddf0b377f0c4ea4a70306b
--- /dev/null
+++ b/teapot/teapot_6/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929e57335769652e0eaf3d25e269c97a1a976ad351b64762e71ad5d120d9f2be
+size 1310706
diff --git a/teapot/teapot_6/visual/material.mtl b/teapot/teapot_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/teapot/teapot_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/teapot/teapot_6/visual/material_0.jpeg b/teapot/teapot_6/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..9b0f9d1cdf1911b27cfc050b48e47a4fe27ac554
--- /dev/null
+++ b/teapot/teapot_6/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcbc30e708c0dce26253c1dd763fde2d72ac9a6a0342ab9e9cf007a5cf2d239b
+size 140010
diff --git a/teapot/teapot_6/visual/model_normalized_0.obj b/teapot/teapot_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952ae99cc73a769b9102c3cc3b479eb610844aef
--- /dev/null
+++ b/teapot/teapot_6/visual/model_normalized_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb3ce9bded6bedc7006ced450cc8e678663b71aae023aa1827c8a0cb0c7ebd3f
+size 13024348