diff --git a/bagel/.DS_Store b/bagel/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..a222344d6b75ebcf15359dd2b77e8202b59f619e
Binary files /dev/null and b/bagel/.DS_Store differ
diff --git a/bagel/bagel_1/collision/model_normalized_collision_0.obj b/bagel/bagel_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4845185fe30477160752578c7ff388f3560da87
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.04534621 -0.00780781 0.23600032
+v 0.19957760 0.06672713 0.19567862
+v 0.11271477 0.16566713 0.23418465
+v 0.06249843 0.24442581 0.17879714
+v -0.07087600 0.17916107 0.20234300
+v 0.19079468 0.19413441 0.17139969
+v 0.12806234 0.07191640 0.23279907
+v 0.13912177 0.03527098 0.20988656
+v -0.07628003 0.03687193 0.26178343
+v -0.01180591 0.17808960 0.23376291
+v 0.18538021 0.16165833 0.20349459
+v 0.10096154 0.22066191 0.20522115
+v 0.11732462 0.23839659 0.16848702
+v 0.18709566 0.06241873 0.20214237
+v -0.00378324 -0.00837898 0.25226968
+v -0.02181395 0.19922441 0.20938434
+v -0.02815725 0.12340450 0.24849976
+v -0.07054798 0.14982548 0.23339500
+v 0.20691490 0.16475477 0.18592593
+v 0.17182564 0.14072316 0.21692480
+v 0.18760593 0.19142114 0.18048496
+v 0.16824159 0.17971736 0.20252652
+v 0.09071216 0.18151710 0.23219372
+v 0.01783766 0.20479141 0.21948229
+v 0.06076671 0.24463673 0.17455926
+v 0.11561827 0.23294963 0.17956283
+v 0.17115252 0.20809971 0.16733456
+v 0.09910364 0.04409695 0.23453151
+v -0.08216288 0.16824327 0.21030670
+v 0.02710782 0.00899763 0.24831592
+v -0.02346816 0.20356076 0.19907020
+v -0.01658259 0.12484754 0.24777463
+v -0.05400948 0.16101070 0.23316538
+v -0.05411525 0.10721252 0.24834049
+v 0.13106877 0.15323119 0.23061912
+v 0.17302298 0.08765010 0.21895446
+v 0.19478218 0.16716011 0.19363964
+v 0.11760874 0.19092352 0.21757020
+v 0.03553359 0.22068896 0.20503064
+v 0.08279669 0.20546185 0.21907867
+v -0.02750164 0.18752244 0.22201580
+v 0.13016658 0.21846310 0.18831124
+v 0.04078087 -0.00333997 0.24024761
+v -0.07639281 0.03921977 0.26132333
+v -0.06919304 0.17559388 0.21282983
+v 0.01289076 -0.00341098 0.24959593
+v -0.05276779 0.19000437 0.20010675
+v 0.18980952 0.07322182 0.20565576
+v 0.00303666 -0.00812597 0.25034569
+v -0.07110116 0.09130667 0.24912231
+v -0.05285583 0.18514973 0.20968444
+f 8 5 2
+f 8 1 5
+f 14 8 2
+f 14 1 8
+f 15 5 1
+f 19 2 6
+f 20 19 11
+f 21 19 6
+f 22 3 11
+f 22 21 12
+f 23 10 17
+f 24 10 23
+f 25 13 5
+f 25 4 13
+f 26 13 4
+f 26 4 12
+f 26 21 13
+f 27 6 2
+f 27 2 5
+f 27 5 13
+f 27 21 6
+f 27 13 21
+f 29 15 9
+f 29 5 15
+f 30 7 3
+f 30 3 9
+f 30 9 15
+f 31 16 4
+f 31 4 25
+f 32 17 9
+f 32 9 3
+f 32 23 17
+f 32 3 23
+f 33 18 17
+f 33 17 10
+f 34 17 18
+f 35 20 11
+f 35 11 3
+f 35 3 7
+f 36 35 7
+f 36 20 35
+f 37 11 19
+f 37 19 21
+f 37 22 11
+f 37 21 22
+f 38 22 12
+f 38 3 22
+f 38 23 3
+f 38 12 23
+f 39 12 4
+f 39 4 16
+f 39 16 24
+f 40 24 23
+f 40 23 12
+f 40 39 24
+f 40 12 39
+f 41 24 16
+f 41 10 24
+f 41 33 10
+f 42 26 12
+f 42 12 21
+f 42 21 26
+f 43 1 14
+f 43 14 28
+f 44 29 9
+f 44 18 29
+f 44 9 17
+f 44 17 34
+f 45 5 29
+f 45 41 16
+f 45 33 41
+f 45 29 18
+f 45 18 33
+f 46 28 7
+f 46 7 30
+f 46 43 28
+f 46 30 15
+f 47 31 25
+f 47 25 5
+f 47 5 45
+f 47 16 31
+f 48 14 2
+f 48 2 19
+f 48 19 20
+f 48 20 36
+f 48 28 14
+f 48 36 7
+f 48 7 28
+f 49 15 1
+f 49 1 43
+f 49 46 15
+f 49 43 46
+f 50 44 34
+f 50 34 18
+f 50 18 44
+f 51 47 45
+f 51 45 16
+f 51 16 47
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_1.obj b/bagel/bagel_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7108c75a0c6ea2a8f0b1f56b6ab0031eb46def4
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26107887 -0.16395451 -0.06163854
+v 0.26062612 -0.13993232 -0.08179428
+v 0.27465273 -0.00678119 -0.06930251
+v 0.10892079 -0.00990363 -0.06081807
+v 0.10027265 -0.14325290 -0.12269614
+v 0.27344371 -0.08784949 -0.06699685
+v 0.17318781 -0.16811826 -0.11349937
+v 0.18962942 -0.18318905 -0.09247787
+v 0.18557243 -0.02912564 -0.10789803
+v 0.09685022 -0.06084769 -0.08065059
+v 0.10888993 -0.14678450 -0.12685530
+v 0.24506953 -0.16498522 -0.08079446
+v 0.16053297 -0.01794269 -0.09508194
+v 0.22290605 -0.02882484 -0.10922869
+v 0.13079914 -0.07478195 -0.10910834
+v 0.20019576 -0.15033789 -0.11098259
+v 0.25899027 -0.15986490 -0.06965700
+v 0.24781493 -0.01367173 -0.09405322
+v 0.11038166 -0.13497470 -0.12443254
+v 0.11473774 -0.09334578 -0.10927623
+v 0.12914456 -0.01679847 -0.07751345
+v 0.23904043 -0.10846007 -0.10136626
+v 0.16131606 -0.14163414 -0.12467984
+v 0.26083209 -0.01341359 -0.08486564
+v 0.11748764 -0.01375248 -0.06851821
+v 0.21665148 -0.12426796 -0.11109181
+v 0.16535452 -0.12764893 -0.12497385
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 10 8 1
+f 10 1 4
+f 10 5 8
+f 11 8 5
+f 11 7 8
+f 12 8 7
+f 12 1 8
+f 14 11 9
+f 14 9 13
+f 15 13 9
+f 16 12 7
+f 16 2 12
+f 17 12 2
+f 17 2 1
+f 17 1 12
+f 18 13 4
+f 18 4 3
+f 18 14 13
+f 19 11 5
+f 19 15 9
+f 19 9 11
+f 20 5 10
+f 20 19 5
+f 20 15 19
+f 21 4 13
+f 21 13 15
+f 21 15 20
+f 21 20 10
+f 22 14 18
+f 23 16 7
+f 23 7 11
+f 24 18 3
+f 24 3 2
+f 24 22 18
+f 24 2 22
+f 25 21 10
+f 25 10 4
+f 25 4 21
+f 26 22 2
+f 26 2 16
+f 26 16 23
+f 26 14 22
+f 27 23 11
+f 27 11 14
+f 27 26 23
+f 27 14 26
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_10.obj b/bagel/bagel_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3510bd58dc68689fb60f87d0dc805730e8a99fe5
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00504755 -0.27274126 0.12571277
+v 0.03062981 -0.26567643 0.11527004
+v -0.03594163 -0.09137437 0.24126279
+v -0.16645608 -0.09719502 0.25991677
+v 0.00956376 -0.09349095 0.12855975
+v -0.10575886 -0.23663998 0.19342081
+v 0.02135161 -0.25404271 0.12798315
+v 0.00198188 -0.11675691 0.13019261
+v 0.02062722 -0.07677915 0.18631792
+v -0.08580292 -0.16328732 0.23274140
+v 0.03653186 -0.23933868 0.12500073
+v -0.06066641 -0.27251199 0.15555634
+v -0.16944238 -0.17832036 0.22832284
+v 0.02122998 -0.07967704 0.13209404
+v -0.06470883 -0.09052627 0.25349230
+v 0.00968936 -0.25886473 0.13154138
+v -0.06506461 -0.25857043 0.16750395
+v -0.16890568 -0.10148413 0.25793485
+v -0.16493642 -0.13877922 0.24817047
+v -0.16398141 -0.16738700 0.23452214
+v -0.08580195 -0.13208381 0.24681345
+v -0.04057879 -0.25677363 0.15746960
+v -0.16976854 -0.16677747 0.23355246
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 10 7 3
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 12 8 1
+f 13 5 8
+f 13 12 6
+f 13 8 12
+f 14 5 4
+f 14 4 9
+f 14 9 11
+f 14 11 2
+f 14 2 5
+f 15 9 4
+f 15 3 9
+f 16 1 7
+f 16 7 10
+f 17 10 6
+f 17 6 12
+f 17 12 1
+f 18 4 5
+f 18 5 13
+f 19 4 18
+f 20 13 6
+f 20 6 10
+f 20 19 13
+f 20 10 19
+f 21 10 3
+f 21 3 15
+f 21 19 10
+f 21 15 4
+f 21 4 19
+f 22 16 10
+f 22 1 16
+f 22 17 1
+f 22 10 17
+f 23 19 18
+f 23 18 13
+f 23 13 19
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_11.obj b/bagel/bagel_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a51f8f95e9cf221ed29798a0801543e2435cf8ad
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.04373699 -0.30845930 0.06728972
+v 0.28034619 -0.13402823 0.02517883
+v 0.19835605 -0.21877019 0.02868234
+v 0.26094133 -0.10194289 0.07542940
+v 0.09186952 -0.14144968 0.08833945
+v 0.25656230 -0.16147324 0.03035744
+v 0.06474675 -0.28069800 0.08346686
+v 0.27769521 -0.10327423 0.05916123
+v 0.12618004 -0.27317181 0.02655644
+v 0.26305576 -0.16206669 0.01958931
+v 0.06429346 -0.29392913 0.07101999
+v 0.02459010 -0.17618781 0.13730065
+v 0.23676847 -0.13634542 0.07411074
+v 0.27249615 -0.09850912 0.06899821
+v 0.09051827 -0.29488405 0.03838734
+v 0.15681620 -0.25659948 0.02197615
+v 0.02302166 -0.30044780 0.09439198
+v 0.16991902 -0.21963680 0.05315270
+v 0.03730680 -0.16977526 0.12378919
+v 0.02199197 -0.24527511 0.13163400
+v 0.27045589 -0.10657421 0.06527085
+v 0.23602402 -0.14357794 0.06801433
+v 0.06769365 -0.29798369 0.06088156
+v 0.19996041 -0.22138504 0.02068289
+v 0.02596054 -0.30671409 0.08108868
+v 0.02239470 -0.27398826 0.11632985
+v 0.25885601 -0.13103277 0.05556867
+v 0.10822305 -0.27972986 0.04288673
+v 0.11119820 -0.28240910 0.03528898
+f 8 2 5
+f 8 6 2
+f 10 6 3
+f 10 2 6
+f 10 9 5
+f 10 5 2
+f 12 4 5
+f 14 8 5
+f 14 5 4
+f 14 4 13
+f 15 1 5
+f 15 5 9
+f 16 9 10
+f 16 15 9
+f 16 3 11
+f 17 11 7
+f 17 1 11
+f 18 11 3
+f 18 7 11
+f 18 13 7
+f 19 12 5
+f 20 13 4
+f 20 4 12
+f 20 12 17
+f 21 6 8
+f 21 14 13
+f 21 8 14
+f 22 3 6
+f 22 6 13
+f 22 18 3
+f 22 13 18
+f 23 11 1
+f 23 1 15
+f 24 16 10
+f 24 10 3
+f 24 3 16
+f 25 19 5
+f 25 5 1
+f 25 1 17
+f 25 17 12
+f 25 12 19
+f 26 20 17
+f 26 17 7
+f 26 7 13
+f 26 13 20
+f 27 21 13
+f 27 13 6
+f 27 6 21
+f 28 16 11
+f 28 11 23
+f 29 28 23
+f 29 23 15
+f 29 15 16
+f 29 16 28
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_12.obj b/bagel/bagel_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2614bafe7b6d0b2ec39339d96b7ee8e8c9e7a4
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04099118 -0.31296641 0.06243222
+v 0.09133947 -0.28295266 -0.05346594
+v 0.09362355 -0.26884725 0.07195394
+v -0.08094584 -0.27227435 -0.05869506
+v -0.07678002 -0.32100920 0.04273610
+v 0.04441831 -0.27547834 -0.05959019
+v 0.08853021 -0.29679256 -0.02895753
+v 0.04820599 -0.30117695 0.07327818
+v -0.08414200 -0.28993909 0.01485548
+v 0.09854819 -0.27347548 0.06161666
+v 0.07171956 -0.30753206 -0.00547549
+v 0.04395029 -0.29313211 -0.03430006
+v 0.08102628 -0.27399508 0.07710655
+v 0.07756610 -0.29196290 0.05943785
+v 0.06503493 -0.30771092 0.04520688
+v -0.07541693 -0.27975555 -0.04778713
+v 0.08861315 -0.28725262 -0.04687771
+v 0.00730933 -0.31127679 0.00953292
+v 0.04869304 -0.31014850 0.06028604
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 8 5 1
+f 9 3 4
+f 9 4 5
+f 10 7 2
+f 10 2 3
+f 11 1 5
+f 12 7 11
+f 13 5 8
+f 13 9 5
+f 13 3 9
+f 14 10 3
+f 14 13 8
+f 14 3 13
+f 15 11 7
+f 15 7 10
+f 15 10 14
+f 15 1 11
+f 16 5 4
+f 17 2 7
+f 17 7 12
+f 17 12 16
+f 17 16 4
+f 17 4 2
+f 18 12 11
+f 18 11 5
+f 18 16 12
+f 18 5 16
+f 19 14 8
+f 19 8 1
+f 19 15 14
+f 19 1 15
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_13.obj b/bagel/bagel_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c16648f090dcfc6b5bbb5ef62b52cc03ecb17d
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.12065970 -0.25018856 -0.03620276
+v -0.04974459 -0.18653221 -0.05658462
+v -0.20373740 -0.23952917 0.05170986
+v -0.13374991 -0.00942694 0.08772314
+v -0.18798835 -0.19144817 0.02790921
+v -0.07430906 -0.06313598 0.03911284
+v -0.07392045 -0.23615869 -0.06433684
+v -0.16969603 -0.08079995 0.07217240
+v -0.21134114 -0.22787341 0.04807695
+v -0.05916301 -0.19903950 -0.05356692
+v -0.07667238 -0.05046141 0.04454473
+v -0.09639506 -0.23018578 -0.05018661
+v -0.10977400 -0.12430154 0.01213680
+v -0.21480383 -0.06658244 0.11206396
+v -0.16010059 -0.23571260 -0.00511224
+v -0.05435531 -0.20080788 -0.05978205
+v -0.06727981 -0.12495768 -0.01130880
+v -0.14426408 -0.01444340 0.09423090
+v -0.17063148 -0.16887300 0.02733608
+v -0.09789897 -0.23771228 -0.05215633
+v -0.12883383 -0.01376042 0.08200818
+v -0.15493583 -0.03589227 0.08643765
+v -0.22260668 -0.15958029 0.08622810
+v -0.20031272 -0.15303843 0.05507987
+v -0.14485724 -0.24701059 -0.01837357
+v -0.22166282 -0.09453621 0.10737308
+v -0.09903949 -0.10944498 0.01349652
+v -0.21385519 -0.22831640 0.05641091
+v -0.21448646 -0.15383126 0.06833793
+v -0.13066255 -0.25003666 -0.02904620
+v -0.21920336 -0.11790112 0.09133389
+v -0.21441399 -0.12415636 0.08121150
+f 7 3 1
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 11 6 2
+f 12 2 7
+f 13 2 12
+f 15 9 5
+f 16 10 7
+f 16 7 2
+f 16 2 10
+f 17 11 2
+f 18 11 4
+f 18 3 6
+f 18 6 11
+f 18 4 14
+f 19 12 5
+f 19 13 12
+f 19 8 13
+f 20 12 7
+f 20 7 1
+f 20 15 5
+f 20 5 12
+f 21 17 2
+f 21 4 11
+f 21 11 17
+f 22 14 4
+f 22 8 14
+f 22 4 21
+f 22 21 13
+f 22 13 8
+f 24 14 8
+f 24 19 5
+f 24 8 19
+f 25 3 9
+f 25 9 15
+f 25 15 20
+f 26 18 14
+f 26 3 18
+f 26 23 3
+f 27 21 2
+f 27 2 13
+f 27 13 21
+f 28 23 9
+f 28 9 3
+f 28 3 23
+f 29 24 5
+f 29 5 9
+f 29 9 23
+f 30 1 3
+f 30 3 25
+f 30 25 20
+f 30 20 1
+f 31 29 23
+f 31 23 26
+f 31 26 14
+f 32 14 24
+f 32 24 29
+f 32 31 14
+f 32 29 31
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_14.obj b/bagel/bagel_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aee8354041462e9a76e6c276acc7c4f5b64916c
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.29739060 -0.01037232 0.09062618
+v 0.30628402 -0.00540076 0.07848646
+v 0.25648411 0.11266603 0.15996348
+v 0.20691490 0.16475477 0.18592593
+v 0.20121335 -0.01549447 0.14326529
+v 0.29056581 0.11505225 0.08422600
+v 0.28590926 0.01400857 0.11594933
+v 0.19120150 0.08550607 0.20815352
+v 0.28506857 0.09395007 0.11932561
+v 0.24434371 0.16155488 0.14563652
+v 0.23253839 0.16681237 0.15042700
+v 0.30046647 -0.00107317 0.09094048
+v 0.26259984 -0.00355535 0.12736001
+v 0.23108144 0.11256694 0.18730392
+v 0.19218398 0.15598162 0.20164343
+v 0.30215321 0.07845916 0.08063108
+v 0.25817483 0.06167419 0.15900200
+v 0.22755032 0.15367523 0.17533849
+v 0.28787561 0.10712495 0.10984050
+v 0.19412308 -0.00087663 0.15240645
+v 0.29818342 0.07922095 0.09346176
+v 0.19136895 0.04735769 0.19093303
+v 0.19121394 0.14293279 0.20923437
+v 0.24018510 0.07207720 0.17677637
+v 0.26925274 0.01602754 0.13113906
+v 0.29251653 0.11038683 0.08485649
+v 0.23500067 -0.00253038 0.14134221
+v 0.19962892 0.08654547 0.20371611
+v 0.19486793 0.14226692 0.20664433
+v 0.21459914 0.06014410 0.18670999
+v 0.20182203 0.04707837 0.18676641
+v 0.22175507 0.03388112 0.16915346
+f 5 2 1
+f 6 2 5
+f 11 10 6
+f 11 4 10
+f 12 7 1
+f 12 1 2
+f 12 9 7
+f 13 5 1
+f 13 1 7
+f 15 4 11
+f 16 2 6
+f 17 9 3
+f 17 7 9
+f 17 3 14
+f 18 10 4
+f 18 3 10
+f 18 14 3
+f 19 6 10
+f 19 10 3
+f 19 3 9
+f 20 11 6
+f 20 6 5
+f 20 15 11
+f 21 12 2
+f 21 9 12
+f 21 2 16
+f 21 19 9
+f 21 16 19
+f 22 20 5
+f 23 18 4
+f 23 4 15
+f 23 22 8
+f 23 15 20
+f 23 20 22
+f 24 17 14
+f 25 13 7
+f 25 7 17
+f 25 24 13
+f 25 17 24
+f 26 19 16
+f 26 16 6
+f 26 6 19
+f 27 22 5
+f 27 5 13
+f 28 23 8
+f 28 14 23
+f 28 24 14
+f 28 8 24
+f 29 23 14
+f 29 14 18
+f 29 18 23
+f 30 13 24
+f 30 24 8
+f 31 27 13
+f 31 22 27
+f 31 30 8
+f 31 8 22
+f 32 31 13
+f 32 13 30
+f 32 30 31
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_15.obj b/bagel/bagel_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee07f5d0691eba0722060be3504f479df22bf498
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.07568371 -0.32351928 0.05486461
+v -0.06888427 -0.26924448 -0.07047714
+v -0.06799496 -0.23958374 -0.06964088
+v -0.20836823 -0.23149990 0.14343569
+v -0.18514863 -0.26480847 0.03483484
+v -0.13921379 -0.28614721 0.13338678
+v -0.14042359 -0.27571357 -0.01288897
+v -0.19932818 -0.23206380 0.03373243
+v -0.09170405 -0.31584677 0.08586742
+v -0.17000679 -0.26255063 0.14769758
+v -0.09823547 -0.31639512 0.03773226
+v -0.21468811 -0.22942872 0.06880638
+v -0.17005661 -0.26281264 0.00572894
+v -0.08028661 -0.23277577 -0.05978673
+v -0.18447283 -0.26199578 0.12823863
+v -0.10329800 -0.27835335 -0.03996270
+v -0.07629979 -0.32375587 0.05358247
+v -0.16572048 -0.28115715 0.04353436
+v -0.19557642 -0.24597269 0.02968102
+v -0.12282412 -0.27050338 -0.03554162
+v -0.19152938 -0.24615925 0.14988291
+v -0.21629059 -0.22818148 0.09797173
+v -0.15942221 -0.28040008 0.12372830
+v -0.07541693 -0.27975555 -0.04778713
+v -0.09095783 -0.31731417 0.08147191
+v -0.11028570 -0.31413369 0.04719482
+v -0.17219577 -0.27814824 0.06707683
+v -0.19524943 -0.25645383 0.04055515
+v -0.07749476 -0.26719840 -0.06648514
+v -0.13821376 -0.23831693 -0.02158192
+v -0.18945805 -0.25585384 0.13795113
+v -0.16741480 -0.26589671 0.14516885
+v -0.14220656 -0.29488059 0.11239246
+v -0.11538117 -0.31159462 0.08482028
+v -0.20801476 -0.24341892 0.06855520
+v -0.08057801 -0.24130815 -0.06291408
+v -0.12351418 -0.26634859 -0.03580935
+v -0.13474006 -0.29127286 0.12779264
+v -0.21030189 -0.23844266 0.09523236
+v -0.20225065 -0.24025011 0.13954988
+f 1 2 3
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 13 7 5
+f 14 10 3
+f 14 8 12
+f 16 11 7
+f 17 2 1
+f 18 5 7
+f 19 12 8
+f 19 8 13
+f 20 7 13
+f 20 16 7
+f 20 2 16
+f 21 14 4
+f 21 10 14
+f 22 14 12
+f 22 4 14
+f 24 16 2
+f 24 11 16
+f 24 17 11
+f 24 2 17
+f 25 17 1
+f 25 1 9
+f 26 18 7
+f 26 7 11
+f 26 11 17
+f 27 5 18
+f 27 18 26
+f 28 12 19
+f 28 5 27
+f 28 19 13
+f 28 13 5
+f 29 3 2
+f 29 2 20
+f 30 8 14
+f 30 13 8
+f 31 10 21
+f 31 15 23
+f 31 21 4
+f 32 6 10
+f 32 31 23
+f 32 10 31
+f 33 23 15
+f 33 15 27
+f 33 32 23
+f 34 26 17
+f 34 17 25
+f 34 25 9
+f 34 33 27
+f 34 27 26
+f 35 22 12
+f 35 12 28
+f 35 28 27
+f 35 27 15
+f 36 30 14
+f 36 14 3
+f 36 3 29
+f 37 20 13
+f 37 13 30
+f 37 30 36
+f 37 36 29
+f 37 29 20
+f 38 9 6
+f 38 6 32
+f 38 32 33
+f 38 34 9
+f 38 33 34
+f 39 4 22
+f 39 22 35
+f 39 35 15
+f 39 15 31
+f 40 39 31
+f 40 31 4
+f 40 4 39
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_16.obj b/bagel/bagel_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8706549b87cc7554129584a7ff03e35b9a4944e
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.06084513 -0.26521628 0.16001359
+v -0.05408532 -0.24197173 0.17304486
+v -0.11048385 -0.18994354 0.22372274
+v -0.19353241 -0.16773321 0.22420908
+v -0.22418522 -0.16956953 0.17303708
+v -0.16031439 -0.25047966 0.17764757
+v -0.06992739 -0.25407683 0.17376258
+v -0.20225065 -0.24025011 0.13954988
+v -0.10682566 -0.17235382 0.23209191
+v -0.16299964 -0.22086316 0.20409495
+v -0.15552723 -0.27150849 0.14836850
+v -0.20997311 -0.21009691 0.17726617
+v -0.09727045 -0.18660369 0.21660061
+v -0.17865999 -0.19514021 0.21646869
+v -0.12600799 -0.22249595 0.20377748
+v -0.18945805 -0.25585384 0.13795113
+v -0.21611174 -0.16974941 0.20181530
+v -0.20836823 -0.23149990 0.14343569
+v -0.18502689 -0.20704227 0.20448561
+v -0.18765320 -0.17973912 0.22089327
+v -0.08412427 -0.23978686 0.18615416
+v -0.15949094 -0.26665340 0.15334214
+v -0.18541293 -0.23247760 0.17851488
+v -0.21355805 -0.21029706 0.17038012
+v -0.19965388 -0.19142537 0.20558164
+v -0.18000040 -0.25206154 0.15532976
+v -0.19673509 -0.23500925 0.16245700
+f 7 1 2
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 9 7 2
+f 9 3 7
+f 9 5 4
+f 11 1 6
+f 13 9 2
+f 13 2 5
+f 13 5 9
+f 14 10 3
+f 14 3 9
+f 15 3 10
+f 15 10 6
+f 15 6 7
+f 16 8 1
+f 16 1 11
+f 17 4 5
+f 18 5 8
+f 18 8 16
+f 19 6 10
+f 19 10 14
+f 20 14 9
+f 20 9 4
+f 21 15 7
+f 21 7 3
+f 21 3 15
+f 22 16 11
+f 22 11 6
+f 23 19 12
+f 23 6 19
+f 24 17 5
+f 24 12 17
+f 24 5 18
+f 25 17 12
+f 25 12 19
+f 25 4 17
+f 25 20 4
+f 25 19 14
+f 25 14 20
+f 26 22 6
+f 26 16 22
+f 26 6 23
+f 27 23 12
+f 27 26 23
+f 27 16 26
+f 27 12 24
+f 27 24 18
+f 27 18 16
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_17.obj b/bagel/bagel_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67511ef3d1d7677d27a01779a8dfc23e2e3a4d9d
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.30612347 0.07948034 0.05398824
+v 0.30522372 0.07508836 0.02703700
+v 0.22725279 0.17402383 0.01180172
+v 0.17078215 0.21216232 0.14564653
+v 0.23640664 0.11348503 0.18347824
+v 0.26990146 0.14576817 0.11083883
+v 0.19763623 0.15611025 -0.01667545
+v 0.17889941 0.21315770 0.08406042
+v 0.28787561 0.10712495 0.10984050
+v 0.19922243 0.18957440 0.16920000
+v 0.27227701 0.14280715 0.08725294
+v 0.27898072 0.08633608 -0.00985396
+v 0.19218398 0.15598162 0.20164343
+v 0.18692133 0.20752717 0.08317828
+v 0.16649531 0.20486914 0.17520424
+v 0.19712335 0.19221880 0.00698065
+v 0.24229567 0.13272525 0.17360242
+v 0.27232239 0.10785950 0.13683093
+v 0.30188933 0.09130067 0.05418003
+v 0.22591524 0.17606998 0.15007436
+v 0.21025924 0.15606915 -0.01726411
+v 0.25456259 0.13077683 -0.00010016
+v 0.28283656 0.08144164 -0.00526918
+v 0.17163547 0.19947454 0.18132836
+v 0.17362615 0.20933937 0.15899447
+v 0.20653124 0.18596803 0.00355645
+v 0.26930057 0.12491714 0.13532676
+v 0.20178519 0.16582022 0.18954255
+v 0.24108921 0.11306533 0.17870239
+v 0.28217278 0.12188770 0.10946820
+v 0.24425305 0.15914361 0.15105145
+v 0.20792729 0.16645672 -0.01126580
+v 0.27212511 0.10426840 -0.00218488
+v 0.19083093 0.16975422 0.19522006
+v 0.19770928 0.16681383 -0.00988483
+f 5 2 1
+f 11 3 6
+f 13 7 5
+f 14 6 3
+f 14 3 8
+f 15 8 7
+f 15 4 8
+f 15 7 13
+f 16 7 8
+f 17 13 5
+f 18 1 9
+f 19 9 1
+f 19 11 6
+f 19 1 2
+f 19 2 3
+f 19 3 11
+f 20 14 8
+f 20 6 14
+f 21 12 7
+f 22 3 2
+f 22 12 21
+f 23 12 2
+f 23 2 5
+f 23 5 7
+f 23 7 12
+f 24 15 13
+f 25 4 15
+f 25 10 20
+f 25 20 8
+f 25 8 4
+f 25 24 10
+f 25 15 24
+f 26 16 8
+f 26 8 3
+f 26 3 22
+f 27 18 9
+f 27 17 18
+f 28 13 17
+f 29 5 1
+f 29 1 18
+f 29 18 17
+f 29 17 5
+f 30 19 6
+f 30 9 19
+f 30 27 9
+f 30 6 27
+f 31 6 20
+f 31 27 6
+f 31 17 27
+f 31 20 10
+f 31 28 17
+f 31 10 28
+f 32 21 7
+f 32 16 26
+f 32 26 22
+f 32 22 21
+f 33 22 2
+f 33 2 12
+f 33 12 22
+f 34 24 13
+f 34 13 28
+f 34 28 10
+f 34 10 24
+f 35 32 7
+f 35 7 16
+f 35 16 32
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_18.obj b/bagel/bagel_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95a18e0302e9090abbb52743eff11735ba7111f1
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.05861614 -0.01163651 0.05020513
+v 0.12112747 0.11341305 -0.00648244
+v 0.06051168 0.06787314 0.02483757
+v 0.06374257 0.24317625 0.13307432
+v -0.13738348 0.03961418 0.11550559
+v 0.12397231 0.22956506 0.08152568
+v -0.04621441 -0.00663979 0.05008482
+v -0.12883383 -0.01376042 0.08200818
+v 0.11747401 0.22323862 0.05532178
+v -0.19534633 -0.00873881 0.13186286
+v 0.09700574 0.10682804 0.00384035
+v -0.07191464 -0.01298548 0.05346774
+v 0.02863833 0.21761533 0.12635287
+v 0.12706846 0.22317500 0.05221879
+v -0.17387084 -0.01743729 0.11101040
+v -0.12455592 -0.00145666 0.08498717
+v 0.01017231 0.10363729 0.05711751
+v -0.03208670 0.13255740 0.10209766
+v 0.09954018 0.23341845 0.08011215
+v -0.15937684 0.04718343 0.13924325
+v 0.12729067 0.13905954 0.00552542
+v -0.18910575 -0.01375722 0.12440847
+v 0.05863903 0.21868089 0.09929079
+v 0.05114466 0.23896983 0.13642199
+v 0.11853300 0.23298246 0.07016894
+v -0.19188726 0.00265783 0.13594466
+v 0.02667174 0.22041471 0.13470632
+v 0.11394366 0.23465589 0.08569791
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 10 7 4
+f 11 2 8
+f 11 9 2
+f 12 8 2
+f 12 2 1
+f 15 1 7
+f 15 12 1
+f 15 8 12
+f 16 11 8
+f 16 5 11
+f 16 15 5
+f 16 8 15
+f 17 11 5
+f 17 5 9
+f 17 9 11
+f 18 9 5
+f 20 18 5
+f 21 14 6
+f 21 6 2
+f 21 2 9
+f 21 9 14
+f 22 15 7
+f 22 7 10
+f 22 10 5
+f 22 5 15
+f 23 9 18
+f 23 19 9
+f 23 13 19
+f 23 20 13
+f 23 18 20
+f 24 19 13
+f 24 4 19
+f 25 14 9
+f 25 9 19
+f 25 6 14
+f 25 19 4
+f 26 20 5
+f 26 5 10
+f 26 24 20
+f 26 10 4
+f 26 4 24
+f 27 24 13
+f 27 13 20
+f 27 20 24
+f 28 25 4
+f 28 4 6
+f 28 6 25
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_19.obj b/bagel/bagel_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5308934f5567bb8a6f51c45ecb8afdd1a7c1e722
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.20306231 -0.22210031 0.00619937
+v 0.28213847 -0.13574804 -0.05388923
+v 0.20855816 -0.17039791 0.06321230
+v 0.25707602 -0.11822180 -0.07268782
+v 0.20424340 -0.19671278 -0.08451574
+v 0.27635151 -0.13581474 0.03461990
+v 0.21417896 -0.21795875 -0.04804986
+v 0.23547643 -0.16773989 -0.08494674
+v 0.20401521 -0.18275456 0.05838080
+v 0.20614498 -0.16861746 -0.09120394
+v 0.20548765 -0.22374165 -0.04788050
+v 0.27108101 -0.16076763 -0.01014649
+v 0.27563696 -0.13097021 -0.06998624
+v 0.21367574 -0.20547699 -0.07028929
+v 0.21925137 -0.16684621 0.05847019
+v 0.20436398 -0.21093614 0.03283631
+v 0.25502728 -0.12368385 -0.07536026
+v 0.21274541 -0.21622933 0.00258693
+v 0.20451035 -0.20897517 -0.07392160
+v 0.25672443 -0.17459337 -0.04758317
+v 0.23236398 -0.17626469 -0.08202080
+v 0.21506466 -0.17647478 0.05450382
+v 0.25619072 -0.17449044 0.00318052
+v 0.26956359 -0.16187123 -0.03097795
+v 0.24358892 -0.17534855 -0.07276370
+v 0.21690912 -0.19044162 -0.08156730
+v 0.21283134 -0.20585214 0.02830323
+v 0.26971060 -0.15168130 -0.06176887
+v 0.27860137 -0.13625802 -0.06142381
+f 6 2 4
+f 6 4 3
+f 9 5 1
+f 10 3 4
+f 10 8 5
+f 10 9 3
+f 10 5 9
+f 12 2 6
+f 13 4 2
+f 14 7 11
+f 15 6 3
+f 15 3 9
+f 16 9 1
+f 17 10 4
+f 17 8 10
+f 17 13 8
+f 17 4 13
+f 18 11 7
+f 18 1 11
+f 18 16 1
+f 19 11 1
+f 19 1 5
+f 19 14 11
+f 21 5 8
+f 22 15 9
+f 22 6 15
+f 22 16 6
+f 22 9 16
+f 23 18 7
+f 23 7 12
+f 23 12 6
+f 24 2 12
+f 24 12 7
+f 24 7 20
+f 25 20 7
+f 25 7 14
+f 25 14 21
+f 25 21 8
+f 25 8 13
+f 26 19 5
+f 26 5 21
+f 26 21 14
+f 26 14 19
+f 27 23 6
+f 27 6 16
+f 27 16 18
+f 27 18 23
+f 28 24 20
+f 28 2 24
+f 28 20 25
+f 28 25 13
+f 29 28 13
+f 29 13 2
+f 29 2 28
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_2.obj b/bagel/bagel_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315931da647f83d4afac3261ed733dc51e5ea9c1
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.19327521 -0.23078714 0.17177216
+v -0.20373740 -0.23952917 0.05170986
+v -0.16220016 -0.01583621 0.25289691
+v -0.20936162 -0.00055775 0.19937898
+v -0.24123420 -0.10586998 0.19628396
+v -0.19883200 -0.15850053 0.05168432
+v -0.16398141 -0.16738700 0.23452214
+v -0.22513766 -0.19614504 0.14162059
+v -0.21741815 -0.05619523 0.21599396
+v -0.20820005 -0.07117665 0.10504657
+v -0.24061503 -0.07436084 0.14194902
+v -0.20332246 -0.16631292 0.22090878
+v -0.21046698 -0.22469711 0.15326499
+v -0.16553844 -0.01643923 0.25081851
+v -0.22863567 -0.01409231 0.18369873
+v -0.17067301 -0.00449487 0.22993972
+v -0.21529515 -0.16163067 0.06408617
+v -0.24025147 -0.15635798 0.13187089
+v -0.16944238 -0.17832036 0.22832284
+v -0.18945038 -0.11085081 0.24771256
+v -0.21385519 -0.22831640 0.05641091
+v -0.20197379 -0.22519882 0.16751188
+v -0.22082779 -0.18601509 0.17812336
+v -0.22556037 -0.01687764 0.18992951
+v -0.23888355 -0.07252683 0.19534604
+v -0.21683074 -0.07294949 0.11062764
+v -0.20515316 -0.09008435 0.09386930
+v -0.22521531 -0.13262475 0.09089324
+v -0.22562894 -0.05964121 0.20820786
+v -0.21371345 -0.14996260 0.21944331
+v -0.18400711 -0.07324203 0.24826183
+v -0.16493642 -0.13877922 0.24817047
+v -0.22592183 -0.20227434 0.08831883
+v -0.23961416 -0.15363625 0.15628881
+v -0.19663580 -0.13913276 0.23601648
+v -0.22322778 -0.15251123 0.20032164
+v -0.17353962 -0.13297132 0.24876427
+v -0.17718753 -0.16156525 0.23550116
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 13 2 1
+f 14 3 4
+f 14 4 9
+f 15 4 10
+f 16 10 4
+f 16 4 3
+f 16 3 6
+f 18 5 11
+f 19 12 1
+f 19 1 7
+f 21 2 13
+f 21 17 6
+f 21 6 2
+f 22 13 1
+f 22 1 12
+f 23 22 12
+f 23 13 22
+f 24 9 4
+f 24 4 15
+f 25 15 11
+f 25 11 5
+f 25 24 15
+f 26 15 10
+f 26 11 15
+f 26 10 6
+f 26 6 17
+f 27 16 6
+f 27 6 10
+f 27 10 16
+f 28 18 11
+f 28 26 17
+f 28 11 26
+f 29 20 9
+f 29 5 20
+f 29 25 5
+f 29 9 24
+f 29 24 25
+f 30 20 5
+f 30 23 12
+f 31 14 9
+f 31 9 20
+f 31 20 3
+f 31 3 14
+f 32 7 3
+f 33 21 13
+f 33 13 8
+f 33 8 18
+f 33 18 28
+f 33 28 17
+f 33 17 21
+f 34 8 13
+f 34 13 23
+f 34 18 8
+f 34 23 5
+f 34 5 18
+f 35 30 12
+f 35 20 30
+f 36 30 5
+f 36 5 23
+f 36 23 30
+f 37 32 3
+f 37 3 20
+f 37 20 35
+f 38 19 7
+f 38 7 32
+f 38 32 37
+f 38 12 19
+f 38 37 35
+f 38 35 12
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_20.obj b/bagel/bagel_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4230f36c1d4a5012004f5a5927cbe31839e17d
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02147436 -0.19381356 -0.10095972
+v 0.10642602 -0.14426497 -0.12582773
+v 0.02919977 -0.07133137 -0.00601604
+v 0.09669029 -0.02360582 -0.05791408
+v 0.08614194 -0.12344617 -0.10814242
+v 0.11332041 -0.02794285 -0.07234617
+v -0.08345047 -0.15301128 -0.01752452
+v 0.08953552 -0.17561431 -0.12608129
+v 0.06544358 -0.16701703 -0.11549453
+v 0.03869399 -0.04886607 -0.00565200
+v 0.11289846 -0.10400666 -0.11315524
+v -0.07218179 -0.19286273 -0.04356555
+v -0.06798578 -0.13756858 -0.02061740
+v 0.09080978 -0.17413422 -0.12630582
+v 0.04574173 -0.18952399 -0.11185219
+v 0.10749967 -0.02385021 -0.06542191
+v -0.07232563 -0.11723971 -0.00109117
+v 0.10377780 -0.07898443 -0.09456464
+v 0.08328907 -0.14998504 -0.11741777
+v -0.03983043 -0.19648992 -0.06882070
+v 0.05281452 -0.17760020 -0.11254992
+v -0.04008592 -0.09317707 -0.00432619
+v -0.06727981 -0.12495768 -0.01130880
+v 0.10159129 -0.10820777 -0.10897651
+v 0.11288303 -0.07654148 -0.09843433
+v 0.10027265 -0.14325290 -0.12269614
+v 0.05546279 -0.16669760 -0.10998824
+v -0.03627976 -0.18341050 -0.06448450
+v -0.08082053 -0.18162808 -0.03530351
+v -0.03932387 -0.09571035 -0.00877535
+f 6 3 2
+f 10 3 6
+f 11 6 2
+f 12 3 7
+f 12 8 3
+f 12 1 8
+f 13 4 6
+f 14 2 3
+f 14 3 8
+f 14 9 2
+f 14 8 9
+f 15 8 1
+f 16 10 6
+f 16 6 4
+f 16 4 10
+f 17 7 3
+f 17 3 10
+f 17 13 7
+f 18 13 6
+f 18 5 13
+f 19 9 5
+f 19 5 11
+f 20 1 12
+f 21 9 8
+f 21 8 15
+f 21 15 1
+f 21 1 20
+f 22 17 10
+f 22 10 4
+f 23 17 4
+f 23 4 13
+f 23 13 17
+f 24 11 5
+f 24 5 18
+f 25 18 6
+f 25 6 11
+f 25 24 18
+f 25 11 24
+f 26 19 11
+f 26 11 2
+f 26 2 9
+f 26 9 19
+f 27 20 5
+f 27 5 9
+f 27 21 20
+f 27 9 21
+f 28 13 5
+f 28 5 20
+f 29 20 12
+f 29 12 7
+f 29 7 13
+f 29 28 20
+f 29 13 28
+f 30 22 4
+f 30 4 17
+f 30 17 22
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_21.obj b/bagel/bagel_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e9847cfba0966d7ede35ad1806e38ebb39d8de
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00858398 -0.32297079 0.06225834
+v 0.04722972 -0.31685894 0.03891223
+v 0.00813675 -0.25842532 0.13266653
+v -0.16133321 -0.25582713 0.16813681
+v -0.07606859 -0.31415309 0.03557450
+v -0.05188671 -0.29514531 0.13007315
+v 0.04967089 -0.28566227 0.09081307
+v -0.03878470 -0.32419085 0.03565664
+v 0.02553188 -0.26062833 0.12165322
+v -0.05298802 -0.25835904 0.16277052
+v 0.03765542 -0.30871076 0.07134149
+v 0.01507762 -0.32166486 0.02470231
+v -0.05853119 -0.32163101 0.07850127
+v 0.05401488 -0.29333975 0.07891084
+v 0.02231471 -0.28188503 0.11209032
+v -0.18138990 -0.26400773 0.12939064
+v -0.05166149 -0.26845313 0.15648063
+v 0.02085589 -0.30835682 0.08428550
+v -0.04264906 -0.31845499 0.03220248
+v 0.04314399 -0.31813605 0.03784498
+v 0.01569145 -0.32223430 0.02684973
+v -0.03265456 -0.32345566 0.07656610
+v -0.11732122 -0.29258372 0.13445281
+v -0.07678002 -0.32100920 0.04273610
+v 0.03560170 -0.27049749 0.10901598
+v -0.17452228 -0.25736574 0.15446764
+v -0.00521677 -0.29337454 0.11338445
+v 0.00714502 -0.26868528 0.12756134
+v -0.05918848 -0.32383238 0.04347714
+v -0.01868253 -0.30741416 0.10177907
+v -0.14444911 -0.27534126 0.15273936
+v -0.10394309 -0.30694358 0.10666593
+v -0.13884896 -0.29935231 0.08413608
+v -0.00706100 -0.28044417 0.12667757
+v -0.16892918 -0.26297179 0.15375331
+v -0.11538117 -0.31159462 0.08482028
+v -0.15739657 -0.26251018 0.16264153
+v -0.11537089 -0.30950302 0.09276710
+v -0.13245034 -0.30290432 0.08368822
+v -0.15942221 -0.28040008 0.12372830
+v -0.15651148 -0.27655469 0.13796760
+v -0.17439791 -0.26951382 0.12616327
+f 10 3 4
+f 11 1 2
+f 12 9 2
+f 12 5 9
+f 14 11 2
+f 15 9 3
+f 15 7 9
+f 16 9 5
+f 17 10 4
+f 18 1 11
+f 18 7 15
+f 18 14 7
+f 18 11 14
+f 19 12 8
+f 19 8 5
+f 19 5 12
+f 20 12 2
+f 20 2 1
+f 21 1 8
+f 21 8 12
+f 21 20 1
+f 21 12 20
+f 22 8 1
+f 23 22 6
+f 24 5 8
+f 25 9 7
+f 25 7 14
+f 25 14 2
+f 25 2 9
+f 26 4 3
+f 26 3 9
+f 26 9 16
+f 27 17 6
+f 27 18 15
+f 28 17 15
+f 28 15 3
+f 28 3 10
+f 28 10 17
+f 29 22 13
+f 29 8 22
+f 29 24 8
+f 29 13 24
+f 30 6 22
+f 30 27 6
+f 30 18 27
+f 30 22 1
+f 30 1 18
+f 31 17 4
+f 31 23 6
+f 31 6 17
+f 32 13 22
+f 32 22 23
+f 33 16 5
+f 33 5 24
+f 34 27 15
+f 34 15 17
+f 34 17 27
+f 35 4 26
+f 35 26 16
+f 36 24 13
+f 37 35 31
+f 37 31 4
+f 37 4 35
+f 38 36 13
+f 38 13 32
+f 38 32 23
+f 38 23 31
+f 39 33 24
+f 39 24 36
+f 40 35 16
+f 40 33 39
+f 40 39 36
+f 40 36 38
+f 41 40 38
+f 41 38 31
+f 41 31 35
+f 41 35 40
+f 42 40 16
+f 42 16 33
+f 42 33 40
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_22.obj b/bagel/bagel_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66886ac439849acf15821d03d3dc5361bbcbafe9
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.30287931 -0.00759517 0.08418848
+v 0.31761275 -0.01222028 -0.02867446
+v 0.31616630 0.02327280 0.06623975
+v 0.29483778 0.10010042 0.08473839
+v 0.24800578 0.05804255 -0.06192810
+v 0.31334169 0.04796647 0.01287350
+v 0.30147163 0.07096692 0.08942579
+v 0.31586515 -0.00527349 0.06113260
+v 0.28220034 -0.00455645 -0.05690126
+v 0.24671635 0.07010891 -0.05772461
+v 0.31521877 0.05170021 0.05098334
+v 0.25538994 0.06181088 -0.05463145
+v 0.28783072 -0.00959584 -0.04739704
+v 0.27898072 0.08633608 -0.00985396
+v 0.30188933 0.09130067 0.05418003
+v 0.29812991 0.09130979 0.08092351
+v 0.29331766 0.10272609 0.05202870
+v 0.25363852 0.07601359 -0.04846895
+v 0.30819653 0.03984552 -0.00675205
+v 0.30359333 0.07291307 0.01870794
+v 0.27302770 0.06101307 -0.03816887
+v 0.31555289 -0.00093776 -0.02486015
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 11 3 2
+f 11 2 6
+f 11 7 3
+f 12 9 5
+f 12 2 9
+f 12 5 10
+f 13 9 2
+f 13 2 1
+f 13 1 9
+f 15 11 6
+f 15 4 11
+f 16 11 4
+f 16 4 7
+f 16 7 11
+f 17 4 15
+f 18 12 10
+f 18 17 14
+f 18 10 4
+f 18 4 17
+f 20 15 6
+f 20 17 15
+f 20 14 17
+f 20 19 14
+f 20 6 19
+f 21 2 12
+f 21 12 18
+f 21 18 14
+f 21 14 19
+f 22 19 6
+f 22 6 2
+f 22 21 19
+f 22 2 21
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_23.obj b/bagel/bagel_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b2c503fe3a2606e45f6c707d2bb86d8103bc06c
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.08861315 -0.28725262 -0.04687771
+v 0.09533257 -0.27258551 -0.06454628
+v 0.09080978 -0.17413422 -0.12630582
+v -0.07218179 -0.19286273 -0.04356555
+v -0.06888427 -0.26924448 -0.07047714
+v 0.05361646 -0.16900573 -0.10989073
+v 0.02540804 -0.26723074 -0.09632641
+v -0.07585660 -0.27844497 -0.05158395
+v -0.03709211 -0.18322940 -0.06393664
+v -0.02043730 -0.22883756 -0.09358726
+v 0.08761468 -0.28115969 -0.06103843
+v 0.08924227 -0.22518850 -0.11255349
+v -0.04477394 -0.28150669 -0.04852310
+v 0.05281452 -0.17760020 -0.11254992
+v -0.04742486 -0.19692882 -0.06512940
+v -0.02262626 -0.25737921 -0.09462701
+v 0.02792818 -0.24170670 -0.10997078
+v 0.06847538 -0.25366678 -0.09850546
+v -0.04333937 -0.27729088 -0.06060067
+v -0.06645464 -0.22699313 -0.06536650
+v 0.01662451 -0.26417225 -0.09830891
+v -0.05100752 -0.26143786 -0.08185263
+v 0.08953552 -0.17561431 -0.12608129
+v 0.05679390 -0.23918126 -0.10882462
+v 0.07090663 -0.26440291 -0.08638027
+v 0.08385312 -0.24083212 -0.10155025
+v -0.05089789 -0.23972393 -0.08010342
+v -0.04006481 -0.26477869 -0.08311028
+f 1 2 3
+f 6 1 3
+f 8 4 5
+f 8 5 7
+f 9 4 1
+f 9 1 6
+f 11 2 1
+f 11 1 7
+f 12 3 2
+f 13 1 4
+f 13 4 8
+f 14 10 6
+f 14 6 3
+f 15 9 6
+f 15 6 10
+f 15 4 9
+f 19 13 8
+f 19 8 7
+f 19 7 1
+f 19 1 13
+f 20 5 4
+f 20 4 15
+f 21 7 5
+f 21 17 7
+f 21 16 17
+f 22 16 5
+f 22 10 16
+f 23 16 10
+f 23 17 16
+f 23 3 12
+f 23 12 17
+f 23 14 3
+f 23 10 14
+f 24 17 12
+f 24 7 17
+f 24 18 7
+f 24 12 18
+f 25 18 11
+f 25 11 7
+f 25 7 18
+f 26 18 12
+f 26 12 2
+f 26 2 11
+f 26 11 18
+f 27 20 15
+f 27 15 10
+f 27 10 22
+f 27 22 5
+f 27 5 20
+f 28 21 5
+f 28 5 16
+f 28 16 21
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_24.obj b/bagel/bagel_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b6741fc49f64e59a260645286e3ac39b9e6e7d
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08290424 -0.02670972 0.17174791
+v 0.20438843 0.00970074 0.15669820
+v 0.09767862 0.01776116 0.22150498
+v 0.13383645 0.07016450 0.22984883
+v 0.09772071 -0.01593808 0.11370844
+v 0.18771486 0.06203052 0.20166791
+v 0.08434276 -0.01433382 0.19819473
+v 0.14099767 -0.02187516 0.11125991
+v 0.10338308 0.04029548 0.23088592
+v 0.18804155 0.01720187 0.17435271
+v 0.18980952 0.07322182 0.20565576
+v 0.19716008 -0.00845621 0.14704544
+v 0.08575485 -0.02514794 0.11796994
+v 0.11278517 0.02338986 0.21919308
+v 0.19957760 0.06672713 0.19567862
+v 0.15882208 0.07402290 0.22031625
+v 0.09007600 -0.00590657 0.20387005
+f 9 7 3
+f 12 7 1
+f 12 2 10
+f 12 8 2
+f 12 1 8
+f 13 8 1
+f 13 5 8
+f 13 1 7
+f 13 7 9
+f 13 9 4
+f 13 4 5
+f 14 9 3
+f 14 6 11
+f 14 10 6
+f 14 12 10
+f 15 10 2
+f 15 6 10
+f 15 11 6
+f 15 2 8
+f 15 8 5
+f 15 5 11
+f 16 11 5
+f 16 5 4
+f 16 4 9
+f 16 14 11
+f 16 9 14
+f 17 14 3
+f 17 3 7
+f 17 7 12
+f 17 12 14
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_25.obj b/bagel/bagel_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f96b0d5f64f232ca188b810e4fe2b377afe36d
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08747566 -0.17684012 0.10400584
+v 0.10941040 -0.11634700 0.08438914
+v 0.02122998 -0.07967704 0.13209404
+v 0.00515591 -0.17174781 0.15099836
+v -0.01124196 -0.08033127 0.06753828
+v 0.09099559 -0.09250675 0.06318429
+v 0.03620819 -0.17994012 0.12906883
+v -0.00058994 -0.10249734 0.11775468
+v 0.10403082 -0.14687138 0.08873545
+v 0.04982104 -0.10606791 0.06719222
+v 0.02117738 -0.07889099 0.11954798
+v 0.10853737 -0.10048763 0.07829492
+v -0.00215881 -0.11327269 0.08871486
+v 0.00284667 -0.15818813 0.14681336
+v 0.00956376 -0.09349095 0.12855975
+v 0.09498060 -0.16797807 0.09747046
+v 0.04983470 -0.09445176 0.06245828
+v 0.10516694 -0.13978997 0.08661357
+v 0.00198188 -0.11675691 0.13019261
+v 0.09180911 -0.10643527 0.06892334
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 10 1 5
+f 11 6 5
+f 11 5 3
+f 11 3 6
+f 12 6 3
+f 12 3 2
+f 13 5 1
+f 13 1 7
+f 13 7 4
+f 13 4 5
+f 14 8 5
+f 14 5 4
+f 14 4 3
+f 15 3 5
+f 15 5 8
+f 15 14 3
+f 16 9 2
+f 16 2 1
+f 16 1 10
+f 17 10 5
+f 17 5 6
+f 17 6 10
+f 18 9 6
+f 18 6 12
+f 18 12 2
+f 18 2 9
+f 19 15 8
+f 19 8 14
+f 19 14 15
+f 20 16 10
+f 20 10 6
+f 20 6 9
+f 20 9 16
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_26.obj b/bagel/bagel_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6135ca751c3748ab20af4d50cf60517fdb91f6
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14418148 0.10671146 -0.02496655
+v 0.19763623 0.15611025 -0.01667545
+v 0.20056675 0.19170450 0.08491336
+v 0.11959901 0.23199018 0.08466278
+v 0.12887806 0.20751294 0.03892906
+v 0.18872483 0.20158155 0.01805327
+v 0.11783746 0.11848759 0.00025136
+v 0.15516711 0.10927778 -0.02943739
+v 0.19712335 0.19221880 0.00698065
+v 0.16080084 0.22260773 0.08900427
+v 0.12706846 0.22317500 0.05221879
+v 0.12679282 0.10822828 -0.01340824
+v 0.11377727 0.13554224 0.01181250
+v 0.17288143 0.19290588 0.01122470
+v 0.15862350 0.12111478 -0.02495855
+v 0.19110124 0.20396846 0.08663368
+v 0.19770928 0.16681383 -0.00988483
+v 0.15998480 0.21925170 0.04183679
+v 0.15885565 0.20679498 0.02542433
+v 0.17190853 0.16582883 -0.00412625
+v 0.18692133 0.20752717 0.08317828
+f 8 2 3
+f 8 3 1
+f 10 4 3
+f 12 1 3
+f 12 3 7
+f 12 5 1
+f 13 7 3
+f 13 3 4
+f 13 4 11
+f 13 11 5
+f 13 12 7
+f 13 5 12
+f 15 8 1
+f 15 1 5
+f 15 2 8
+f 16 9 6
+f 16 3 9
+f 16 10 3
+f 17 9 3
+f 17 3 2
+f 17 14 9
+f 17 2 14
+f 18 10 6
+f 18 4 10
+f 18 11 4
+f 19 5 11
+f 19 11 18
+f 19 18 6
+f 19 6 9
+f 19 9 14
+f 19 15 5
+f 19 14 15
+f 20 15 14
+f 20 14 2
+f 20 2 15
+f 21 16 6
+f 21 6 10
+f 21 10 16
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_27.obj b/bagel/bagel_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3d1d54037c9f68d966788a7dda2f835e8cfa70
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26584708 -0.13612700 0.04482651
+v 0.31704868 -0.06547677 -0.03217838
+v 0.30175970 -0.10510695 0.01438480
+v 0.31255204 -0.00658328 0.06569525
+v 0.26764360 -0.00894623 -0.07710686
+v 0.31451310 -0.05947929 0.03116375
+v 0.26522925 -0.14023060 -0.07658222
+v 0.28021614 -0.07270963 0.07771830
+v 0.31761275 -0.01222028 -0.02867446
+v 0.28405834 -0.13349484 -0.05010612
+v 0.29679339 -0.07119282 -0.06333596
+v 0.26350113 -0.12065265 0.06041972
+v 0.30885069 -0.00875506 0.07216193
+v 0.28830826 -0.11636176 0.03736963
+v 0.28890883 -0.00528571 -0.04228734
+v 0.31810607 -0.00611472 0.04931165
+v 0.29673071 -0.10712102 -0.04820186
+v 0.28922907 -0.10604972 -0.06663330
+v 0.30809776 -0.04129202 -0.05091896
+v 0.30399767 -0.06365114 0.05490471
+v 0.28769307 -0.13010406 0.01378560
+v 0.27333966 -0.13315948 0.04116641
+v 0.31534374 -0.03398540 0.04547983
+v 0.29684972 -0.09460725 -0.05927456
+v 0.27195284 -0.13519791 -0.07126487
+v 0.27895385 -0.01186861 -0.06874530
+v 0.30027788 -0.08629178 0.04281666
+v 0.27256785 -0.11783509 0.05331856
+f 6 3 2
+f 10 1 7
+f 12 7 1
+f 12 5 7
+f 12 8 5
+f 13 4 5
+f 13 5 8
+f 15 9 5
+f 15 5 4
+f 16 6 2
+f 16 2 9
+f 16 15 4
+f 16 9 15
+f 17 2 3
+f 17 3 10
+f 18 7 5
+f 18 5 11
+f 18 17 10
+f 19 9 2
+f 19 11 5
+f 20 4 13
+f 20 13 8
+f 20 8 14
+f 21 10 3
+f 21 3 14
+f 21 1 10
+f 22 12 1
+f 22 21 14
+f 22 1 21
+f 23 16 4
+f 23 6 16
+f 23 20 6
+f 23 4 20
+f 24 18 11
+f 24 2 17
+f 24 17 18
+f 24 19 2
+f 24 11 19
+f 25 18 10
+f 25 10 7
+f 25 7 18
+f 26 19 5
+f 26 5 9
+f 26 9 19
+f 27 20 14
+f 27 14 3
+f 27 3 6
+f 27 6 20
+f 28 22 14
+f 28 14 8
+f 28 8 12
+f 28 12 22
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_28.obj b/bagel/bagel_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c06db734fb477ec919f24be3fec1599a5c83809
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.24317509 -0.07209842 0.18520252
+v -0.12535272 -0.01887746 0.07764197
+v -0.23658597 -0.06527513 0.19565258
+v -0.21695043 -0.00493869 0.19462417
+v -0.26487184 -0.04965866 0.15149515
+v -0.22077016 -0.01839461 0.19690095
+v -0.18002772 -0.06968786 0.08723895
+v -0.22449339 -0.01294693 0.15441734
+v -0.12315121 -0.00653419 0.08157821
+v -0.22863567 -0.01409231 0.18369873
+v -0.15497783 -0.05136244 0.07840101
+v -0.20063200 -0.07438400 0.09781843
+v -0.12945400 -0.00158096 0.08865225
+v -0.26445040 -0.05902621 0.15039676
+v -0.26464758 -0.05843966 0.15084786
+f 5 1 3
+f 6 5 3
+f 7 3 1
+f 9 6 3
+f 9 3 2
+f 9 4 6
+f 10 6 4
+f 10 5 6
+f 10 8 5
+f 10 4 8
+f 11 2 3
+f 11 3 7
+f 11 9 2
+f 11 5 9
+f 12 7 1
+f 12 11 7
+f 12 5 11
+f 13 8 4
+f 13 4 9
+f 13 9 5
+f 13 5 8
+f 14 12 1
+f 14 5 12
+f 15 14 1
+f 15 1 5
+f 15 5 14
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_29.obj b/bagel/bagel_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47813a4465bf845599e167f715f768d52db2a591
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00698229 -0.09029459 0.19175419
+v 0.09087416 -0.05109589 0.06702784
+v 0.08198941 -0.06671956 0.05901971
+v 0.09397656 -0.01625662 0.17852385
+v 0.00999872 -0.07626459 0.08446283
+v 0.04038695 -0.05120906 0.19869249
+v 0.09089679 -0.01542633 0.08019598
+v 0.00594714 -0.09099733 0.08436740
+v 0.01545469 -0.07826267 0.19607116
+v 0.09146113 -0.04553621 0.07225160
+v 0.05562658 -0.06378278 0.06284181
+v 0.08558983 -0.01952386 0.18031578
+v 0.08738962 -0.01653291 0.08222309
+v 0.05111773 -0.04385236 0.19551668
+f 1 3 4
+f 3 2 4
+f 7 2 3
+f 8 3 1
+f 8 1 5
+f 9 6 5
+f 9 5 1
+f 10 7 4
+f 10 4 2
+f 10 2 7
+f 11 7 3
+f 11 5 7
+f 11 8 5
+f 11 3 8
+f 13 7 5
+f 13 5 6
+f 13 6 12
+f 13 12 4
+f 13 4 7
+f 14 9 1
+f 14 1 4
+f 14 6 9
+f 14 12 6
+f 14 4 12
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_3.obj b/bagel/bagel_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d3fabd5634ffc614a3ce970136b43d8e5b2566
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02637709 -0.06095746 0.03327677
+v 0.19690933 0.03730345 -0.08139169
+v 0.19604745 0.11645650 -0.04126936
+v 0.05781108 0.11578487 0.03456304
+v 0.06651566 -0.05667941 -0.05857152
+v 0.05690486 -0.00670856 0.04388756
+v 0.14770600 -0.01993893 -0.08787515
+v -0.06118931 -0.00711662 0.05265625
+v 0.08370065 0.12247761 0.02527725
+v 0.05266115 -0.03888090 0.03994460
+v 0.09972343 -0.04827434 -0.07421147
+v 0.18709895 0.07336320 -0.06325903
+v 0.04176082 -0.05767860 -0.03238298
+v -0.05744855 0.01973405 0.06035536
+v 0.17549654 0.12067456 -0.03187939
+v 0.19784934 0.10965913 -0.04575322
+v 0.15628872 -0.01342266 -0.08929152
+v 0.03716668 -0.05863541 0.03409102
+v 0.10553800 0.07354775 -0.01915465
+v -0.05861614 -0.01163651 0.05020513
+v -0.02535956 0.06495697 0.06250141
+v 0.19244247 0.09261287 -0.05409938
+v 0.16071570 0.10436416 -0.03524893
+v 0.07068253 -0.02969076 -0.04822643
+v 0.14667745 -0.00118486 -0.07943581
+v 0.08681610 0.10347844 0.00861422
+v 0.19784462 0.07490647 -0.06446437
+v 0.13086153 0.10296037 -0.01913588
+v 0.19504861 0.06144355 -0.07066220
+f 9 6 3
+f 9 4 6
+f 10 3 6
+f 13 5 1
+f 14 5 8
+f 14 10 6
+f 14 8 10
+f 15 9 3
+f 15 4 9
+f 16 10 2
+f 16 3 10
+f 17 2 10
+f 17 12 2
+f 18 17 10
+f 18 7 17
+f 18 11 7
+f 18 1 5
+f 18 5 11
+f 18 10 8
+f 18 8 1
+f 20 8 5
+f 20 5 13
+f 20 13 1
+f 20 1 8
+f 21 14 6
+f 21 6 4
+f 21 19 14
+f 22 15 3
+f 22 12 15
+f 22 3 16
+f 23 15 12
+f 24 11 5
+f 24 5 14
+f 24 14 19
+f 25 7 11
+f 25 24 19
+f 25 11 24
+f 25 17 7
+f 25 23 12
+f 25 12 17
+f 26 21 4
+f 26 19 21
+f 27 22 16
+f 27 16 2
+f 27 12 22
+f 28 4 15
+f 28 15 23
+f 28 26 4
+f 28 19 26
+f 28 25 19
+f 28 23 25
+f 29 27 2
+f 29 2 12
+f 29 12 27
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_30.obj b/bagel/bagel_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae8081809602937240f6dc552042c69a098fedd
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.07918084 0.11558509 0.12591829
+v 0.06374257 0.24317625 0.13307432
+v 0.06035447 0.22125932 0.20651212
+v 0.06249843 0.24442581 0.17879714
+v -0.07629734 0.17468779 0.20551664
+v 0.05642707 0.23009131 0.12596751
+v -0.06687503 0.17719417 0.16809049
+v 0.02097754 0.23438038 0.17676519
+v 0.04503488 0.21422796 0.21355556
+v -0.06768331 0.12016864 0.11994982
+v -0.08498435 0.12052311 0.13250144
+v -0.00244472 0.20341882 0.14086596
+v 0.02453633 0.23578089 0.18405938
+v -0.03643143 0.20131778 0.17754608
+v -0.05007209 0.18512500 0.21167504
+v -0.04919697 0.19068888 0.16755266
+v -0.06788947 0.14958501 0.14119416
+v -0.03600761 0.20134536 0.18773688
+v -0.05276779 0.19000437 0.20010675
+v 0.04143758 0.23446506 0.14054856
+v -0.07087600 0.17916107 0.20234300
+v -0.00372416 0.21764147 0.16402578
+v -0.07357469 0.12536678 0.12764485
+f 3 2 4
+f 6 2 3
+f 9 3 4
+f 10 6 3
+f 10 9 1
+f 10 3 9
+f 11 1 5
+f 11 5 7
+f 11 10 1
+f 12 2 6
+f 12 6 10
+f 13 4 2
+f 13 2 8
+f 13 9 4
+f 15 5 1
+f 15 1 9
+f 15 9 13
+f 16 12 7
+f 17 11 7
+f 17 7 12
+f 17 12 10
+f 18 13 8
+f 18 8 14
+f 19 15 13
+f 19 5 15
+f 19 13 18
+f 20 2 12
+f 20 12 16
+f 20 8 2
+f 21 16 7
+f 21 7 5
+f 21 14 16
+f 21 18 14
+f 21 19 18
+f 21 5 19
+f 22 16 14
+f 22 14 8
+f 22 20 16
+f 22 8 20
+f 23 17 10
+f 23 10 11
+f 23 11 17
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_31.obj b/bagel/bagel_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6664f9509b65498b96370b1c71f567ea5321ab66
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.17894724 0.19923312 0.17363462
+v 0.18530711 0.20867835 0.08460452
+v 0.11584004 0.24579007 0.15317958
+v 0.06076671 0.24463673 0.17455926
+v 0.06530134 0.21530564 0.09072812
+v 0.14222586 0.21291640 0.18627162
+v 0.14410865 0.23125208 0.16581052
+v 0.11608759 0.24920601 0.11685847
+v 0.06018122 0.23894010 0.18016247
+v 0.17115252 0.20809971 0.16733456
+v 0.14921641 0.22059915 0.17485684
+v 0.15572944 0.21791567 0.07905749
+v 0.17889941 0.21315770 0.08406042
+v 0.07732376 0.24721201 0.12071191
+v 0.07542000 0.24680641 0.15831788
+v 0.05642707 0.23009131 0.12596751
+v 0.14322114 0.23087086 0.09524578
+v 0.08719261 0.23674702 0.09614871
+v 0.06994904 0.23607277 0.10909182
+v 0.06957387 0.22317638 0.09356767
+f 5 2 1
+f 6 5 1
+f 7 3 4
+f 7 4 6
+f 8 3 7
+f 9 6 4
+f 9 5 6
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 2 5
+f 13 8 7
+f 13 7 2
+f 13 2 12
+f 15 4 3
+f 15 3 8
+f 15 14 4
+f 15 8 14
+f 16 9 4
+f 16 5 9
+f 16 4 14
+f 17 13 12
+f 17 12 8
+f 17 8 13
+f 18 12 5
+f 18 14 8
+f 18 8 12
+f 19 16 14
+f 19 5 16
+f 19 14 18
+f 20 19 18
+f 20 18 5
+f 20 5 19
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_4.obj b/bagel/bagel_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53ea69707458c9fc06fd261f1383c973be8b334
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24935014 -0.14026596 0.06157084
+v 0.30350842 -0.04855205 0.06200279
+v 0.25194858 -0.00221550 0.13336280
+v 0.15139557 0.00120450 0.15574344
+v 0.08787386 -0.04990771 0.06764390
+v 0.18428951 -0.14682456 0.08558247
+v 0.27636363 -0.01636019 0.11318428
+v 0.08677330 -0.09616913 0.06007754
+v 0.31255204 -0.00658328 0.06569525
+v 0.22048223 -0.13327133 0.08102456
+v 0.20721384 -0.00160428 0.14753148
+v 0.27015422 -0.10161942 0.06939097
+v 0.27651187 -0.10473496 0.05909496
+v 0.10403082 -0.14687138 0.08873545
+v 0.30046647 -0.00107317 0.09094048
+v 0.10489428 -0.00854563 0.08749897
+v 0.24358326 -0.13576489 0.06877317
+v 0.20534930 -0.01416282 0.14250430
+v 0.29886881 -0.04663506 0.07123882
+v 0.09043199 -0.02130527 0.11552833
+v 0.29940594 -0.01899310 0.08512267
+v 0.27730370 -0.00339804 0.11614126
+v 0.09089679 -0.01542633 0.08019598
+v 0.24908565 -0.01615869 0.12923651
+v 0.09755529 -0.00933505 0.09470024
+v 0.21984764 -0.04250550 0.12660326
+v 0.09772071 -0.01593808 0.11370844
+v 0.09692475 -0.00910143 0.09001466
+f 9 8 5
+f 9 2 8
+f 11 3 4
+f 13 8 2
+f 13 1 8
+f 13 12 1
+f 14 8 1
+f 14 1 6
+f 14 6 4
+f 15 4 3
+f 16 15 9
+f 16 4 15
+f 17 10 6
+f 17 6 1
+f 17 12 7
+f 17 1 12
+f 18 11 4
+f 18 4 6
+f 19 7 12
+f 19 13 2
+f 19 12 13
+f 20 14 4
+f 20 5 8
+f 20 8 14
+f 21 2 9
+f 21 9 15
+f 21 19 2
+f 21 15 7
+f 21 7 19
+f 22 15 3
+f 22 3 7
+f 22 7 15
+f 23 16 9
+f 23 9 5
+f 23 5 20
+f 24 17 7
+f 24 7 3
+f 24 10 17
+f 24 3 11
+f 26 24 11
+f 26 11 18
+f 26 18 6
+f 26 6 10
+f 26 10 24
+f 27 25 20
+f 27 20 4
+f 27 4 25
+f 28 25 4
+f 28 4 16
+f 28 16 23
+f 28 23 20
+f 28 20 25
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_5.obj b/bagel/bagel_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93511617222e3565ea7c000d263aab817e5b0b6b
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.28579888 -0.00791058 -0.05137459
+v 0.27895385 -0.01186861 -0.06874530
+v 0.26907495 0.10276325 -0.01376103
+v 0.21079031 0.17304638 -0.00508529
+v 0.14487716 -0.00206642 -0.07881460
+v 0.24422058 0.08304965 -0.05221824
+v 0.28347822 0.07233772 -0.01156195
+v 0.15628872 -0.01342266 -0.08929152
+v 0.26967180 0.04147702 -0.05524871
+v 0.24257697 0.12837995 -0.02215116
+v 0.28686942 0.06795485 -0.00657521
+v 0.23547594 -0.01450097 -0.10057143
+v 0.17551689 0.11773801 -0.03376928
+v 0.27051910 0.08866893 -0.02448397
+v 0.21798886 0.14418810 -0.02509111
+v 0.22126528 0.16856246 -0.00024784
+v 0.27212511 0.10426840 -0.00218488
+v 0.26083209 -0.01341359 -0.08486564
+v 0.17318715 0.02969553 -0.07759943
+v 0.25895420 0.04297002 -0.06491111
+v 0.18786701 0.14857268 -0.01948989
+v 0.22385738 0.07412841 -0.06424094
+v 0.15378356 0.15564888 -0.00133693
+v 0.15895486 0.01589060 -0.07746379
+v 0.18794023 0.00136505 -0.09727908
+v 0.26984439 0.01445388 -0.06988279
+v 0.24423952 0.02549709 -0.08038049
+v 0.20792729 0.16645672 -0.01126580
+v 0.22420202 0.10320526 -0.04893276
+v 0.14448611 0.11976719 -0.01725036
+v 0.18590580 -0.01356947 -0.10126301
+v 0.19784462 0.07490647 -0.06446437
+v 0.26096135 0.00427343 -0.08053719
+v 0.23551791 -0.00031345 -0.09435467
+v 0.15910326 0.13184429 -0.01836573
+v 0.20017746 0.10436133 -0.04940123
+f 8 2 1
+f 8 1 5
+f 9 7 2
+f 11 1 2
+f 11 2 7
+f 11 5 1
+f 14 3 7
+f 14 7 9
+f 14 10 3
+f 14 6 10
+f 15 10 6
+f 15 4 10
+f 16 10 4
+f 16 3 10
+f 17 11 7
+f 17 7 3
+f 17 3 16
+f 18 2 8
+f 18 8 12
+f 20 14 9
+f 20 6 14
+f 23 17 16
+f 23 11 17
+f 23 16 4
+f 24 8 5
+f 25 24 19
+f 25 8 24
+f 25 22 12
+f 26 20 9
+f 26 9 2
+f 27 6 20
+f 27 22 6
+f 28 4 15
+f 28 23 4
+f 28 21 23
+f 29 15 6
+f 29 6 22
+f 30 5 11
+f 30 11 23
+f 30 24 5
+f 30 13 19
+f 30 19 24
+f 31 25 12
+f 31 12 8
+f 31 8 25
+f 32 25 19
+f 32 19 13
+f 32 22 25
+f 33 26 2
+f 33 2 18
+f 33 18 12
+f 33 12 27
+f 33 27 20
+f 33 20 26
+f 34 27 12
+f 34 12 22
+f 34 22 27
+f 35 30 23
+f 35 13 30
+f 35 23 21
+f 35 21 13
+f 36 32 13
+f 36 13 21
+f 36 21 28
+f 36 28 15
+f 36 15 29
+f 36 29 22
+f 36 22 32
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_6.obj b/bagel/bagel_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac81c6ea4c0aeb16f29e38d39ead695717930454
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.08518306 -0.29908222 0.03349059
+v 0.21162634 -0.17410826 -0.08356082
+v 0.21408682 -0.20685697 0.02449163
+v 0.08711046 -0.14199863 -0.11763175
+v 0.08761468 -0.28115969 -0.06103843
+v 0.18069038 -0.14282306 -0.12145036
+v 0.11452375 -0.27079616 0.04489996
+v 0.19625618 -0.21937747 -0.07036395
+v 0.08924227 -0.22518850 -0.11255349
+v 0.13243970 -0.26722355 0.03364693
+v 0.20479861 -0.21326802 0.02858653
+v 0.09686311 -0.28709855 0.04438508
+v 0.09579518 -0.29510692 -0.02895261
+v 0.19959148 -0.20491799 -0.08162158
+v 0.09637391 -0.18801842 -0.12696754
+v 0.11790198 -0.22114712 -0.11106590
+v 0.16840919 -0.24759115 0.01743338
+v 0.09394439 -0.29418341 0.03692393
+v 0.08853021 -0.29679256 -0.02895753
+v 0.09741636 -0.27862960 -0.05776082
+v 0.18228179 -0.14504678 -0.12096621
+v 0.14960063 -0.14205267 -0.12820553
+v 0.15762482 -0.23320085 -0.08125316
+v 0.13117771 -0.18364321 -0.12607997
+v 0.19996041 -0.22138504 0.02068289
+v 0.16924873 -0.24689637 -0.04747780
+v 0.12267016 -0.27886051 0.00404463
+v 0.20614498 -0.16861746 -0.09120394
+v 0.09384354 -0.15159588 -0.12353046
+v 0.11446217 -0.23387904 -0.09977509
+v 0.14245391 -0.20933486 -0.10999700
+v 0.14584501 -0.17290204 -0.12484205
+v 0.12539560 -0.27751156 -0.03133924
+v 0.16927113 -0.18102024 -0.11130376
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 9 5 4
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 1
+f 12 11 7
+f 12 10 11
+f 14 2 8
+f 15 9 4
+f 16 5 9
+f 18 12 1
+f 18 10 12
+f 18 17 10
+f 18 1 13
+f 19 13 1
+f 19 1 5
+f 19 5 13
+f 20 13 5
+f 22 4 6
+f 22 6 21
+f 23 20 5
+f 23 8 20
+f 23 14 8
+f 24 16 9
+f 24 9 15
+f 24 15 22
+f 25 11 10
+f 25 10 17
+f 25 3 11
+f 25 8 3
+f 26 25 17
+f 26 8 25
+f 26 20 8
+f 26 13 20
+f 27 18 13
+f 27 17 18
+f 28 21 6
+f 28 6 2
+f 28 2 14
+f 28 14 21
+f 29 22 15
+f 29 15 4
+f 29 4 22
+f 30 23 5
+f 30 5 16
+f 30 16 23
+f 31 23 16
+f 31 14 23
+f 31 16 24
+f 32 24 22
+f 32 22 21
+f 32 31 24
+f 33 26 17
+f 33 17 27
+f 33 27 13
+f 33 13 26
+f 34 21 14
+f 34 14 31
+f 34 32 21
+f 34 31 32
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_7.obj b/bagel/bagel_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4068562410fe47aa69262a2dc3f41ae2294d78
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04603832 -0.12407312 0.08810634
+v 0.09188304 -0.09866737 0.06770893
+v 0.08934313 -0.04121392 0.07399156
+v -0.13374991 -0.00942694 0.08772314
+v -0.05085257 -0.12117868 -0.01734717
+v 0.02617793 -0.07416738 0.09065488
+v -0.14486765 -0.04888844 0.07254129
+v 0.03869399 -0.04886607 -0.00565200
+v 0.01739476 -0.12088102 0.09395884
+v -0.09816644 -0.00053450 0.06977511
+v 0.08787386 -0.04990771 0.06764390
+v 0.02919977 -0.07133137 -0.00601604
+v -0.07635756 -0.12841273 -0.00723621
+v -0.12637818 -0.03170994 0.07013241
+v 0.05717744 -0.00582341 0.04325186
+v 0.08677330 -0.09616913 0.06007754
+v 0.03494907 -0.05497706 -0.00731776
+v -0.13308040 -0.05711117 0.06100597
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 9 6 4
+f 9 1 6
+f 9 4 7
+f 10 8 5
+f 11 8 3
+f 11 3 2
+f 13 9 7
+f 13 5 1
+f 13 1 9
+f 13 10 5
+f 14 7 4
+f 14 4 10
+f 15 10 4
+f 15 4 3
+f 15 3 8
+f 15 8 10
+f 16 11 2
+f 16 8 11
+f 16 2 5
+f 16 5 12
+f 17 12 5
+f 17 5 8
+f 17 16 12
+f 17 8 16
+f 18 13 7
+f 18 7 14
+f 18 14 10
+f 18 10 13
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_8.obj b/bagel/bagel_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8085cbd99000a005cf79c13e3903d90d529922
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.13669282 -0.05299983 0.26621014
+v -0.06788947 0.14958501 0.14119416
+v -0.07445537 0.02301300 0.26449215
+v -0.06919304 0.17559388 0.21282983
+v -0.22980308 -0.01481073 0.16448182
+v -0.07110116 0.09130667 0.24912231
+v -0.08180557 0.10552878 0.12133339
+v -0.16943613 0.05442240 0.22210733
+v -0.13606280 0.13095605 0.19202918
+v -0.06687503 0.17719417 0.16809049
+v -0.12813462 -0.01146627 0.26672615
+v -0.12151247 -0.03775503 0.26663347
+v -0.18009911 0.05632453 0.15899661
+v -0.17304035 -0.00065689 0.12110475
+v -0.16941302 -0.05240493 0.25535139
+v -0.08361466 0.13851483 0.23285076
+v -0.19498303 0.05823000 0.18987218
+v -0.12096771 0.14328560 0.18283939
+v -0.10289031 0.00917232 0.26548238
+v -0.10390923 -0.01181581 0.26790422
+v -0.12389853 0.10000561 0.14558887
+v -0.21191290 0.01187421 0.15698550
+v -0.16051976 0.01366947 0.12079944
+v -0.15153492 0.00008402 0.25058360
+v -0.16313096 -0.05371821 0.25879851
+v -0.20395236 -0.01354284 0.13642109
+v -0.07073878 0.14017726 0.23589843
+v -0.15439184 0.10687482 0.20415854
+v -0.13939972 0.02563244 0.24867648
+v -0.22863567 -0.01409231 0.18369873
+v -0.18047861 0.07101522 0.17223374
+v -0.07810055 0.17128470 0.20993340
+v -0.07784076 0.17136536 0.17091122
+v -0.07621502 0.02273130 0.26474381
+v -0.07727980 0.14559088 0.14553605
+v -0.22457832 0.00148909 0.16766581
+v -0.13901249 -0.05194589 0.26572952
+v -0.07145324 0.16458220 0.22331186
+v -0.12456244 0.11946793 0.21904533
+v -0.18421864 0.06874261 0.19797493
+v -0.13075839 0.00286367 0.26089573
+v -0.19854586 0.02886333 0.20340013
+v -0.19433492 0.05736763 0.18014437
+v -0.12146861 0.14111916 0.19862469
+v -0.22299859 0.00218088 0.18240249
+v -0.08023799 0.16118094 0.22141714
+v -0.20828549 0.02654738 0.16643686
+v -0.13830928 0.12690293 0.19815044
+f 6 3 2
+f 7 2 3
+f 10 6 2
+f 10 4 6
+f 12 7 3
+f 14 12 1
+f 19 6 11
+f 20 11 1
+f 20 1 12
+f 20 12 3
+f 20 19 11
+f 21 2 7
+f 21 14 13
+f 23 7 12
+f 23 12 14
+f 23 21 7
+f 23 14 21
+f 24 15 11
+f 24 8 15
+f 25 11 15
+f 26 15 5
+f 26 25 15
+f 26 14 1
+f 26 1 25
+f 26 5 22
+f 26 22 13
+f 26 13 14
+f 27 6 4
+f 27 16 11
+f 27 11 6
+f 28 9 17
+f 29 16 8
+f 29 8 24
+f 30 5 15
+f 31 13 22
+f 31 9 18
+f 31 21 13
+f 31 18 21
+f 32 4 10
+f 33 10 2
+f 33 32 10
+f 33 18 32
+f 34 3 6
+f 34 6 19
+f 34 20 3
+f 34 19 20
+f 35 21 18
+f 35 2 21
+f 35 33 2
+f 35 18 33
+f 36 22 5
+f 36 5 30
+f 37 25 1
+f 37 1 11
+f 37 11 25
+f 38 27 4
+f 38 16 27
+f 39 28 8
+f 39 8 16
+f 40 28 17
+f 40 8 28
+f 41 11 16
+f 41 16 29
+f 41 29 24
+f 41 24 11
+f 42 30 15
+f 42 15 8
+f 42 8 40
+f 42 40 17
+f 43 17 9
+f 43 9 31
+f 43 36 17
+f 44 32 18
+f 44 18 9
+f 45 36 30
+f 45 17 36
+f 45 42 17
+f 45 30 42
+f 46 38 4
+f 46 4 32
+f 46 28 39
+f 46 39 16
+f 46 16 38
+f 47 43 31
+f 47 31 22
+f 47 22 36
+f 47 36 43
+f 48 44 9
+f 48 9 28
+f 48 28 46
+f 48 46 32
+f 48 32 44
\ No newline at end of file
diff --git a/bagel/bagel_1/collision/model_normalized_collision_9.obj b/bagel/bagel_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1ebd6c93b7fbd17f84e10941103850f51ed916
--- /dev/null
+++ b/bagel/bagel_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00508564 -0.10238483 0.19862847
+v 0.11216485 -0.00285697 0.18362480
+v 0.01068656 -0.02170908 0.24785255
+v -0.07639281 0.03921977 0.26132333
+v 0.04709425 -0.05574696 0.17539351
+v 0.10338308 0.04029548 0.23088592
+v -0.16890568 -0.10148413 0.25793485
+v 0.10705316 -0.01022058 0.17627059
+v -0.06471936 -0.00274649 0.26588927
+v 0.09861698 0.00091652 0.20805155
+v -0.05240623 -0.08742987 0.25042462
+v 0.00674951 -0.09190098 0.18696743
+v -0.16941302 -0.05240493 0.25535139
+v 0.08290424 -0.02670972 0.17174791
+v -0.00263440 0.03907269 0.25296241
+v 0.06383305 0.03621565 0.24219274
+v 0.10804028 0.03573749 0.22624117
+v -0.12396534 -0.09534121 0.26304763
+v -0.09104276 -0.07829863 0.26426000
+v -0.02700697 -0.08895467 0.23665765
+v -0.00876546 -0.04612903 0.24741693
+v -0.14560652 -0.02807621 0.26420890
+v -0.10971178 0.02577992 0.26290719
+v 0.06068848 -0.04544632 0.17401021
+v 0.08747275 0.04151918 0.23718803
+v -0.07835015 0.02284838 0.26507247
+v 0.09767862 0.01776116 0.22150498
+v -0.16645608 -0.09719502 0.25991677
+v -0.14984637 -0.02357473 0.26154616
+v -0.06302584 0.00518315 0.26499954
+v -0.10460957 0.02109447 0.26470384
+v -0.16313096 -0.05371821 0.25879851
+v -0.14749457 -0.09268401 0.26197704
+f 8 2 1
+f 8 6 2
+f 8 4 6
+f 10 1 2
+f 12 1 7
+f 12 8 1
+f 13 12 7
+f 13 5 12
+f 14 4 8
+f 14 5 13
+f 16 15 9
+f 17 10 2
+f 17 2 6
+f 18 7 1
+f 19 11 3
+f 19 18 11
+f 19 16 9
+f 19 3 16
+f 20 1 10
+f 20 17 6
+f 20 6 11
+f 20 18 1
+f 20 11 18
+f 21 11 6
+f 21 6 3
+f 21 3 11
+f 22 19 9
+f 22 18 19
+f 23 14 13
+f 23 4 14
+f 24 12 5
+f 24 5 14
+f 24 14 8
+f 24 8 12
+f 25 6 4
+f 25 4 15
+f 25 15 16
+f 25 16 3
+f 25 3 6
+f 26 15 4
+f 27 20 10
+f 27 10 17
+f 27 17 20
+f 28 13 7
+f 28 7 18
+f 29 23 13
+f 29 22 23
+f 30 26 9
+f 30 9 15
+f 30 15 26
+f 31 26 4
+f 31 4 23
+f 31 23 22
+f 31 22 9
+f 31 9 26
+f 32 28 22
+f 32 13 28
+f 32 29 13
+f 32 22 29
+f 33 28 18
+f 33 18 22
+f 33 22 28
\ No newline at end of file
diff --git a/bagel/bagel_1/model.xml b/bagel/bagel_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e3adebb199f4f682f813df38eee38e1a3b79703
--- /dev/null
+++ b/bagel/bagel_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bagel_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.003" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material0.003"/>
+        <geom solimp="0.998 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="-0.002205407106255329 -0.0058217392540457855 -0.011631645597479916" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.002205407106255329 -0.0058217392540457855 0.040227589441829886" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04679871671457084 0.037545441614987816 0.014297971922174987" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bagel/bagel_1/visual/material.mtl b/bagel/bagel_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/bagel/bagel_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_0.obj b/bagel/bagel_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bacd52d883bbee7e32c29440232f6b4585b363f
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.37158477 -0.15518247 0.09320100
+v 0.41083812 -0.06644650 0.07438213
+v 0.32037448 0.18338169 0.12292415
+v 0.29513990 0.29145664 0.07736864
+v 0.18207153 -0.14746486 0.07632067
+v 0.37798237 0.17068718 0.07543619
+v 0.33918998 -0.14283858 0.12605538
+v 0.13530376 0.23680005 0.10362418
+v 0.40904825 -0.00926621 0.08625266
+v 0.34285973 0.21282173 0.09594825
+v 0.13688449 0.16325115 0.07511478
+v 0.35434224 -0.14249039 0.11826903
+v 0.25696674 -0.14762901 0.12631666
+v 0.22138633 0.23112975 0.12498840
+v 0.34446841 0.18015668 0.10977739
+v 0.41481343 -0.00764968 0.07834117
+v 0.39508048 -0.00815674 0.09713831
+v 0.33484641 0.25595200 0.07286442
+v 0.29031703 0.27178809 0.10106327
+v 0.13210303 0.23430448 0.09939878
+v 0.38990727 -0.08173130 0.09576569
+v 0.18782944 -0.15200809 0.08366075
+v 0.21162073 0.21864833 0.12423548
+v 0.29074265 0.22804763 0.12354689
+v 0.37269913 0.16866638 0.08418412
+v 0.34008361 -0.07112577 0.12379441
+v 0.30258292 0.28692234 0.07366547
+v 0.29052620 0.28526122 0.08795470
+v 0.16667665 0.23537251 0.11255008
+v 0.31599911 0.25279788 0.09458231
+v 0.40371776 -0.06624583 0.08338330
+v 0.23113446 -0.14729583 0.11435643
+v 0.31895149 0.22640948 0.10948407
+v 0.35818634 0.18171209 0.09619442
+v 0.32885509 0.25247990 0.08214946
+v 0.29970078 0.26770031 0.09642557
+v 0.30639996 0.21280589 0.12155997
+v 0.29978664 0.28137179 0.08321645
+f 5 2 1
+f 12 7 1
+f 13 1 7
+f 14 13 7
+f 16 9 2
+f 16 2 6
+f 17 7 12
+f 17 15 3
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+f 18 2 5
+f 18 5 11
+f 20 8 4
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+f 21 12 1
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+f 22 5 1
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+f 22 8 20
+f 23 13 14
+f 24 14 7
+f 24 7 3
+f 24 19 14
+f 25 16 6
+f 25 9 16
+f 26 17 3
+f 26 3 7
+f 26 7 17
+f 27 18 11
+f 27 4 18
+f 27 20 4
+f 27 11 20
+f 28 4 8
+f 29 14 19
+f 29 23 14
+f 29 8 13
+f 29 13 23
+f 29 28 8
+f 29 19 28
+f 31 21 2
+f 31 2 9
+f 31 9 21
+f 32 22 13
+f 32 13 8
+f 32 8 22
+f 33 15 10
+f 33 10 30
+f 33 30 19
+f 33 19 24
+f 34 15 9
+f 34 9 25
+f 34 10 15
+f 34 25 6
+f 34 6 10
+f 35 30 10
+f 35 10 18
+f 36 28 19
+f 36 19 30
+f 36 30 35
+f 37 33 24
+f 37 24 3
+f 37 3 15
+f 37 15 33
+f 38 4 28
+f 38 28 36
+f 38 18 4
+f 38 36 35
+f 38 35 18
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_10.obj b/bagel/bagel_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09afeec5205b46b8eafde4584699bf27d2bbada7
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.24130000 0.10872623 0.08534295
+v -0.18458298 0.23638676 -0.12536584
+v -0.18857265 0.23732427 0.14463974
+v -0.18130401 0.46441400 0.03538691
+v -0.41562461 0.09439767 -0.05040548
+v -0.18238152 0.35117207 0.14311082
+v -0.20959030 0.10244220 -0.10146906
+v -0.22032446 0.40379878 -0.08352202
+v -0.35205012 0.10480091 0.12113258
+v -0.17839872 0.44839592 -0.06242237
+v -0.21230135 0.10920628 0.05715232
+v -0.36138697 0.09540574 -0.11666420
+v -0.34958713 0.31506013 0.02363843
+v -0.27644595 0.23870159 0.14093175
+v -0.17955869 0.38105600 -0.11682222
+v -0.17814873 0.46391979 -0.02033044
+v -0.20792465 0.13972226 0.08745257
+v -0.38444959 0.09382942 -0.10112396
+v -0.23492231 0.10343214 -0.11368512
+v -0.40748821 0.18693442 0.06503477
+v -0.26120254 0.37496327 0.09638127
+v -0.30687728 0.16079805 0.13247894
+v -0.18030170 0.40808276 -0.10281206
+v -0.26416597 0.33283074 -0.09567661
+v -0.18092681 0.42125769 0.10100216
+v -0.26265123 0.41443045 -0.00692575
+v -0.38151108 0.22303260 -0.03958498
+v -0.22428563 0.11678019 -0.11269096
+v -0.41822166 0.09740580 0.01860614
+v -0.34315104 0.22954388 0.12334024
+v -0.34864089 0.15874649 0.12657669
+v -0.19345344 0.37864160 -0.11262972
+v -0.21942149 0.41610667 -0.07204132
+v -0.36921166 0.13762148 -0.09841089
+v -0.18137047 0.45334317 0.06141286
+v -0.20986000 0.37467095 0.12401553
+v -0.22157919 0.44273273 -0.01788623
+v -0.27806457 0.40083025 0.03186048
+v -0.39750602 0.12164402 -0.07406611
+v -0.30559754 0.35951195 -0.03136458
+v -0.39534557 0.22798248 -0.00519337
+v -0.41271836 0.18481845 0.02473926
+v -0.27179664 0.27864137 0.13925205
+v -0.35055914 0.29751918 0.08563369
+v -0.38459456 0.23009421 0.08794937
+v -0.19277518 0.40542823 -0.09869269
+v -0.22307160 0.34948805 -0.11103691
+v -0.35723838 0.12402255 -0.11107207
+v -0.33622690 0.28445303 -0.05399494
+v -0.22350928 0.39952946 0.09819213
+v -0.18166648 0.40660654 0.11325514
+v -0.19232145 0.45923035 0.03188474
+v -0.24511256 0.41614894 -0.04284592
+v -0.24982931 0.41328013 0.05611033
+v -0.30485773 0.37160535 -0.00487737
+v -0.38313555 0.10734844 -0.09839589
+v -0.27735055 0.35819717 -0.07034816
+v -0.35071885 0.30009639 -0.01787598
+v -0.39539244 0.18298711 -0.04592358
+v -0.41107114 0.18593985 0.00777598
+v -0.21192548 0.34759093 0.13797276
+v -0.35073781 0.31197292 0.04970917
+v -0.31165423 0.28745127 0.12359593
+v -0.26287405 0.35803644 -0.08310275
+f 6 3 2
+f 7 2 3
+f 7 1 5
+f 9 5 1
+f 9 1 3
+f 11 7 3
+f 11 1 7
+f 14 3 6
+f 15 6 2
+f 15 2 12
+f 16 15 10
+f 16 6 15
+f 17 11 3
+f 17 3 1
+f 17 1 11
+f 18 12 7
+f 18 7 5
+f 19 12 2
+f 19 7 12
+f 22 9 3
+f 22 3 14
+f 23 10 15
+f 25 6 16
+f 28 19 2
+f 28 2 7
+f 28 7 19
+f 29 5 9
+f 29 9 20
+f 31 22 14
+f 31 9 22
+f 31 14 30
+f 31 20 9
+f 32 23 15
+f 35 25 16
+f 35 16 4
+f 37 16 10
+f 39 18 5
+f 42 29 20
+f 42 5 29
+f 43 30 14
+f 43 14 6
+f 45 31 30
+f 45 20 31
+f 46 23 32
+f 46 8 33
+f 46 33 10
+f 46 10 23
+f 47 46 32
+f 47 8 46
+f 47 32 15
+f 47 15 12
+f 48 34 24
+f 48 47 12
+f 48 24 47
+f 49 34 27
+f 49 24 34
+f 50 25 35
+f 50 21 36
+f 51 36 6
+f 51 6 25
+f 51 50 36
+f 51 25 50
+f 52 4 16
+f 52 16 37
+f 52 37 26
+f 52 26 38
+f 52 35 4
+f 53 26 37
+f 53 40 26
+f 53 37 10
+f 53 10 33
+f 54 52 38
+f 54 35 52
+f 54 50 35
+f 54 21 50
+f 54 44 21
+f 54 38 44
+f 55 38 26
+f 55 26 40
+f 56 18 39
+f 56 34 48
+f 56 48 12
+f 56 12 18
+f 57 49 40
+f 57 24 49
+f 57 40 53
+f 57 53 33
+f 57 33 8
+f 58 27 41
+f 58 49 27
+f 58 40 49
+f 58 41 13
+f 58 55 40
+f 58 13 55
+f 59 39 5
+f 59 41 27
+f 59 56 39
+f 59 27 34
+f 59 34 56
+f 60 42 41
+f 60 5 42
+f 60 59 5
+f 60 41 59
+f 61 43 6
+f 61 6 36
+f 62 44 38
+f 62 45 44
+f 62 13 41
+f 62 41 42
+f 62 42 20
+f 62 20 45
+f 62 55 13
+f 62 38 55
+f 63 30 43
+f 63 43 61
+f 63 21 44
+f 63 61 36
+f 63 36 21
+f 63 45 30
+f 63 44 45
+f 64 47 24
+f 64 8 47
+f 64 57 8
+f 64 24 57
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_11.obj b/bagel/bagel_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f0f77de01cb01002c0ca53d0f32a4e63de24b9
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.20891116 0.23425760 0.12209438
+v 0.20796932 0.23484848 0.00610286
+v 0.13473442 0.44071545 0.02352652
+v -0.20869836 0.44622234 0.01957881
+v -0.18597008 0.23484848 0.00610286
+v -0.07824243 0.42199650 0.12458985
+v 0.23079046 0.38392423 0.02089472
+v 0.00981361 0.47321072 0.07720291
+v -0.18857265 0.23732427 0.14463974
+v -0.16689823 0.43942564 0.08992506
+v 0.11892593 0.41699935 0.08273890
+v 0.00888043 0.36847844 0.14047135
+v -0.07816668 0.45034741 0.10326581
+v -0.18181082 0.36331461 0.13830075
+v 0.05257575 0.46472381 0.07343660
+v 0.20354373 0.34615055 0.08142225
+v 0.00864937 0.32798025 0.14037140
+v 0.03773675 0.43437146 0.10943556
+v -0.16427158 0.41920212 0.10988994
+v -0.13811962 0.37928556 0.13897620
+v -0.18371738 0.42818628 0.09265713
+v 0.12358270 0.42168475 0.07315292
+v 0.20794381 0.28960631 0.10908668
+v -0.00574557 0.42246886 0.12406048
+v 0.05315445 0.44615576 0.09507087
+v -0.16389404 0.43099186 0.09988964
+v -0.15020567 0.40428144 0.12376429
+v -0.02051575 0.38276810 0.14017314
+v -0.18068682 0.39015920 0.12475718
+v 0.09229349 0.40501083 0.10935505
+v 0.06660178 0.39462393 0.12383881
+v 0.00862469 0.46595712 0.08699664
+v -0.18092681 0.42125769 0.10100216
+v 0.10769780 0.39248171 0.10830174
+v 0.09487453 0.36718767 0.12303480
+v 0.03750775 0.40796173 0.12516991
+v 0.04926822 0.45895234 0.08253696
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 1 2
+f 7 2 3
+f 8 3 4
+f 9 5 1
+f 9 4 5
+f 10 8 4
+f 13 8 10
+f 14 4 9
+f 15 7 3
+f 15 3 8
+f 16 7 11
+f 17 12 9
+f 17 9 1
+f 17 1 12
+f 19 6 13
+f 20 14 9
+f 21 10 4
+f 22 15 11
+f 22 11 7
+f 22 7 15
+f 23 1 7
+f 23 7 16
+f 24 13 6
+f 25 11 15
+f 26 19 13
+f 26 13 10
+f 26 10 21
+f 27 14 20
+f 27 20 6
+f 27 6 19
+f 28 20 9
+f 28 9 12
+f 28 24 6
+f 28 6 20
+f 29 21 4
+f 29 4 14
+f 29 27 19
+f 29 14 27
+f 30 16 11
+f 30 25 18
+f 30 11 25
+f 31 30 18
+f 32 24 18
+f 32 8 13
+f 32 13 24
+f 32 18 25
+f 33 26 21
+f 33 19 26
+f 33 29 19
+f 33 21 29
+f 34 23 16
+f 34 16 30
+f 34 31 23
+f 34 30 31
+f 35 31 12
+f 35 12 1
+f 35 1 23
+f 35 23 31
+f 36 28 12
+f 36 12 31
+f 36 24 28
+f 36 31 18
+f 36 18 24
+f 37 32 25
+f 37 25 15
+f 37 15 8
+f 37 8 32
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_12.obj b/bagel/bagel_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f85bb1ad77f899aaa095e59acaa50763d19345
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.43474486 -0.00759219 0.00616684
+v 0.42273708 -0.00615049 -0.05038732
+v 0.42101983 0.09522660 0.00378879
+v 0.23827235 0.09848485 0.00610286
+v 0.17144864 0.00008595 -0.07779272
+v 0.41882149 0.09301188 -0.03207099
+v 0.20182753 -0.00966457 -0.11821887
+v 0.23827235 -0.00757576 0.00610286
+v 0.24028194 0.09789286 -0.12265087
+v 0.33728530 -0.00786746 -0.12843839
+v 0.16356668 0.09091737 -0.07842028
+v 0.34046100 0.09649243 -0.11746306
+v 0.22884945 -0.00870818 -0.13206466
+v 0.18177821 0.09087879 -0.09363149
+v 0.29806957 0.08164459 -0.12850405
+v 0.41593985 0.08037310 -0.04843640
+v 0.33764679 0.02066219 -0.12660858
+v 0.27045943 0.08180821 -0.12865753
+v 0.32485557 0.04983563 -0.12710515
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 10 2 1
+f 10 1 7
+f 11 8 4
+f 11 5 8
+f 11 4 9
+f 11 7 5
+f 12 9 4
+f 12 4 3
+f 12 3 6
+f 13 10 7
+f 14 11 9
+f 14 7 11
+f 14 13 7
+f 14 9 13
+f 15 9 12
+f 15 10 13
+f 16 12 6
+f 16 6 2
+f 16 2 12
+f 17 12 2
+f 17 2 10
+f 18 15 13
+f 18 13 9
+f 18 9 15
+f 19 15 12
+f 19 12 17
+f 19 17 10
+f 19 10 15
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_13.obj b/bagel/bagel_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe325b62d4ea2b99b358b8f167f888ef712cf54
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.30387551 -0.25900213 0.11548948
+v 0.39117614 -0.16834068 0.01168380
+v 0.33918998 -0.14283858 0.12605538
+v 0.17431756 -0.08510398 0.04065733
+v 0.13221174 -0.26515152 0.00610286
+v 0.18042373 -0.08538519 0.04730412
+v 0.32931714 -0.24268773 0.09897296
+v 0.15447682 -0.08509342 0.00411007
+v 0.13847843 -0.27122356 0.12795044
+v 0.33722394 -0.17126780 0.12189332
+v 0.34349465 -0.26410820 0.00542526
+v 0.28839206 -0.25930348 0.12629695
+v 0.24699058 -0.14829381 0.12307428
+v 0.14093186 -0.25950767 0.12316303
+v 0.14907772 -0.10346653 0.00141066
+v 0.33190991 -0.21474351 0.10990255
+v 0.32988296 -0.25648610 0.08779064
+v 0.31580685 -0.24294916 0.11290356
+v 0.16470545 -0.08675917 0.02747382
+f 6 3 2
+f 8 6 2
+f 8 4 6
+f 10 2 3
+f 11 9 5
+f 11 1 9
+f 12 9 1
+f 12 3 9
+f 12 10 3
+f 13 9 3
+f 13 3 6
+f 14 6 4
+f 14 13 6
+f 14 9 13
+f 15 9 8
+f 15 5 9
+f 15 11 5
+f 15 8 2
+f 15 2 11
+f 16 7 2
+f 16 2 10
+f 17 11 2
+f 17 2 7
+f 17 7 1
+f 17 1 11
+f 18 12 1
+f 18 10 12
+f 18 16 10
+f 18 1 7
+f 18 7 16
+f 19 14 4
+f 19 4 8
+f 19 8 9
+f 19 9 14
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_14.obj b/bagel/bagel_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eece4b8960d817ce46ef791646da1de970389d3
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.30447695 -0.27584246 -0.07516091
+v 0.40840497 -0.09470069 -0.04908343
+v 0.29887841 -0.00757576 -0.06965472
+v 0.36237384 0.16851300 -0.08393525
+v 0.30710877 -0.14077512 -0.14209671
+v 0.39644738 0.15573426 -0.05109600
+v 0.34560614 -0.24308344 -0.04886174
+v 0.36536755 0.05057940 -0.11205286
+v 0.29020891 -0.24226174 -0.11800292
+v 0.29863804 -0.00737941 -0.13770754
+v 0.37798468 -0.18165370 -0.04668968
+v 0.38793622 -0.09382193 -0.08684961
+v 0.40190879 0.09506514 -0.07332702
+v 0.29103834 -0.26078154 -0.10697448
+v 0.34021505 0.15667361 -0.10578778
+v 0.30991535 -0.06816662 -0.14200411
+v 0.29531139 -0.06835230 -0.14499398
+v 0.42206231 0.05090035 -0.04799928
+v 0.35956804 -0.09617059 -0.11402550
+v 0.38759052 -0.12290507 -0.07418588
+v 0.39122783 0.13790819 -0.07038442
+v 0.41703413 -0.02169310 -0.06000811
+v 0.32526948 -0.25538619 -0.07492934
+v 0.33980326 0.11091151 -0.11548882
+v 0.37776540 0.09347873 -0.09797262
+v 0.29094266 -0.20198810 -0.13502680
+v 0.29373015 -0.14214010 -0.14668497
+v 0.42144985 -0.02290982 -0.04930570
+v 0.40380265 0.12307096 -0.05907622
+v 0.40178517 -0.06492265 -0.07501892
+v 0.34410823 -0.15280171 -0.11452838
+v 0.39102714 0.15514838 -0.06167075
+v 0.41599916 0.05082190 -0.06059116
+v 0.33101525 -0.25857464 -0.05994265
+v 0.37149107 -0.16578986 -0.07388240
+v 0.35050947 0.11074024 -0.11104551
+v 0.36209445 0.13703562 -0.09853424
+v 0.40659360 0.12455533 -0.05012716
+v 0.40298669 -0.09353642 -0.06156825
+v 0.30318809 -0.19893559 -0.12922315
+v 0.33210970 -0.13967341 -0.12834515
+v 0.35749814 -0.15208555 -0.10084042
+v 0.30145364 -0.23847225 -0.11281679
+v 0.34124767 -0.24003918 -0.06228676
+v 0.34869405 0.15576122 -0.10044782
+v 0.35554615 -0.18104596 -0.08739644
+v 0.30300700 -0.25394759 -0.10061067
+v 0.34097575 -0.24805932 -0.05305930
+v 0.37148043 -0.18090758 -0.06143362
+v 0.32609966 -0.23977036 -0.08674777
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 11 6 7
+f 14 1 3
+f 14 3 9
+f 15 10 3
+f 15 3 4
+f 17 3 10
+f 17 10 16
+f 18 6 11
+f 19 16 8
+f 20 2 11
+f 23 1 14
+f 24 10 15
+f 24 16 10
+f 24 8 16
+f 25 21 13
+f 26 9 3
+f 26 3 17
+f 27 17 16
+f 27 16 5
+f 27 26 17
+f 27 5 26
+f 28 18 11
+f 28 11 2
+f 28 22 18
+f 28 2 22
+f 29 13 21
+f 30 19 8
+f 30 12 19
+f 30 8 22
+f 31 19 12
+f 32 21 4
+f 32 4 6
+f 32 29 21
+f 32 6 29
+f 33 22 8
+f 33 18 22
+f 33 29 18
+f 33 13 29
+f 33 25 13
+f 33 8 25
+f 34 7 1
+f 34 1 23
+f 35 20 11
+f 36 24 15
+f 36 25 8
+f 36 8 24
+f 37 4 21
+f 37 21 25
+f 37 36 15
+f 37 25 36
+f 38 29 6
+f 38 6 18
+f 38 18 29
+f 39 30 22
+f 39 22 2
+f 39 2 20
+f 39 20 12
+f 39 12 30
+f 40 9 26
+f 40 26 5
+f 41 19 31
+f 41 5 16
+f 41 16 19
+f 41 40 5
+f 41 31 40
+f 42 31 12
+f 42 12 20
+f 42 20 35
+f 43 40 31
+f 43 14 9
+f 43 9 40
+f 44 34 23
+f 44 11 7
+f 45 37 15
+f 45 15 4
+f 45 4 37
+f 46 42 35
+f 46 31 42
+f 46 35 44
+f 47 23 14
+f 47 14 43
+f 48 44 7
+f 48 7 34
+f 48 34 44
+f 49 44 35
+f 49 35 11
+f 49 11 44
+f 50 43 31
+f 50 31 46
+f 50 47 43
+f 50 23 47
+f 50 46 44
+f 50 44 23
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_16.obj b/bagel/bagel_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4f9191b519c7c04d76ed1dbda93bbc898f00c
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.11584961 -0.47308664 -0.03723676
+v 0.21852549 -0.41232718 -0.03709053
+v 0.21271296 -0.41909397 -0.03331269
+v 0.02003012 -0.23653543 -0.08500998
+v 0.19207223 -0.26340173 -0.14748007
+v 0.19281780 -0.26515152 -0.06965472
+v 0.14212620 -0.46499981 -0.03364782
+v 0.01336121 -0.39345028 -0.11472982
+v 0.08210115 -0.22640123 -0.07910863
+v 0.01216028 -0.48080178 -0.04831070
+v 0.18139964 -0.42923545 -0.05691914
+v 0.01298105 -0.30207202 -0.11612168
+v 0.15058537 -0.26472128 -0.14553929
+v 0.08339047 -0.44721405 -0.08484855
+v 0.19445743 -0.42857965 -0.04401471
+v 0.18773470 -0.33533516 -0.12662313
+v 0.12565665 -0.45836380 -0.05705282
+v 0.01118351 -0.26746604 -0.10325122
+v 0.08692300 -0.36744829 -0.12822332
+v 0.07694616 -0.35768564 -0.12868036
+v 0.01262598 -0.46460464 -0.07010114
+v 0.05453051 -0.47431744 -0.05791141
+v 0.21503778 -0.40871691 -0.04757835
+v 0.19678029 -0.43302161 -0.03305446
+v 0.14052866 -0.46003906 -0.04469439
+v 0.15310276 -0.40426671 -0.09806572
+v 0.00863620 -0.47567909 -0.05653671
+v 0.15054295 -0.29255042 -0.14291902
+v 0.19012470 -0.29157983 -0.14189303
+v 0.02715503 -0.40866974 -0.11134378
+v 0.05492991 -0.48031884 -0.04761945
+v 0.08317382 -0.45992503 -0.07110529
+v 0.20951973 -0.41558459 -0.04428448
+v 0.18487938 -0.36002307 -0.11399238
+v 0.10088997 -0.41028090 -0.10864164
+v 0.12618382 -0.41984279 -0.09685840
+v 0.01267185 -0.42160333 -0.10179782
+v 0.11539236 -0.36435248 -0.12715489
+v 0.17883610 -0.41818605 -0.06967134
+v 0.14276996 -0.38941723 -0.11097878
+v 0.03022574 -0.44868705 -0.08415349
+v 0.16998117 -0.37489760 -0.11070357
+f 6 3 2
+f 6 2 5
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 9 6 5
+f 10 7 4
+f 10 1 7
+f 13 9 5
+f 13 4 9
+f 18 13 12
+f 18 4 13
+f 18 12 8
+f 20 8 12
+f 20 12 13
+f 20 19 8
+f 22 21 14
+f 23 15 11
+f 23 5 2
+f 24 15 2
+f 24 2 3
+f 24 3 7
+f 24 7 15
+f 25 15 7
+f 25 11 15
+f 25 17 11
+f 25 7 1
+f 25 1 17
+f 27 10 4
+f 27 4 18
+f 27 18 8
+f 27 22 10
+f 27 21 22
+f 28 13 5
+f 28 20 13
+f 28 19 20
+f 29 23 16
+f 29 5 23
+f 29 28 5
+f 29 19 28
+f 30 8 19
+f 31 22 1
+f 31 1 10
+f 31 10 22
+f 32 17 1
+f 32 1 22
+f 32 22 14
+f 32 14 17
+f 33 23 2
+f 33 2 15
+f 33 15 23
+f 34 16 23
+f 35 30 19
+f 35 14 30
+f 36 17 14
+f 36 14 35
+f 36 11 17
+f 37 27 8
+f 37 21 27
+f 37 8 30
+f 38 29 16
+f 38 19 29
+f 38 35 19
+f 39 34 23
+f 39 23 11
+f 39 26 34
+f 39 36 26
+f 39 11 36
+f 40 36 35
+f 40 26 36
+f 40 38 16
+f 40 35 38
+f 41 37 30
+f 41 30 14
+f 41 14 21
+f 41 21 37
+f 42 40 16
+f 42 16 34
+f 42 34 26
+f 42 26 40
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_17.obj b/bagel/bagel_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374bfa586b9f731f6f863f0ea2b341ce3072eefd
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.34897825 0.22798247 0.07537789
+v 0.36328096 0.22731717 -0.04743235
+v 0.31254454 0.31221606 0.00380548
+v 0.20191891 0.40560132 0.01603646
+v 0.20509419 0.23550054 -0.13587158
+v 0.20108436 0.39142506 -0.07750264
+v 0.27109754 0.32473246 0.06745022
+v 0.35742390 0.25354660 0.02963112
+v 0.20891116 0.23425760 0.12209438
+v 0.26744230 0.35500343 -0.04587801
+v 0.19947540 0.40722399 -0.05083314
+v 0.23986619 0.31791586 -0.11166310
+v 0.26712564 0.35410903 0.02944398
+v 0.36641899 0.22978175 0.04638896
+v 0.35861060 0.25097073 -0.02419488
+v 0.34331706 0.26502996 0.04381910
+v 0.23429651 0.23319741 -0.12681543
+v 0.33314512 0.22853343 -0.08741884
+v 0.29477463 0.23138661 0.12011496
+v 0.20354373 0.34615055 0.08142225
+v 0.20199108 0.34838668 -0.11627561
+v 0.22312887 0.38700516 -0.06018189
+v 0.24098619 0.38429958 0.00304823
+v 0.24157402 0.36836857 0.03965869
+v 0.31164778 0.31293462 -0.02201818
+v 0.34144711 0.26752708 -0.04456936
+v 0.31290030 0.27998186 0.06874476
+v 0.36049744 0.23944608 0.04560813
+v 0.28143834 0.34045719 0.02988407
+v 0.21808973 0.30691061 -0.12734215
+v 0.20152555 0.39020594 0.04317659
+v 0.27574778 0.27180561 0.10857586
+v 0.25240900 0.34114666 -0.08614015
+v 0.23997203 0.38316672 -0.03587439
+v 0.21219654 0.39992409 0.01521426
+v 0.35717951 0.24061990 -0.04576918
+v 0.29700328 0.32696961 -0.03278046
+v 0.34302763 0.24156621 0.07235298
+v 0.27669917 0.23168773 -0.11563886
+v 0.30383363 0.25648376 -0.09620917
+v 0.21440410 0.34220283 -0.11345645
+v 0.20361059 0.30918443 -0.13088787
+v 0.21304850 0.38541931 0.04072530
+v 0.21589175 0.34487614 0.07859398
+v 0.28355573 0.29821971 0.08187280
+v 0.20794381 0.28960631 0.10908668
+v 0.21268784 0.38565450 -0.07414551
+v 0.29850029 0.31069254 -0.05936249
+v 0.21269995 0.39956783 -0.04789288
+v 0.34658169 0.22835163 -0.07449175
+v 0.29073365 0.25629603 0.11071797
+v 0.22952055 0.29118549 -0.12582297
+v 0.27227342 0.25986710 -0.11242643
+v 0.29962198 0.28390001 -0.08304767
+v 0.27172717 0.31030989 0.08133418
+v 0.23412622 0.31229023 0.09533905
+v 0.22240187 0.28756473 0.10942003
+v 0.34274379 0.23837734 -0.07179704
+v 0.32779612 0.24293906 -0.08458051
+f 14 1 2
+f 15 14 2
+f 15 8 14
+f 17 9 5
+f 18 2 1
+f 18 1 9
+f 18 9 17
+f 19 9 1
+f 20 11 5
+f 20 5 9
+f 21 11 6
+f 21 5 11
+f 22 6 11
+f 23 11 4
+f 24 7 13
+f 24 13 23
+f 25 3 8
+f 25 8 15
+f 25 23 3
+f 26 25 15
+f 28 14 8
+f 28 8 16
+f 29 13 7
+f 29 27 16
+f 29 7 27
+f 29 23 13
+f 29 3 23
+f 29 16 8
+f 29 8 3
+f 31 4 11
+f 31 11 20
+f 33 22 10
+f 34 10 22
+f 35 24 23
+f 35 23 4
+f 36 26 15
+f 36 15 2
+f 37 25 26
+f 37 10 34
+f 37 34 23
+f 37 23 25
+f 38 16 27
+f 38 28 16
+f 38 1 14
+f 38 14 28
+f 39 17 5
+f 39 18 17
+f 40 30 12
+f 41 30 21
+f 41 12 30
+f 41 33 12
+f 41 21 6
+f 41 6 33
+f 42 5 21
+f 42 21 30
+f 43 4 31
+f 43 35 4
+f 43 24 35
+f 43 31 7
+f 43 7 24
+f 44 31 20
+f 45 27 7
+f 45 38 27
+f 46 20 9
+f 47 33 6
+f 47 6 22
+f 47 22 33
+f 48 33 10
+f 48 37 26
+f 48 10 37
+f 49 34 22
+f 49 22 11
+f 49 11 23
+f 49 23 34
+f 50 36 2
+f 50 2 18
+f 51 32 19
+f 51 19 1
+f 51 1 38
+f 51 38 45
+f 52 39 5
+f 52 42 30
+f 52 5 42
+f 53 40 18
+f 53 18 39
+f 53 39 52
+f 53 52 30
+f 53 30 40
+f 54 40 12
+f 54 12 33
+f 54 33 48
+f 55 7 31
+f 55 31 44
+f 55 44 32
+f 55 45 7
+f 55 51 45
+f 55 32 51
+f 56 44 20
+f 56 32 44
+f 57 46 9
+f 57 9 19
+f 57 19 32
+f 57 32 56
+f 57 56 20
+f 57 20 46
+f 58 26 36
+f 58 36 50
+f 58 54 48
+f 58 48 26
+f 59 18 40
+f 59 40 54
+f 59 54 58
+f 59 58 50
+f 59 50 18
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_18.obj b/bagel/bagel_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec7288d9ef3a55bfc73e93070b57034d7a1ef60
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.08231633 -0.27018281 0.11786878
+v -0.07990947 -0.26515152 0.00610286
+v -0.08875480 -0.15903798 -0.00042213
+v -0.16915330 -0.11623603 0.03097168
+v -0.20112159 -0.26515152 0.00610286
+v -0.08820333 -0.20487912 0.06697162
+v -0.20136893 -0.26511980 0.13346966
+v -0.09263280 -0.16316846 0.01485876
+v -0.20628298 -0.14708391 0.09034584
+v -0.14265574 -0.26942503 0.12849882
+v -0.08998882 -0.19092001 0.05276268
+v -0.08759599 -0.23503360 0.09467849
+v -0.20860288 -0.16439338 0.10066779
+v -0.08411095 -0.25920889 0.11188056
+v -0.20392163 -0.23901347 0.12900219
+v -0.20698761 -0.19538738 0.11393111
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 8 3 4
+f 9 6 4
+f 9 4 5
+f 10 7 5
+f 10 5 1
+f 11 6 3
+f 11 3 8
+f 11 8 4
+f 11 4 6
+f 12 6 9
+f 13 9 5
+f 13 1 9
+f 14 12 9
+f 14 9 1
+f 14 1 6
+f 14 6 12
+f 15 5 7
+f 15 7 10
+f 15 10 1
+f 16 13 5
+f 16 5 15
+f 16 15 1
+f 16 1 13
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_19.obj b/bagel/bagel_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7854d3347de53051d36d7e39ad45311c75613b9c
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02084782 -0.26943850 -0.10318995
+v -0.01000718 -0.23676397 -0.08594786
+v -0.26860460 -0.30222250 -0.08206838
+v -0.16922330 -0.10926393 -0.08174043
+v -0.20672979 -0.14946287 -0.12920685
+v -0.08728753 -0.15499438 -0.05144696
+v -0.01544187 -0.21015720 -0.05910978
+v -0.01770880 -0.25256762 -0.09857966
+v -0.10762945 -0.16043100 -0.08593349
+v -0.20093258 -0.26494459 -0.12445357
+v -0.24657614 -0.21969697 -0.05450320
+v -0.19817155 -0.15018445 -0.12579036
+v -0.02129011 -0.22283465 -0.08103437
+v -0.06899178 -0.26696985 -0.11521865
+v -0.25869983 -0.23807988 -0.12407610
+v -0.04392024 -0.22778375 -0.09704143
+v -0.09041786 -0.16170832 -0.07119966
+v -0.20267594 -0.23394396 -0.13043520
+v -0.07058559 -0.25277672 -0.11347139
+v -0.26016313 -0.27995308 -0.10544745
+v -0.18854146 -0.23264352 -0.12896835
+f 7 1 2
+f 7 3 1
+f 7 4 6
+f 8 2 1
+f 8 1 5
+f 11 4 5
+f 11 6 4
+f 11 7 6
+f 11 3 7
+f 12 8 5
+f 12 9 2
+f 12 5 4
+f 12 4 9
+f 13 7 2
+f 13 2 9
+f 13 9 4
+f 14 1 3
+f 14 3 10
+f 15 11 5
+f 15 3 11
+f 16 12 2
+f 16 2 8
+f 16 8 12
+f 17 13 4
+f 17 4 7
+f 17 7 13
+f 18 14 10
+f 18 15 5
+f 18 10 15
+f 19 14 5
+f 19 5 1
+f 19 1 14
+f 20 15 10
+f 20 10 3
+f 20 3 15
+f 21 18 5
+f 21 5 14
+f 21 14 18
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_20.obj b/bagel/bagel_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99100c7b1d9cad550038a0a97ee4b9d2eb94cb11
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20108260 0.05301447 0.02131338
+v -0.08016346 0.23764016 -0.11160239
+v -0.07922950 0.23328355 0.09879264
+v -0.18896063 0.22377766 0.13748290
+v -0.20112527 0.23520487 -0.12565200
+v -0.20792465 0.13972226 0.08745257
+v -0.08926127 0.19162278 -0.06114051
+v -0.20802270 0.05723612 -0.07822503
+v -0.11152773 0.24108931 -0.11828576
+v -0.08617456 0.19441874 0.04687933
+v -0.20767938 0.11707122 -0.10464391
+v -0.18756832 0.05892900 -0.04773656
+v -0.08712508 0.20686276 0.07327713
+v -0.20516125 0.16228865 -0.11505444
+v -0.19620674 0.05405401 0.01562228
+v -0.20053679 0.06033908 -0.07148195
+v -0.08523788 0.22113802 -0.09828056
+v -0.18966394 0.05756338 0.00032031
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 8 1 6
+f 9 5 3
+f 9 3 2
+f 10 7 2
+f 10 2 3
+f 11 8 6
+f 11 9 2
+f 11 2 8
+f 12 7 10
+f 13 10 3
+f 13 3 1
+f 14 5 9
+f 14 9 11
+f 14 11 6
+f 14 6 5
+f 15 1 8
+f 15 8 12
+f 15 13 1
+f 15 10 13
+f 16 12 8
+f 16 8 2
+f 17 2 7
+f 17 7 12
+f 17 16 2
+f 17 12 16
+f 18 15 12
+f 18 12 10
+f 18 10 15
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_22.obj b/bagel/bagel_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0846eb58b5114d444c4d33673d235a884935f4ed
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.25216831 0.10366892 0.09001208
+v -0.08195102 0.22513209 0.09260690
+v -0.17378817 0.23802390 0.14106775
+v -0.31001760 0.24088359 0.13192658
+v -0.37240957 0.15930209 0.11507672
+v -0.10177191 0.24395613 0.11618042
+v -0.11587032 0.20151239 0.08753459
+v -0.35221132 0.09875649 0.12377718
+v -0.08205182 0.23917925 0.10367938
+v -0.13063883 0.24179247 0.12798131
+v -0.35205012 0.10480091 0.12113258
+v -0.26043498 0.23587170 0.14220243
+v -0.34864089 0.15874649 0.12657669
+v -0.28423922 0.10610904 0.11088158
+v -0.26272008 0.20726562 0.14085904
+v -0.30554681 0.23446570 0.13462813
+v -0.15266449 0.21400097 0.12352645
+v -0.07922950 0.23328355 0.09879264
+v -0.17393417 0.22831827 0.13810171
+v -0.34907027 0.11635085 0.12539361
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 9 2 4
+f 9 4 6
+f 10 6 4
+f 10 4 3
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 3 4
+f 13 4 5
+f 13 5 8
+f 14 8 1
+f 15 8 3
+f 15 3 12
+f 16 13 12
+f 16 12 4
+f 16 4 13
+f 17 9 6
+f 17 6 10
+f 18 14 1
+f 18 1 2
+f 18 17 14
+f 18 2 9
+f 18 9 17
+f 19 3 8
+f 19 8 14
+f 19 14 17
+f 19 17 10
+f 19 10 3
+f 20 13 8
+f 20 8 15
+f 20 15 12
+f 20 12 13
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_23.obj b/bagel/bagel_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270177804bcb790fd13d221fc5f909097b333511
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00836251 -0.27391099 0.08954173
+v 0.01118351 -0.26746604 -0.10325122
+v 0.00223327 -0.20690810 -0.01354435
+v -0.08731224 -0.15572770 -0.01245335
+v -0.08231633 -0.27018281 0.11786878
+v -0.08709468 -0.16883794 -0.07718455
+v 0.00185484 -0.22340820 0.02464620
+v 0.00433372 -0.20909706 -0.03380789
+v -0.02084782 -0.26943850 -0.10318995
+v -0.08658849 -0.18530725 0.04326617
+v 0.01088807 -0.25671483 -0.10047772
+v -0.08728753 -0.15499438 -0.05144696
+v -0.06799428 -0.27212073 0.11533352
+v -0.08198797 -0.22188978 -0.10789473
+v -0.08690838 -0.19736814 -0.09961007
+v -0.07369853 -0.19039671 0.03982332
+v 0.00408617 -0.25402799 0.06771035
+v 0.00772458 -0.23256498 -0.08443495
+v -0.08411095 -0.25920889 0.11188056
+v -0.06264045 -0.25386991 -0.10842047
+v -0.07072614 -0.26044900 0.10856169
+v -0.05763681 -0.25027669 0.09538901
+v -0.05955873 -0.22042216 0.06648792
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 2 1
+f 11 8 1
+f 11 1 2
+f 12 4 3
+f 12 3 8
+f 13 9 1
+f 13 5 9
+f 14 11 2
+f 15 14 5
+f 15 11 14
+f 15 10 4
+f 15 12 6
+f 15 4 12
+f 16 10 7
+f 16 7 4
+f 16 4 10
+f 17 10 1
+f 17 1 7
+f 17 7 10
+f 18 8 11
+f 18 12 8
+f 18 6 12
+f 18 15 6
+f 18 11 15
+f 19 5 13
+f 19 15 5
+f 19 10 15
+f 20 14 2
+f 20 2 9
+f 20 9 5
+f 20 5 14
+f 21 19 13
+f 21 13 1
+f 22 21 1
+f 22 10 19
+f 22 19 21
+f 23 22 1
+f 23 1 10
+f 23 10 22
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_25.obj b/bagel/bagel_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef783aaaa87249ea422f212f91da56105a3267d
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.20796932 0.23484848 0.00610286
+v 0.20509419 0.23550054 -0.13587158
+v 0.23079046 0.38392423 0.02089472
+v -0.18597008 0.35606060 0.00610286
+v -0.18597008 0.23484848 0.00610286
+v 0.02586284 0.34812948 -0.14356885
+v 0.20199108 0.34838668 -0.11627561
+v -0.18434674 0.35639619 -0.12302406
+v 0.21105274 0.37246698 -0.08517324
+v 0.15818181 0.32378141 -0.14178859
+v -0.18764472 0.26588453 -0.12867269
+v 0.09951648 0.34859880 -0.14352368
+v 0.20089995 0.32183728 -0.12886146
+v -0.18458298 0.23638676 -0.12536584
+v -0.16781509 0.35302381 -0.12850149
+v 0.06024534 0.25526168 -0.14128333
+v 0.17209438 0.34849490 -0.12860052
+v 0.17299006 0.30673579 -0.14213880
+v -0.18129413 0.33841672 -0.12787564
+v -0.01658712 0.29746112 -0.14262701
+v 0.17242925 0.25148778 -0.14258321
+v -0.01827004 0.33576210 -0.14257856
+v -0.00214251 0.28479909 -0.14228084
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 8 4 3
+f 9 3 2
+f 9 8 3
+f 11 5 4
+f 11 4 8
+f 12 6 8
+f 12 8 9
+f 13 9 2
+f 13 7 9
+f 14 2 5
+f 14 5 11
+f 15 8 6
+f 16 2 14
+f 17 12 9
+f 17 9 7
+f 17 10 12
+f 17 13 10
+f 17 7 13
+f 18 13 2
+f 18 10 13
+f 18 12 10
+f 19 11 8
+f 19 8 15
+f 21 18 2
+f 21 2 16
+f 21 12 18
+f 21 20 6
+f 21 6 12
+f 22 20 11
+f 22 11 19
+f 22 19 15
+f 22 15 6
+f 22 6 20
+f 23 16 14
+f 23 14 11
+f 23 11 20
+f 23 21 16
+f 23 20 21
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_27.obj b/bagel/bagel_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ad905ca1c557cd2c377b01c22584300fdb1ca9
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.34992653 -0.00782847 0.11613776
+v -0.35263674 -0.00757576 0.02125437
+v -0.34911105 0.23277870 0.11956409
+v -0.37704048 0.25798953 0.01168380
+v -0.42764660 -0.00767073 0.02113109
+v -0.41312700 -0.01127932 0.05866629
+v -0.41117719 0.17060506 0.06255834
+v -0.39332648 0.23359117 0.06586835
+v -0.41271836 0.18481845 0.02473926
+v -0.41032955 0.10302456 0.07646326
+v -0.39488997 0.15679949 0.09999591
+v -0.38459456 0.23009421 0.08794937
+v -0.41098169 0.18625164 0.04941012
+v -0.39263596 0.24068914 0.02067169
+v -0.41059911 0.14261933 0.07496274
+v -0.38527920 0.08693108 0.11084338
+v -0.36939589 0.21420632 0.11070793
+v -0.39756800 0.21404954 0.07338765
+v -0.40044050 0.21575779 0.06284484
+v -0.39712170 0.08741156 0.09901781
+v -0.38448954 -0.00798783 0.09591942
+v -0.38196602 0.21401292 0.09863766
+v -0.36079253 0.23020645 0.11241724
+v -0.38461948 0.15663146 0.10986196
+v -0.39528089 0.19998494 0.08590816
+v -0.36029991 -0.00767455 0.11201258
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 9 4 5
+f 10 5 6
+f 12 3 4
+f 12 4 8
+f 13 9 5
+f 13 5 7
+f 14 8 4
+f 14 4 9
+f 15 7 5
+f 15 5 10
+f 16 1 3
+f 18 12 8
+f 19 9 13
+f 19 14 9
+f 19 8 14
+f 19 18 8
+f 19 13 7
+f 19 7 18
+f 20 15 10
+f 20 11 15
+f 20 16 11
+f 20 10 6
+f 21 20 6
+f 21 16 20
+f 22 11 17
+f 23 17 3
+f 23 3 12
+f 23 22 17
+f 23 12 22
+f 24 16 3
+f 24 3 17
+f 24 17 11
+f 24 11 16
+f 25 15 11
+f 25 11 22
+f 25 22 12
+f 25 12 18
+f 25 18 7
+f 25 7 15
+f 26 21 6
+f 26 6 1
+f 26 1 16
+f 26 16 21
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_28.obj b/bagel/bagel_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1a8c0b15eec0b9bc14ef030a4fbdb9e5161c4f
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09789298 -0.49071843 0.04886692
+v 0.11372429 -0.46768743 -0.04910340
+v 0.11577039 -0.26145295 0.10406294
+v 0.02003012 -0.23653543 -0.08500998
+v 0.01216028 -0.48080178 -0.04831070
+v 0.08210115 -0.22640123 -0.07910863
+v 0.11049951 -0.47370475 0.08633843
+v 0.08324276 -0.48918097 -0.01784785
+v 0.00836251 -0.27391099 0.08954173
+v 0.11254082 -0.47673065 -0.03178715
+v 0.01300141 -0.48111677 0.08978843
+v 0.09761072 -0.47449517 -0.04423535
+v 0.09773211 -0.48957571 -0.00472826
+v 0.05559300 -0.48918005 0.07388891
+v 0.01266841 -0.49250901 -0.02113221
+v 0.08330588 -0.49051323 0.06227414
+v 0.01630925 -0.48983224 0.07221249
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 9 4 5
+f 9 6 4
+f 9 3 6
+f 10 7 1
+f 10 2 7
+f 11 9 5
+f 11 7 3
+f 11 3 9
+f 12 8 5
+f 12 5 2
+f 12 10 8
+f 12 2 10
+f 13 10 1
+f 13 8 10
+f 14 7 11
+f 15 13 1
+f 15 8 13
+f 15 5 8
+f 15 11 5
+f 16 1 7
+f 16 7 14
+f 16 15 1
+f 17 14 11
+f 17 11 15
+f 17 16 14
+f 17 15 16
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_3.obj b/bagel/bagel_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb8b5430579843ecafefcb6fe39310280553227
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.22606735 -0.13859940 0.10529434
+v 0.29373015 -0.14214010 -0.14668497
+v 0.29887841 -0.00757576 -0.06965472
+v 0.18758254 0.04199748 0.05825918
+v 0.12899359 -0.15068665 -0.08026681
+v 0.24570370 -0.02374547 0.10157196
+v 0.29887841 -0.14393940 -0.06965472
+v 0.12997131 -0.15061290 0.00050759
+v 0.21697107 -0.01109132 -0.12737885
+v 0.23907114 -0.00773258 0.09601922
+v 0.29863804 -0.00737941 -0.13770754
+v 0.24277773 -0.08468324 0.10385801
+v 0.17135999 -0.14884481 -0.13261624
+v 0.15966762 -0.15140680 0.05643572
+v 0.16496311 -0.00854305 0.01427538
+v 0.19567881 0.03801066 0.06481789
+v 0.18107968 0.03969835 0.04841377
+v 0.16546666 -0.00798405 -0.07640400
+v 0.20309112 -0.11557421 -0.14343849
+v 0.17451654 -0.14959027 0.07158012
+v 0.14452878 -0.14903437 -0.10680844
+v 0.29628508 -0.04070501 -0.14385852
+v 0.19876452 -0.14663855 -0.14504223
+v 0.19227832 -0.02533198 -0.11352750
+v 0.24332273 -0.03978602 -0.14185689
+v 0.17972534 -0.02729892 -0.10137236
+v 0.20406335 -0.04149544 -0.12684272
+v 0.22862251 -0.05742367 -0.14198498
+f 7 3 6
+f 10 6 3
+f 10 1 6
+f 11 7 2
+f 11 3 7
+f 11 4 3
+f 12 7 6
+f 12 6 1
+f 12 1 7
+f 13 2 7
+f 14 8 5
+f 14 13 7
+f 14 5 13
+f 15 5 8
+f 16 10 3
+f 16 3 4
+f 16 1 10
+f 17 11 9
+f 17 4 11
+f 17 15 8
+f 17 14 4
+f 17 8 14
+f 18 5 15
+f 18 17 9
+f 18 15 17
+f 19 13 9
+f 20 14 7
+f 20 7 1
+f 20 1 16
+f 20 16 4
+f 20 4 14
+f 21 13 5
+f 21 5 18
+f 22 11 2
+f 23 2 13
+f 23 13 19
+f 23 22 2
+f 24 18 9
+f 24 13 21
+f 25 9 11
+f 25 11 22
+f 25 22 23
+f 26 24 21
+f 26 21 18
+f 26 18 24
+f 27 24 9
+f 27 9 13
+f 27 13 24
+f 28 19 9
+f 28 9 25
+f 28 25 23
+f 28 23 19
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_30.obj b/bagel/bagel_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524352a6970198dae7326ef9a185ab421df729df
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34349465 -0.26410820 0.00542526
+v 0.38342707 -0.00122995 -0.09581343
+v 0.34433296 -0.00757576 0.00610286
+v 0.23827235 -0.00757576 0.00610286
+v 0.26631781 -0.28664836 -0.10805686
+v 0.23827235 -0.26515152 0.00610286
+v 0.33101525 -0.25857464 -0.05994265
+v 0.19678886 -0.00780906 -0.11068867
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_31.obj b/bagel/bagel_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baaab8877afd6563592760f75d226d78bf17e665
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.33873766 -0.25976622 0.06588296
+v 0.41740901 -0.09375093 -0.02134285
+v 0.41650897 -0.05123141 0.07089659
+v 0.35776938 0.09884629 0.10829859
+v 0.38342707 -0.00122995 -0.09581343
+v 0.34282070 -0.14351326 0.12465469
+v 0.40174561 -0.15242005 0.03470612
+v 0.33520942 -0.25981762 -0.05046996
+v 0.42101983 0.09522660 0.00378879
+v 0.37208543 -0.18392364 0.08409092
+v 0.39508048 -0.00815674 0.09713831
+v 0.43309786 -0.02205453 0.03362393
+v 0.40061158 -0.12304112 -0.04720364
+v 0.34433296 -0.00757576 0.00610286
+v 0.33675261 -0.18478730 0.11698273
+v 0.35647660 -0.23999539 -0.01939911
+v 0.42273708 -0.00615049 -0.05038732
+v 0.41197719 0.11805793 0.00773650
+v 0.35907948 -0.15149204 0.11187834
+v 0.40159732 -0.12299489 0.07180762
+v 0.37094876 -0.21035570 0.06044462
+v 0.35520213 -0.08314320 0.12023247
+v 0.41567173 0.03259203 0.07060950
+v 0.41638990 -0.10889567 0.03365699
+v 0.38543593 -0.16526209 -0.04616468
+v 0.33529395 -0.24549574 0.08895560
+v 0.34402884 -0.25476106 0.06075303
+v 0.41666462 -0.06445751 -0.04728809
+v 0.43428930 -0.02169534 0.00691583
+v 0.34624560 -0.18085112 0.11132668
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+v 0.37308378 -0.15152374 0.09695114
+v 0.38520381 -0.16647104 0.07231492
+v 0.35691067 -0.23925420 0.04672435
+v 0.37494628 0.09610390 0.09733160
+v 0.41795939 0.09471744 0.01765674
+v 0.43340608 0.00727377 0.03582815
+v 0.41680428 -0.10969323 0.00620703
+v 0.40148752 -0.13590547 0.06104437
+v 0.41734471 -0.08002567 0.05905387
+v 0.34017216 -0.25355888 -0.04747608
+v 0.40065127 -0.13716895 -0.03359764
+v 0.34202052 -0.23874894 0.08459729
+v 0.43303680 0.02037868 0.00765510
+v 0.38680835 -0.18141381 -0.01913228
+v 0.39352204 0.02141533 0.09465437
+v 0.40140512 -0.15189892 -0.00639279
+v 0.43347376 0.01923396 0.02228805
+v 0.40650242 0.03339633 0.08133690
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+f 34 7 21
+f 34 27 16
+f 34 21 27
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+f 38 29 24
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+f 39 33 21
+f 39 21 7
+f 40 24 12
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+f 40 3 20
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+f 40 20 39
+f 41 16 8
+f 41 8 25
+f 42 25 13
+f 42 13 2
+f 43 21 10
+f 43 10 26
+f 43 26 1
+f 43 1 21
+f 44 29 17
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+f 45 34 16
+f 45 7 34
+f 45 25 42
+f 45 41 25
+f 45 16 41
+f 46 35 4
+f 46 4 11
+f 47 42 2
+f 47 2 38
+f 47 45 42
+f 47 38 7
+f 47 7 45
+f 48 37 29
+f 48 29 44
+f 48 44 9
+f 48 9 37
+f 49 46 11
+f 49 11 23
+f 49 23 35
+f 49 35 46
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_4.obj b/bagel/bagel_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61854c543171b4ef111364266836ec2d45e8f918
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07990947 -0.26515152 0.00610286
+v -0.06264045 -0.25386991 -0.10842047
+v -0.20040062 -0.00762205 0.00631918
+v -0.30718220 -0.00757576 0.00610286
+v -0.35998489 -0.26690816 0.00825530
+v -0.20035216 -0.00749132 -0.05477888
+v -0.08875480 -0.15903798 -0.00042213
+v -0.37579770 -0.16660001 -0.07944274
+v -0.08728753 -0.15499438 -0.05144696
+v -0.35263674 -0.14393940 0.00610286
+v -0.30718220 -0.00757576 -0.05450320
+v -0.34478599 -0.25994153 -0.04705747
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 9 6 3
+f 9 3 7
+f 9 7 2
+f 9 2 6
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 8 4
+f 11 4 6
+f 11 6 2
+f 11 2 8
+f 12 8 2
+f 12 2 5
+f 12 5 8
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_6.obj b/bagel/bagel_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64dba951b02b0128e151cbbce1d4ee6d12a71174
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.30447695 -0.27584246 -0.07516091
+v 0.29251011 -0.22763013 -0.12461113
+v 0.29887841 -0.14393940 -0.06965472
+v 0.13902175 -0.14621283 0.01885708
+v 0.01118351 -0.26746604 -0.10325122
+v 0.13461313 -0.26703143 0.12352752
+v 0.29373015 -0.14214010 -0.14668497
+v 0.15058537 -0.26472128 -0.14553929
+v 0.23827235 -0.14393940 0.00610286
+v 0.01036743 -0.26672442 0.08044081
+v 0.15016500 -0.15030095 -0.11464996
+v 0.22223809 -0.26111124 -0.14356733
+v 0.23827235 -0.26515152 0.00610286
+v 0.14084735 -0.21225631 0.08603181
+v 0.12407605 -0.26876518 0.11770718
+v 0.00463207 -0.21902163 0.01437639
+v 0.19876452 -0.14663855 -0.14504223
+v 0.26048774 -0.25935683 -0.12952869
+v 0.14092598 -0.16813244 0.04642168
+v 0.13789048 -0.25563990 0.11895003
+v 0.00368441 -0.23464919 0.04088138
+v 0.00958848 -0.21990193 -0.06348978
+v 0.15366815 -0.22258195 -0.14277717
+v 0.00772458 -0.23256498 -0.08443495
+v 0.28718220 -0.25593469 -0.11281269
+v 0.29144584 -0.17465955 -0.14186660
+v 0.00735156 -0.26000031 0.07379050
+v 0.13255800 -0.15209049 -0.09004833
+v 0.01088807 -0.25671483 -0.10047772
+v 0.23389138 -0.24808327 -0.14362578
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 1 3
+f 9 7 4
+f 9 3 7
+f 10 5 1
+f 12 1 8
+f 12 8 7
+f 13 9 6
+f 13 6 1
+f 13 1 9
+f 15 10 1
+f 15 1 6
+f 15 6 10
+f 17 11 4
+f 17 4 7
+f 17 7 8
+f 18 1 12
+f 19 14 9
+f 19 9 4
+f 20 6 9
+f 20 9 14
+f 20 14 10
+f 20 10 6
+f 21 4 16
+f 23 17 8
+f 23 8 5
+f 23 5 17
+f 24 11 17
+f 24 22 11
+f 24 16 22
+f 24 21 16
+f 24 5 21
+f 25 18 2
+f 25 2 1
+f 25 1 18
+f 26 7 2
+f 26 2 18
+f 27 10 14
+f 27 14 19
+f 27 19 4
+f 27 4 21
+f 27 21 5
+f 27 5 10
+f 28 22 16
+f 28 16 4
+f 28 4 11
+f 28 11 22
+f 29 24 17
+f 29 17 5
+f 29 5 24
+f 30 26 18
+f 30 18 12
+f 30 12 7
+f 30 7 26
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_7.obj b/bagel/bagel_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e207add4196a56b6f08008a82ba9a036c3b6ae60
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20652315 0.35194898 0.07614396
+v 0.20199108 0.34838668 -0.11627561
+v 0.07926285 0.47332888 -0.02220384
+v -0.09213652 0.48932426 0.04578740
+v -0.18597008 0.35606060 0.00610286
+v 0.07749683 0.44649585 0.08252532
+v 0.19686154 0.41304823 -0.03761348
+v -0.17952761 0.39327703 -0.11163766
+v 0.02309403 0.48980220 0.03368012
+v -0.09361769 0.41033664 0.12970829
+v 0.10852563 0.43140701 -0.08738107
+v 0.19519439 0.41343158 0.00501044
+v -0.15399788 0.35378950 -0.13079652
+v -0.24944641 0.40566037 0.06942838
+v -0.09289496 0.48981434 -0.03427409
+v 0.00862469 0.46595712 0.08699664
+v -0.24207876 0.39415384 0.09038695
+v 0.09703654 0.41066270 0.10307718
+v 0.19678863 0.39752866 -0.07283256
+v 0.12387124 0.44250379 -0.06059496
+v 0.19858538 0.38572128 0.05090794
+v 0.07804445 0.47276338 0.03153165
+v 0.10838247 0.45868301 -0.03397755
+v 0.11378767 0.37684058 -0.12847491
+v -0.18434674 0.35639619 -0.12302406
+v -0.12053733 0.42246886 -0.11232654
+v 0.02352093 0.47452163 -0.05820699
+v -0.16401098 0.47519655 0.01983936
+v 0.00814660 0.48951045 0.04521857
+v -0.10857659 0.47363630 0.07168229
+v 0.13123964 0.36438975 0.10547923
+v -0.07920070 0.41078926 0.13065790
+v 0.07904873 0.43355567 0.09524377
+v 0.15342736 0.40077413 -0.09864284
+v 0.13790238 0.42880901 -0.07378765
+v 0.18165814 0.41332330 -0.06117055
+v 0.12066217 0.44423478 0.04369252
+v 0.09374812 0.42014097 0.09799258
+v 0.03670209 0.49004117 0.00677267
+v 0.08069928 0.45863145 -0.06080489
+v 0.15851262 0.34923106 -0.13235518
+v -0.13824759 0.38120743 -0.12779925
+v -0.17781120 0.44320958 -0.07192848
+v 0.00445202 0.42088735 -0.11158119
+v -0.12241937 0.47299366 -0.05768206
+v -0.12192410 0.48888205 -0.00907446
+v 0.05040915 0.47414803 0.05842022
+v -0.13485252 0.44666567 0.09569184
+v -0.17585648 0.45845272 0.05772984
+v -0.07824243 0.42199650 0.12458985
+v 0.19864572 0.35799286 -0.11173219
+v 0.11288880 0.40371360 -0.11192709
+v 0.18144303 0.41297181 0.02614961
+v 0.11820439 0.43065146 0.06804768
+v 0.10607319 0.45789043 0.03186877
+v 0.19888226 0.37088537 0.06502245
+v 0.00925790 0.48765566 -0.03625026
+v 0.05292878 0.45938339 -0.07203115
+v -0.15304174 0.36739945 -0.12882962
+v -0.16560600 0.40578139 -0.10978062
+v -0.17761203 0.41781169 -0.09725118
+v -0.17608163 0.46092634 -0.03467077
+v -0.14857846 0.44534026 -0.08494175
+v -0.12077137 0.48863292 0.01931655
+f 5 2 1
+f 7 1 2
+f 12 1 7
+f 13 2 5
+f 19 7 2
+f 21 1 12
+f 22 12 3
+f 23 12 7
+f 23 3 12
+f 25 13 5
+f 25 17 14
+f 25 5 17
+f 25 14 8
+f 29 9 4
+f 29 4 16
+f 30 16 4
+f 31 17 5
+f 31 5 1
+f 31 10 17
+f 31 1 18
+f 32 31 18
+f 32 10 31
+f 33 6 16
+f 33 32 18
+f 35 11 20
+f 35 34 11
+f 35 19 34
+f 36 7 19
+f 36 35 20
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+f 36 23 7
+f 36 20 23
+f 38 18 1
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+f 39 22 3
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+f 39 15 4
+f 39 4 9
+f 40 23 20
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+f 40 20 11
+f 41 2 13
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+f 42 41 13
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+f 44 24 26
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+f 49 14 17
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+f 49 30 4
+f 49 4 28
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+f 50 48 10
+f 50 10 32
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+f 51 19 2
+f 51 2 41
+f 52 11 34
+f 52 24 44
+f 52 41 24
+f 52 51 41
+f 52 34 51
+f 53 37 21
+f 53 21 12
+f 53 12 37
+f 54 37 6
+f 54 21 37
+f 54 38 21
+f 54 6 33
+f 54 33 38
+f 55 37 12
+f 55 12 22
+f 55 47 37
+f 55 22 47
+f 56 38 1
+f 56 1 21
+f 56 21 38
+f 57 39 3
+f 57 27 15
+f 57 15 39
+f 57 40 27
+f 57 3 40
+f 58 40 11
+f 58 27 40
+f 58 44 27
+f 58 52 44
+f 58 11 52
+f 59 25 8
+f 59 8 42
+f 59 42 13
+f 59 13 25
+f 60 42 8
+f 60 26 42
+f 61 8 14
+f 61 14 43
+f 61 60 8
+f 61 26 60
+f 62 43 14
+f 62 14 28
+f 62 28 46
+f 62 46 45
+f 62 45 43
+f 63 45 26
+f 63 43 45
+f 63 61 43
+f 63 26 61
+f 64 46 28
+f 64 28 4
+f 64 4 46
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_8.obj b/bagel/bagel_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8c09edb738b0eacca17f6b9646012962c3f049
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01175723 -0.49321175 0.06208871
+v 0.01262598 -0.46460464 -0.07010114
+v 0.00836251 -0.27391099 0.08954173
+v -0.34051794 -0.25725351 0.09864736
+v -0.23191435 -0.40047428 -0.00478368
+v -0.25631086 -0.26006628 -0.11715353
+v -0.16723936 -0.36522213 0.12601461
+v 0.01298105 -0.30207202 -0.11612168
+v -0.04559884 -0.48910836 -0.00510721
+v 0.01118351 -0.26746604 -0.10325122
+v -0.35268638 -0.25926451 -0.03212900
+v -0.19106743 -0.38745853 -0.06764364
+v 0.01300141 -0.48111677 0.08978843
+v -0.17219237 -0.26721312 0.13183890
+v -0.26678378 -0.36799682 0.07467567
+v 0.01336121 -0.39345028 -0.11472982
+v 0.01266841 -0.49250901 -0.02113221
+v -0.28557908 -0.25770676 -0.10433682
+v -0.06899178 -0.26696985 -0.11521865
+v -0.29025974 -0.32622624 -0.04138522
+v -0.20772645 -0.41233746 -0.02158307
+v -0.04553494 -0.47577865 -0.04358087
+v -0.28742873 -0.26142873 0.12720145
+v -0.10346210 -0.42325909 0.11475536
+v -0.08835452 -0.47196111 0.06049120
+v -0.33528630 -0.31042861 0.00906151
+v -0.16749557 -0.35914586 -0.09720880
+v -0.04297003 -0.49071365 0.03293814
+v -0.22156101 -0.32741527 -0.09673243
+v -0.29056318 -0.28390648 -0.08435137
+v -0.20400660 -0.40071885 -0.04368886
+v -0.24873198 -0.38273379 -0.01556760
+v -0.08475141 -0.47251529 -0.01575528
+v -0.01670214 -0.49102624 -0.01790793
+v -0.21219401 -0.34823636 0.12552516
+v -0.18872780 -0.39938956 0.09829129
+v -0.04377294 -0.47433447 0.08609526
+v -0.18918104 -0.43016322 0.03361247
+v -0.29554307 -0.35292321 0.05039836
+v -0.33524689 -0.29904711 -0.01352981
+v -0.35745880 -0.26092244 0.07641661
+v -0.19718911 -0.31760345 -0.11105635
+v -0.01361160 -0.42081592 -0.09740503
+v -0.25449312 -0.27149466 -0.11340515
+v -0.19017799 -0.40106100 -0.05532152
+v -0.29044769 -0.35752586 0.02353096
+v -0.31158401 -0.28854653 0.11005108
+v -0.27789109 -0.33936990 0.09844697
+v -0.20924142 -0.37138485 0.11070185
+v -0.01651264 -0.48974975 0.06146989
+v -0.08933807 -0.46017180 0.08559981
+v -0.19239842 -0.42776267 0.00708672
+v -0.23390826 -0.39859365 0.04617257
+v -0.35029863 -0.28590791 -0.00210393
+v -0.34787205 -0.27000176 -0.03114050
+v -0.33471878 -0.31409240 0.05198108
+v 0.01267185 -0.42160333 -0.10179782
+v -0.01690188 -0.45988252 -0.06966730
+v -0.00172270 -0.39607684 -0.11236110
+v -0.05453648 -0.46221900 -0.05308152
+v -0.28654042 -0.27597071 0.12404093
+v -0.32012420 -0.29903913 0.09778978
+v -0.25353630 -0.34469351 0.10898158
+v -0.07360648 -0.47257200 0.07247218
+f 10 4 3
+f 10 3 8
+f 13 8 3
+f 14 3 4
+f 14 13 3
+f 16 6 8
+f 16 8 13
+f 17 13 1
+f 17 16 13
+f 17 2 16
+f 18 10 6
+f 18 4 10
+f 18 11 4
+f 19 10 8
+f 19 8 6
+f 19 6 10
+f 22 2 17
+f 23 14 4
+f 24 14 7
+f 24 13 14
+f 28 17 1
+f 29 27 12
+f 30 11 18
+f 30 18 29
+f 30 29 12
+f 31 20 30
+f 32 21 5
+f 32 31 21
+f 32 20 31
+f 33 22 9
+f 33 21 22
+f 34 22 17
+f 34 9 22
+f 34 28 9
+f 34 17 28
+f 35 7 14
+f 35 14 23
+f 35 24 7
+f 37 13 24
+f 38 28 25
+f 38 33 9
+f 38 9 28
+f 40 32 26
+f 40 20 32
+f 41 4 11
+f 42 6 16
+f 42 27 29
+f 44 29 18
+f 44 18 6
+f 44 42 29
+f 44 6 42
+f 45 22 21
+f 45 21 31
+f 45 31 30
+f 45 30 12
+f 46 32 5
+f 46 26 32
+f 47 23 4
+f 48 15 36
+f 49 36 24
+f 49 24 35
+f 50 1 13
+f 50 13 37
+f 50 28 1
+f 51 38 25
+f 51 36 15
+f 51 15 38
+f 51 37 24
+f 51 24 36
+f 52 38 5
+f 52 5 21
+f 52 21 33
+f 52 33 38
+f 53 38 15
+f 53 15 39
+f 53 39 46
+f 53 46 5
+f 53 5 38
+f 54 40 26
+f 54 41 11
+f 55 30 20
+f 55 20 40
+f 55 11 30
+f 55 54 11
+f 55 40 54
+f 56 39 15
+f 56 46 39
+f 56 26 46
+f 56 54 26
+f 56 41 54
+f 57 16 2
+f 58 2 22
+f 58 12 27
+f 58 27 43
+f 58 57 2
+f 58 43 57
+f 59 42 16
+f 59 57 43
+f 59 16 57
+f 59 43 27
+f 59 27 42
+f 60 45 12
+f 60 22 45
+f 60 58 22
+f 60 12 58
+f 61 47 35
+f 61 35 23
+f 61 23 47
+f 62 47 4
+f 62 4 41
+f 62 41 56
+f 62 48 47
+f 62 56 15
+f 62 15 48
+f 63 35 47
+f 63 47 48
+f 63 49 35
+f 63 48 36
+f 63 36 49
+f 64 50 37
+f 64 25 28
+f 64 28 50
+f 64 51 25
+f 64 37 51
\ No newline at end of file
diff --git a/bagel/bagel_3/collision/model_normalized_collision_9.obj b/bagel/bagel_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9561e5228cce582fef2e29782b5f035c5bb9cea4
--- /dev/null
+++ b/bagel/bagel_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11316944 -0.47854732 0.07503118
+v 0.34881454 -0.25808935 0.00660236
+v 0.16917268 -0.27118430 0.13949940
+v 0.08454461 -0.22667101 -0.08497300
+v 0.11368119 -0.42229655 -0.09476631
+v 0.30387551 -0.25900213 0.11548948
+v 0.12985553 -0.27338868 0.12366646
+v 0.20891686 -0.42934062 -0.01855272
+v 0.11254082 -0.47673065 -0.03178715
+v 0.22223809 -0.26111124 -0.14356733
+v 0.33442086 -0.25875715 0.07718557
+v 0.19394721 -0.26728441 0.14380885
+v 0.11479384 -0.42563801 0.13088799
+v 0.16910067 -0.45859244 -0.01534215
+v 0.19207223 -0.26340173 -0.14748007
+v 0.33101525 -0.25857464 -0.05994265
+v 0.19566385 -0.37393552 -0.09793800
+v 0.34792377 -0.25857079 0.03622909
+v 0.31781642 -0.25891822 0.10261458
+v 0.22177004 -0.41634982 0.06008783
+v 0.27881925 -0.26181967 0.13086217
+v 0.16201832 -0.33996412 0.14379208
+v 0.11272708 -0.44992701 0.11450930
+v 0.13967203 -0.47400006 0.06072788
+v 0.18989269 -0.32033354 -0.13208527
+v 0.27541522 -0.26085224 -0.11996197
+v 0.28159045 -0.34203094 -0.03305446
+v 0.18110144 -0.44441548 -0.03209483
+v 0.28134734 -0.34533186 0.06000552
+v 0.19449195 -0.44452692 0.04984337
+v 0.22300359 -0.38852689 0.09763597
+v 0.19048100 -0.33680028 0.14061095
+v 0.11243649 -0.46325527 0.10026198
+v 0.13941911 -0.47243514 -0.01789965
+v 0.19119848 -0.27648795 -0.14511509
+v 0.18594387 -0.37513356 -0.10233671
+v 0.29856109 -0.28258088 -0.08497934
+v 0.24454688 -0.28749123 -0.12675862
+v 0.32659239 -0.28175335 -0.03380849
+v 0.22306532 -0.40311905 -0.04361457
+v 0.19485780 -0.44428999 -0.00487528
+v 0.12571546 -0.47254928 -0.03142957
+v 0.19733816 -0.40302834 -0.06972486
+v 0.32558910 -0.28150066 0.06089802
+v 0.28066907 -0.33150410 0.08405480
+v 0.34242854 -0.26807045 0.03215161
+v 0.23833093 -0.40387513 0.04721156
+v 0.16684161 -0.45989483 0.06006196
+v 0.26897589 -0.31510599 0.11147973
+v 0.16855691 -0.40577405 0.12325657
+v 0.15367254 -0.44580676 0.09859906
+v 0.21744819 -0.27705513 -0.14033870
+v 0.32525897 -0.26912658 -0.05984292
+v 0.21473586 -0.31350402 -0.12626895
+v 0.26809489 -0.28587337 -0.11308972
+v 0.29645655 -0.32750076 -0.01765576
+v 0.23489455 -0.38816284 -0.04571602
+v 0.22157275 -0.41774006 -0.01706852
+v 0.32864756 -0.26957269 0.07486921
+v 0.26704747 -0.35808486 0.07350308
+v 0.30061766 -0.27032192 0.11234948
+v 0.28338167 -0.31439819 0.09721302
+v 0.14124068 -0.42186366 0.12506502
+v 0.19843521 -0.37565181 0.12381185
+f 9 1 4
+f 9 4 5
+f 12 7 3
+f 12 4 7
+f 13 7 4
+f 15 5 4
+f 15 4 10
+f 16 4 2
+f 18 2 4
+f 18 4 11
+f 19 11 4
+f 19 4 6
+f 21 6 4
+f 21 4 12
+f 22 3 7
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+f 22 12 3
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+f 24 1 9
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+f 26 4 16
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+f 33 23 4
+f 33 4 1
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+f 34 14 24
+f 34 28 14
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+f 35 5 15
+f 36 5 25
+f 37 26 16
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+f 39 16 2
+f 40 8 28
+f 41 28 8
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+f 42 28 34
+f 43 40 28
+f 43 36 17
+f 43 5 36
+f 43 42 5
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+f 46 2 18
+f 46 44 29
+f 46 18 44
+f 47 46 29
+f 47 20 30
+f 47 30 41
+f 48 24 14
+f 48 41 30
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+f 50 32 13
+f 51 33 1
+f 51 1 24
+f 51 24 48
+f 51 31 50
+f 51 20 31
+f 51 48 30
+f 51 30 20
+f 51 23 33
+f 52 35 10
+f 52 25 35
+f 52 38 25
+f 52 10 38
+f 53 37 16
+f 53 27 37
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+f 54 36 25
+f 54 25 38
+f 54 38 17
+f 54 17 36
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+f 55 40 43
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+f 56 39 2
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+f 56 2 46
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+f 57 37 27
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+f 59 44 18
+f 59 18 11
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+f 60 45 31
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+f 62 49 31
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+f 63 50 13
+f 63 13 23
+f 63 51 50
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+f 64 50 31
+f 64 31 49
+f 64 49 21
+f 64 21 32
+f 64 32 50
\ No newline at end of file
diff --git a/bagel/bagel_3/model.xml b/bagel/bagel_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..952401e08d92fa42ee8f11f3f809d9cb0f1cbca2
--- /dev/null
+++ b/bagel/bagel_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="bubl_hi" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="bubl_hi"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0004258956000000015 -0.00019023479999999874 -0.017697608400000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0004258956000000015 -0.00019023479999999874 0.017356768800000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05216938320000001 0.05880494040000001 -0.00017041980000000016" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bagel/bagel_3/visual/material.mtl b/bagel/bagel_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/bagel/bagel_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bagel/bagel_3/visual/model_normalized_0.obj b/bagel/bagel_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be04b5ba7f61adea36744df5ffdfdd8654d8714
--- /dev/null
+++ b/bagel/bagel_3/visual/model_normalized_0.obj
@@ -0,0 +1,129328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_0.obj b/bagel/bagel_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c682c754c0959e8aeb4dc48b4a296aac7c021a45
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.19599531 -0.42001038 0.01410790
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+v 0.21642710 -0.40194997 0.01384909
+v 0.36353744 -0.22673781 0.04236307
+v 0.22600674 -0.35449308 0.07745264
+v 0.20239207 -0.41610919 -0.00472976
+v 0.19346925 -0.36394123 -0.12221357
+v 0.32724994 -0.14254361 0.10883041
+v 0.27695490 -0.14328946 -0.12923809
+v 0.33697858 -0.28070813 0.00018229
+v 0.35248812 -0.24113705 0.04917129
+v 0.36739568 -0.23606502 0.00936415
+v 0.19586619 -0.34850376 0.09489634
+v 0.21716153 -0.38692521 0.05118476
+v 0.26348087 -0.29676967 0.09469233
+v 0.20170222 -0.40113662 -0.07491809
+v 0.19352571 -0.42128009 -0.01101352
+v 0.20126571 -0.41679317 0.01292561
+v 0.29117679 -0.20280469 -0.13242622
+v 0.28327041 -0.28398682 -0.11403458
+v 0.29735029 -0.17079370 0.12200619
+v 0.34958543 -0.14017404 -0.11800280
+v 0.32264283 -0.25140181 0.07788050
+v 0.36931558 -0.15198926 0.07952257
+v 0.36760261 -0.23993919 -0.05226318
+v 0.19538991 -0.40998729 0.04164922
+v 0.23839843 -0.30299583 0.10377415
+v 0.19458505 -0.40712191 -0.07304930
+v 0.19986405 -0.30947205 -0.13304378
+v 0.27842216 -0.18997595 -0.13373908
+v 0.32963010 -0.21276170 -0.12100512
+v 0.29927045 -0.14494221 0.12357402
+v 0.28038525 -0.21677326 0.12022512
+v 0.36409548 -0.21227428 0.05199419
+v 0.34277326 -0.18022473 0.09194496
+v 0.21011488 -0.34221382 0.09304844
+v 0.29106265 -0.18990034 -0.13288449
+v 0.21159211 -0.30705761 -0.13109090
+v 0.26739171 -0.26649679 0.10745771
+v 0.21025703 -0.28960219 0.12205984
+f 12 11 5
+f 12 4 11
+f 17 12 5
+f 17 7 12
+f 18 10 6
+f 19 5 11
+f 20 13 2
+f 20 8 13
+f 21 8 20
+f 21 20 2
+f 22 6 10
+f 22 21 2
+f 22 14 21
+f 23 7 17
+f 24 13 8
+f 24 8 15
+f 25 15 8
+f 26 9 2
+f 26 2 16
+f 27 16 1
+f 27 23 17
+f 28 1 16
+f 28 13 24
+f 28 16 2
+f 28 2 13
+f 30 2 9
+f 30 9 17
+f 31 4 12
+f 32 11 4
+f 32 4 18
+f 32 18 6
+f 32 19 11
+f 33 21 3
+f 33 8 21
+f 33 25 8
+f 34 22 10
+f 34 14 22
+f 35 22 2
+f 35 2 6
+f 35 6 22
+f 36 28 24
+f 36 1 28
+f 36 27 1
+f 36 23 27
+f 36 24 15
+f 36 15 23
+f 37 15 25
+f 38 26 16
+f 38 16 27
+f 38 9 26
+f 38 27 17
+f 38 17 9
+f 39 17 5
+f 40 5 19
+f 40 39 5
+f 40 29 39
+f 41 30 17
+f 41 6 2
+f 41 2 30
+f 41 32 6
+f 41 29 32
+f 42 31 18
+f 42 18 4
+f 42 4 31
+f 43 31 12
+f 43 12 7
+f 44 21 14
+f 44 14 34
+f 44 34 3
+f 44 3 21
+f 45 34 10
+f 45 10 18
+f 45 18 31
+f 45 31 43
+f 45 3 34
+f 45 43 33
+f 45 33 3
+f 46 23 15
+f 46 15 37
+f 47 32 29
+f 47 29 40
+f 47 40 19
+f 47 19 32
+f 48 39 29
+f 48 29 41
+f 48 41 17
+f 48 17 39
+f 49 37 25
+f 49 25 33
+f 49 33 43
+f 50 46 37
+f 50 7 23
+f 50 23 46
+f 50 37 49
+f 50 49 43
+f 50 43 7
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_1.obj b/bagel/bagel_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af4886b082e3572b5268b953a93878d0540233f
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.42246334 0.09675098 0.00146013
+v 0.41418473 0.09738942 -0.08720226
+v 0.38045710 0.22940913 -0.08035626
+v 0.19419225 0.41916155 -0.02890005
+v 0.23235809 0.09848485 0.00258712
+v 0.20155270 0.23785181 -0.13647217
+v 0.30828759 0.31265799 0.02125778
+v 0.41337632 0.15305702 -0.06622320
+v 0.39282666 0.09635187 -0.12542500
+v 0.19718687 0.39504048 -0.12331239
+v 0.20192330 0.23459662 0.09046006
+v 0.36770648 0.23772442 0.00729899
+v 0.26385435 0.37127048 -0.09524648
+v 0.40461724 0.09634044 -0.11177075
+v 0.23223362 0.09830545 -0.13212125
+v 0.33494486 0.17397611 -0.13221640
+v 0.19443971 0.40332987 0.01155183
+v 0.33745334 0.15822700 0.07532778
+v 0.35232159 0.27195981 -0.00656329
+v 0.38271607 0.22396959 -0.02072425
+v 0.24669872 0.38839382 -0.02435782
+v 0.19587911 0.41807730 -0.08248111
+v 0.39840589 0.15425268 -0.10717960
+v 0.19995994 0.32283420 -0.13346839
+v 0.27800182 0.09930184 -0.13374991
+v 0.21306813 0.34874360 0.05696807
+v 0.37458840 0.15349938 0.05313192
+v 0.33835525 0.28227889 -0.10582771
+v 0.39574378 0.19880542 -0.05973884
+v 0.36613822 0.25437651 -0.03030021
+v 0.41208501 0.13931320 0.00401018
+v 0.29542754 0.34130549 -0.00212842
+v 0.22352315 0.39988736 -0.00646752
+v 0.20698090 0.40286059 -0.11223707
+v 0.25196664 0.38310491 -0.08424970
+v 0.20674975 0.41315213 -0.08154139
+v 0.41226917 0.11087769 -0.08937305
+v 0.33485104 0.15983338 -0.13284220
+v 0.32294169 0.28211296 -0.12117785
+v 0.29059185 0.09874078 -0.13299590
+v 0.19795502 0.34585173 0.06101634
+v 0.29640207 0.27198708 0.06171832
+v 0.35816819 0.15116183 0.06516082
+v 0.38096728 0.19516763 -0.11033055
+v 0.36590550 0.25498776 -0.04123115
+v 0.39994954 0.18001844 -0.00521519
+v 0.36629431 0.21425225 0.03404875
+v 0.20794714 0.41241415 -0.03209862
+v 0.21533884 0.38600709 0.02477730
+v 0.19821254 0.40773678 -0.11268858
+v 0.23798656 0.38474776 -0.11075445
+v 0.37320543 0.19423738 -0.11998006
+v 0.24850205 0.34081722 0.04754068
+v 0.28730455 0.22889356 0.07906399
+v 0.35272247 0.17420678 0.06165593
+v 0.27580087 0.35969970 -0.08441856
+v 0.39535462 0.19712928 -0.03149301
+v 0.40984535 0.15288993 -0.01766268
+v 0.31190318 0.29813281 0.03127521
+v 0.23354626 0.38627234 0.00512423
+v 0.22203242 0.38772669 -0.11804892
+v 0.38776423 0.15695635 -0.11623241
+v 0.25607778 0.31136951 0.06036663
+v 0.28301757 0.24725411 0.07581925
+f 8 1 2
+f 9 1 5
+f 10 6 4
+f 14 2 1
+f 14 1 9
+f 15 9 5
+f 15 11 6
+f 15 5 11
+f 17 4 6
+f 17 6 11
+f 18 11 5
+f 18 5 1
+f 19 7 12
+f 20 19 12
+f 22 10 4
+f 23 3 8
+f 23 14 9
+f 24 6 10
+f 25 15 6
+f 29 8 3
+f 29 3 20
+f 30 20 3
+f 30 19 20
+f 31 1 8
+f 31 27 1
+f 32 7 19
+f 33 4 17
+f 33 32 21
+f 35 21 32
+f 36 22 4
+f 36 21 35
+f 37 23 8
+f 37 8 2
+f 37 2 14
+f 37 14 23
+f 38 24 16
+f 38 6 24
+f 38 25 6
+f 38 16 9
+f 39 24 10
+f 39 16 24
+f 40 9 15
+f 40 15 25
+f 40 38 9
+f 40 25 38
+f 41 17 11
+f 43 18 1
+f 43 1 27
+f 44 28 3
+f 44 3 23
+f 45 30 3
+f 45 3 28
+f 45 32 19
+f 45 19 30
+f 46 20 12
+f 47 27 31
+f 47 46 12
+f 47 31 46
+f 48 33 21
+f 48 4 33
+f 48 36 4
+f 48 21 36
+f 49 7 32
+f 49 33 17
+f 49 41 26
+f 49 17 41
+f 50 10 22
+f 50 36 34
+f 50 22 36
+f 51 35 13
+f 51 36 35
+f 51 34 36
+f 51 13 28
+f 51 28 39
+f 52 9 16
+f 52 16 39
+f 52 39 28
+f 52 28 44
+f 52 44 23
+f 53 49 26
+f 53 7 49
+f 54 11 18
+f 55 42 18
+f 55 18 43
+f 55 43 27
+f 55 47 42
+f 55 27 47
+f 56 45 28
+f 56 28 13
+f 56 32 45
+f 56 35 32
+f 56 13 35
+f 57 29 20
+f 57 20 46
+f 57 46 8
+f 57 8 29
+f 58 46 31
+f 58 31 8
+f 58 8 46
+f 59 47 12
+f 59 12 7
+f 59 42 47
+f 59 53 42
+f 59 7 53
+f 60 49 32
+f 60 32 33
+f 60 33 49
+f 61 50 34
+f 61 10 50
+f 61 34 51
+f 61 51 39
+f 61 39 10
+f 62 52 23
+f 62 23 9
+f 62 9 52
+f 63 53 26
+f 63 42 53
+f 64 54 18
+f 64 18 42
+f 64 42 63
+f 64 41 11
+f 64 11 54
+f 64 63 26
+f 64 26 41
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_10.obj b/bagel/bagel_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da45b3ccebb3ceaaf40749b325ae61da2cc112e
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.37866690 -0.20249487 0.01543827
+v 0.42949364 -0.06886132 -0.06250279
+v 0.40238475 -0.07759612 0.06105151
+v 0.35145621 0.09820842 0.08658176
+v 0.35346638 0.09906077 -0.12681032
+v 0.42642332 0.08117636 0.01315736
+v 0.34555821 -0.11287291 0.09713439
+v 0.42818044 -0.07712137 0.00673864
+v 0.37162981 -0.15518933 -0.10074981
+v 0.40400292 0.01349768 0.05910103
+v 0.41258780 0.09557331 -0.09774657
+v 0.38038096 -0.14938474 0.06800275
+v 0.34632436 0.03531681 0.09476121
+v 0.41253186 -0.13068959 -0.00653516
+v 0.42728297 0.02067794 0.02090935
+v 0.35247614 0.03918584 -0.12731143
+v 0.37899729 -0.20280105 -0.05689916
+v 0.39831209 0.09534688 0.04680882
+v 0.38865159 -0.02792065 0.07700085
+v 0.35812296 0.09874088 0.08235231
+v 0.43076364 0.05156502 -0.08136535
+v 0.35290875 -0.14366531 0.09140833
+v 0.41102624 -0.10313438 0.03794115
+v 0.42519493 -0.03323127 0.02336669
+v 0.42056376 0.08952772 0.02290411
+v 0.40630972 0.03763002 -0.11880196
+v 0.38077043 -0.19923743 0.01235813
+v 0.41347560 -0.09581895 -0.09974090
+v 0.36060664 0.03180127 0.08975945
+v 0.38255942 0.09433153 0.06248869
+v 0.42739253 0.07407290 -0.07675113
+v 0.37958721 -0.18880554 0.04634900
+v 0.35867280 -0.11368593 0.09056661
+v 0.36977440 -0.14441383 0.08064320
+v 0.40974429 0.06921629 0.04167955
+v 0.39441286 -0.10773092 -0.11012375
+v 0.41535794 0.04939770 -0.11001977
+v 0.39742185 0.09505848 -0.12110537
+v 0.40607273 -0.10370446 -0.10662491
+v 0.39616579 -0.15229625 0.03826854
+v 0.39732636 -0.16198231 0.02446724
+v 0.41119568 0.08218484 -0.10716809
+f 13 4 5
+f 14 2 8
+f 15 10 3
+f 16 9 7
+f 16 13 5
+f 16 7 13
+f 17 2 14
+f 19 3 10
+f 20 11 5
+f 20 5 4
+f 20 18 11
+f 20 19 10
+f 21 6 15
+f 21 15 8
+f 21 8 2
+f 22 17 1
+f 22 7 9
+f 22 9 17
+f 23 3 12
+f 24 15 3
+f 24 8 15
+f 24 23 8
+f 24 3 23
+f 25 15 6
+f 25 10 15
+f 25 6 11
+f 25 11 18
+f 27 17 14
+f 27 1 17
+f 28 2 17
+f 28 21 2
+f 29 13 7
+f 29 7 19
+f 29 4 13
+f 29 20 4
+f 29 19 20
+f 30 20 10
+f 30 18 20
+f 31 21 11
+f 31 11 6
+f 31 6 21
+f 32 22 1
+f 33 19 7
+f 33 7 22
+f 34 12 3
+f 34 33 22
+f 34 3 19
+f 34 19 33
+f 34 32 12
+f 34 22 32
+f 35 25 18
+f 35 10 25
+f 35 30 10
+f 35 18 30
+f 36 9 16
+f 36 16 26
+f 37 28 26
+f 37 21 28
+f 38 26 16
+f 38 16 5
+f 38 5 11
+f 38 37 26
+f 39 28 17
+f 39 17 9
+f 39 9 36
+f 39 36 26
+f 39 26 28
+f 40 23 12
+f 40 12 32
+f 40 8 23
+f 41 27 14
+f 41 40 32
+f 41 14 8
+f 41 8 40
+f 41 32 1
+f 41 1 27
+f 42 11 21
+f 42 21 37
+f 42 38 11
+f 42 37 38
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_11.obj b/bagel/bagel_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85202775a1a98490845f639278a19a14b4ae6902
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.33631633 -0.23111740 -0.09358183
+v 0.42426709 -0.07918732 -0.08337548
+v 0.12629748 -0.21969698 -0.05801894
+v 0.12629748 0.09848485 -0.05801894
+v 0.12914542 0.09992293 -0.13688419
+v 0.43679584 0.05203683 -0.05737910
+v 0.39931487 -0.04939297 -0.11805376
+v 0.12644547 -0.21875589 -0.13335394
+v 0.35357022 0.09848485 -0.05801894
+v 0.42724072 -0.07804977 -0.06235889
+v 0.39381988 -0.09451885 -0.11357830
+v 0.41535794 0.04939770 -0.11001977
+v 0.29681933 -0.23077430 -0.12244349
+v 0.39219460 -0.14093638 -0.08292370
+v 0.42725648 -0.04393625 -0.08998203
+v 0.35346638 0.09906077 -0.12681032
+v 0.38181780 -0.13915567 -0.10246951
+v 0.27852334 -0.20228264 -0.13308897
+v 0.42596349 0.05272849 -0.09387054
+v 0.40630972 0.03763002 -0.11880196
+v 0.38911297 -0.11655897 -0.10676583
+v 0.24527950 -0.22132780 -0.13315964
+v 0.30480324 -0.06700630 -0.13160680
+v 0.27781548 -0.21874465 -0.12967298
+v 0.27606041 0.02003259 -0.13203752
+f 6 4 3
+f 8 3 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 6 3
+f 10 3 1
+f 13 1 3
+f 13 3 8
+f 14 10 1
+f 14 2 10
+f 15 10 2
+f 15 6 10
+f 15 11 7
+f 15 2 11
+f 16 5 9
+f 16 9 6
+f 17 13 11
+f 17 1 13
+f 17 14 1
+f 17 2 14
+f 18 7 11
+f 18 11 13
+f 19 15 12
+f 19 6 15
+f 19 16 6
+f 19 12 16
+f 20 15 7
+f 20 12 15
+f 20 16 12
+f 20 7 18
+f 21 17 11
+f 21 11 2
+f 21 2 17
+f 22 13 8
+f 22 8 5
+f 22 5 18
+f 23 18 5
+f 23 20 18
+f 23 16 20
+f 24 22 18
+f 24 18 13
+f 24 13 22
+f 25 23 5
+f 25 5 16
+f 25 16 23
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_12.obj b/bagel/bagel_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4945482487304914fd156118f08445808885bf
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.14430137 0.09115796 0.04277883
+v -0.08238824 0.15428509 -0.00823160
+v -0.07066719 0.35609325 0.06276661
+v -0.16454093 0.35777215 0.03912722
+v -0.32871501 0.24466519 -0.01137011
+v -0.08582373 0.23484849 -0.01256440
+v -0.30807972 0.09407122 0.08089937
+v -0.07033501 0.23808208 0.05500568
+v -0.31309647 0.09848485 -0.01256440
+v -0.06860992 0.34004888 0.06223519
+v -0.20055301 0.33465076 0.02369230
+v -0.22088739 0.26249973 0.05915596
+v -0.07021389 0.22737845 0.04982383
+v -0.19503818 0.09425514 0.07744998
+v -0.12308769 0.09896319 -0.01355661
+v -0.31023067 0.12497087 0.07643901
+v -0.15380444 0.35186296 0.04478584
+v -0.30285030 0.22533152 0.04495123
+v -0.09482821 0.16740143 0.03270558
+v -0.06952216 0.28164172 0.06282458
+v -0.17278677 0.09568827 0.06596693
+v -0.25963376 0.22747685 0.05975423
+f 6 4 3
+f 9 7 5
+f 9 1 7
+f 10 6 3
+f 10 2 6
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 13 8 1
+f 13 2 10
+f 14 7 1
+f 14 3 7
+f 15 2 1
+f 15 1 9
+f 15 6 2
+f 15 9 5
+f 15 5 6
+f 16 7 3
+f 16 3 12
+f 16 5 7
+f 17 12 3
+f 17 3 4
+f 17 4 12
+f 18 12 4
+f 18 4 5
+f 18 5 16
+f 19 13 1
+f 19 1 2
+f 19 2 13
+f 20 13 10
+f 20 8 13
+f 20 14 8
+f 20 10 3
+f 20 3 14
+f 21 14 1
+f 21 1 8
+f 21 8 14
+f 22 18 16
+f 22 16 12
+f 22 12 18
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_13.obj b/bagel/bagel_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6e340e769b7f86329abde91664d4b9c152b2ae
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.34759370 -0.14179547 0.09363198
+v 0.39129591 -0.15956868 -0.06300233
+v 0.35776517 0.09779364 0.08256501
+v 0.23378812 0.10261576 0.10622119
+v 0.23235809 -0.14393940 -0.05801894
+v 0.30293865 -0.03974444 0.12125183
+v 0.23222973 -0.14446014 0.13559023
+v 0.35357022 0.09848485 -0.05801894
+v 0.34701317 -0.00858176 0.10139522
+v 0.27792097 -0.00942796 0.12188491
+v 0.29927045 -0.14494221 0.12357402
+v 0.23235809 0.09848485 -0.05801894
+v 0.33395001 -0.00917257 0.10827789
+v 0.23326464 -0.01254939 0.12148170
+v 0.32724994 -0.14254361 0.10883041
+f 1 2 3
+f 7 5 2
+f 8 3 2
+f 8 4 3
+f 9 1 3
+f 10 3 4
+f 10 7 6
+f 11 7 2
+f 11 2 1
+f 11 6 7
+f 12 7 4
+f 12 5 7
+f 12 4 8
+f 12 8 2
+f 12 2 5
+f 13 9 3
+f 13 11 9
+f 13 6 11
+f 13 10 6
+f 13 3 10
+f 14 10 4
+f 14 4 7
+f 14 7 10
+f 15 11 1
+f 15 1 9
+f 15 9 11
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_14.obj b/bagel/bagel_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86efb8c6ec684aaab02614bd70b2d1370a822a82
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.42056376 0.08952772 0.02290411
+v 0.42246334 0.09675098 0.00146013
+v 0.35624624 0.24708909 0.01204480
+v 0.01004902 0.23800268 0.06716064
+v 0.03047943 0.10215733 -0.00157654
+v 0.29133694 0.18571865 0.09058276
+v 0.38892753 0.20155711 -0.00309739
+v -0.00966002 0.20375670 0.03961686
+v 0.32147724 0.19389641 0.08116694
+v 0.11700533 0.10060176 0.08946212
+v 0.41208501 0.13931320 0.00401018
+v 0.39597546 0.16416548 0.02114580
+v 0.01328131 0.12508722 0.00575318
+v 0.35812296 0.09874088 0.08235231
+v 0.30369423 0.22844434 0.07630480
+v 0.11241097 0.17320813 0.09256889
+v 0.02612866 0.13334701 0.06160687
+v 0.41360713 0.12074191 0.02167125
+v 0.38276870 0.20044615 0.01558885
+v 0.41083243 0.13898649 0.00983166
+v 0.31998469 0.09562336 0.09334578
+v 0.33179705 0.23223494 0.05271658
+v 0.08099602 0.23679327 0.07844926
+v 0.27410921 0.20246775 0.09084195
+v 0.05781831 0.13230882 0.07634354
+v 0.02366449 0.13318849 0.05785771
+v 0.03194653 0.10822161 0.03954719
+v 0.38989640 0.09745704 0.05417861
+v 0.37248152 0.14000262 0.05967182
+v 0.20304239 0.21842201 0.09189998
+v 0.04769713 0.11083626 0.06242967
+v 0.39801327 0.13730706 0.03417196
+v 0.24437636 0.21538332 0.09086367
+f 5 2 1
+f 7 2 5
+f 8 4 3
+f 10 5 1
+f 11 2 7
+f 13 7 5
+f 13 3 7
+f 13 8 3
+f 14 9 6
+f 17 4 8
+f 18 1 2
+f 18 2 11
+f 19 7 3
+f 20 11 7
+f 20 19 12
+f 20 7 19
+f 20 18 11
+f 20 12 18
+f 21 10 1
+f 21 1 14
+f 21 14 6
+f 21 16 10
+f 22 15 9
+f 22 3 15
+f 22 19 3
+f 23 15 3
+f 23 3 4
+f 23 4 16
+f 24 6 9
+f 24 9 15
+f 24 21 6
+f 25 16 4
+f 25 10 16
+f 25 4 17
+f 26 17 8
+f 26 8 13
+f 27 5 10
+f 27 17 26
+f 27 26 13
+f 27 13 5
+f 28 14 1
+f 29 22 9
+f 29 9 14
+f 29 14 28
+f 30 15 23
+f 30 23 16
+f 30 16 21
+f 30 21 24
+f 31 25 17
+f 31 10 25
+f 31 27 10
+f 31 17 27
+f 32 28 1
+f 32 1 18
+f 32 29 28
+f 32 18 12
+f 32 12 19
+f 32 19 22
+f 32 22 29
+f 33 30 24
+f 33 24 15
+f 33 15 30
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_15.obj b/bagel/bagel_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f1a06475cc735a6f060c3b5f7c3c6376782eae
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.12638400 -0.08985017 0.05980317
+v -0.09054677 -0.09137530 -0.06398388
+v -0.12812349 0.09633371 0.00461891
+v -0.20188942 0.10101290 0.07745820
+v -0.20708187 -0.08336535 -0.13330617
+v -0.14640395 0.08945670 0.04779925
+v -0.08780356 -0.09232622 -0.01776472
+v -0.20760765 -0.08396932 0.10630587
+v -0.13215605 0.09851928 -0.10509454
+v -0.14029942 -0.08946246 -0.11949303
+v -0.20808362 0.09910914 -0.13870120
+v -0.16591778 -0.08519232 0.09562406
+v -0.11896287 0.10735841 -0.08538409
+v -0.11220422 -0.08904851 -0.09440312
+v -0.20747608 -0.00901865 0.09606687
+v -0.20907867 0.02348253 -0.13393372
+v -0.18013005 0.10076399 -0.13370027
+v -0.11776443 0.09431986 -0.06264355
+v -0.19518683 -0.00843699 0.09441143
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 10 2 7
+f 10 7 1
+f 10 8 5
+f 10 1 8
+f 12 6 4
+f 12 8 1
+f 12 1 6
+f 13 7 2
+f 13 2 9
+f 13 4 3
+f 13 11 4
+f 14 10 9
+f 14 9 2
+f 14 2 10
+f 15 4 11
+f 16 11 5
+f 16 5 8
+f 16 15 11
+f 16 8 15
+f 17 10 5
+f 17 5 11
+f 17 9 10
+f 17 13 9
+f 17 11 13
+f 18 13 3
+f 18 3 7
+f 18 7 13
+f 19 12 4
+f 19 4 15
+f 19 15 8
+f 19 8 12
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_16.obj b/bagel/bagel_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed14816436d06f22a61cdd6a00cff0f317df8c0
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.12007700 -0.13604399 0.12833372
+v 0.12706643 -0.14415611 -0.13145712
+v 0.13114043 -0.00972142 0.10120798
+v 0.09068821 -0.01041589 0.06918810
+v -0.04009897 -0.14630124 -0.11585147
+v 0.11168022 -0.00847890 -0.11521926
+v -0.02327088 -0.14876250 0.08595368
+v 0.13186495 -0.02674203 0.10927440
+v 0.12734865 -0.08370281 -0.12692833
+v 0.07768762 -0.00664884 -0.09762501
+v -0.02492112 -0.13853840 0.08021276
+v 0.03884960 -0.15112084 0.10860090
+v 0.12665330 -0.08380532 0.12143289
+v -0.00802147 -0.14807695 -0.11981518
+v 0.12210338 -0.00925083 0.09458418
+v -0.04136340 -0.09940840 -0.02024074
+v 0.08162775 -0.14466496 0.12145016
+v -0.00388144 -0.15046147 0.09423128
+v 0.06136742 -0.01017188 0.00980141
+v -0.04333601 -0.13078461 0.05648551
+v -0.03304666 -0.10149895 -0.07860642
+v 0.07619234 -0.09033449 0.10648430
+v -0.04308206 -0.12564468 -0.10293771
+f 8 3 7
+f 9 6 3
+f 9 8 2
+f 9 3 8
+f 10 3 6
+f 10 6 5
+f 11 7 3
+f 13 1 2
+f 13 2 8
+f 14 9 2
+f 14 5 6
+f 14 6 9
+f 14 2 12
+f 15 3 10
+f 15 11 3
+f 15 4 11
+f 17 12 2
+f 17 2 1
+f 17 1 13
+f 18 8 7
+f 18 14 12
+f 18 7 5
+f 18 5 14
+f 18 12 17
+f 19 15 10
+f 19 4 15
+f 19 10 16
+f 20 11 4
+f 20 19 16
+f 20 4 19
+f 20 7 11
+f 20 5 7
+f 21 16 10
+f 22 18 17
+f 22 8 18
+f 22 17 13
+f 22 13 8
+f 23 20 16
+f 23 5 20
+f 23 16 21
+f 23 21 10
+f 23 10 5
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_17.obj b/bagel/bagel_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951055524c2819c1910b100c2bbdd2d55a606f05
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.37303876 -0.00763942 0.07705276
+v -0.31340505 -0.00692284 -0.13468872
+v -0.31294717 0.09834853 0.07786028
+v -0.30701483 0.22947790 0.03958012
+v -0.40151570 0.08947857 -0.11064333
+v -0.30543200 0.20208595 0.05054949
+v -0.31309647 -0.00757576 -0.01256440
+v -0.43138815 -0.00912228 -0.03909516
+v -0.30924671 0.23197809 -0.12647570
+v -0.34691384 0.12281754 0.06235683
+v -0.39662681 -0.00881573 -0.12645476
+v -0.40036073 0.08695381 0.01327669
+v -0.41956849 -0.01168699 0.03564273
+v -0.30941119 0.15631128 0.06382269
+v -0.41755844 -0.00210580 -0.10002620
+v -0.38112807 0.09782637 -0.13119355
+v -0.43153035 0.00423249 -0.00240445
+v -0.33982687 0.22610149 -0.00156627
+v -0.40244831 0.01946978 0.04922654
+v -0.37367816 -0.01074457 -0.13339746
+v -0.41598489 0.03809487 -0.09658075
+v -0.31385224 0.14215419 -0.13161754
+v -0.35892924 0.19508239 -0.10711009
+v -0.43391451 -0.00921805 -0.00234914
+v -0.35548410 0.17899961 0.01929950
+v -0.39269848 -0.00844977 0.06393768
+v -0.38817450 0.09260361 0.03373776
+v -0.35398709 0.13815766 -0.13127205
+v -0.43026338 0.00497762 -0.03961578
+v -0.38787185 0.10584059 -0.12270209
+v -0.32735936 0.22730356 -0.11766206
+v -0.37376881 0.16136144 -0.10837673
+v -0.33100918 0.18448590 0.04424033
+v -0.33111069 0.22239737 0.01804325
+v -0.37390195 0.06110445 0.06167633
+v -0.41541994 0.00129697 0.03618545
+v -0.34278401 0.22460717 -0.09637761
+v -0.31541031 0.22633702 0.03439928
+v -0.38650432 0.01722204 0.06328402
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 9 6 2
+f 9 4 6
+f 10 1 3
+f 10 6 4
+f 13 7 1
+f 14 10 3
+f 14 3 6
+f 14 6 10
+f 15 11 8
+f 15 5 11
+f 16 11 5
+f 17 12 5
+f 17 13 12
+f 18 4 9
+f 20 13 8
+f 20 8 11
+f 20 2 7
+f 20 7 13
+f 20 11 16
+f 21 15 8
+f 21 5 15
+f 22 9 2
+f 23 12 18
+f 24 8 13
+f 24 13 17
+f 25 18 12
+f 26 19 13
+f 26 13 1
+f 27 25 12
+f 28 20 16
+f 28 2 20
+f 28 22 2
+f 28 16 9
+f 28 9 22
+f 29 17 5
+f 29 5 21
+f 29 21 8
+f 29 24 17
+f 29 8 24
+f 30 16 5
+f 31 9 16
+f 31 30 23
+f 31 16 30
+f 32 5 12
+f 32 12 23
+f 32 30 5
+f 32 23 30
+f 33 10 4
+f 33 27 10
+f 33 25 27
+f 34 18 25
+f 35 1 10
+f 35 27 19
+f 35 10 27
+f 36 27 12
+f 36 12 13
+f 36 13 19
+f 36 19 27
+f 37 31 23
+f 37 23 18
+f 37 18 9
+f 37 9 31
+f 38 4 18
+f 38 18 34
+f 38 33 4
+f 38 34 25
+f 38 25 33
+f 39 26 1
+f 39 1 35
+f 39 35 19
+f 39 19 26
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_18.obj b/bagel/bagel_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e089904420d5154467a2d93894ad22bfa8e7a6
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23235809 0.09848485 0.00258712
+v 0.23100871 0.09711249 -0.13230574
+v 0.23030181 0.23674086 -0.13538204
+v -0.00966002 0.20375670 0.03961686
+v 0.01875402 0.10384785 -0.09021518
+v 0.23235809 0.23484849 0.00258712
+v 0.02532795 0.10240791 -0.01025648
+v 0.00433106 0.23452227 -0.13838978
+v 0.12914542 0.09992293 -0.13688419
+v 0.00418332 0.20868564 -0.13504988
+v 0.12636339 0.23459676 -0.13831122
+v 0.03174266 0.10499718 -0.10006303
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 2 7
+f 9 3 2
+f 10 5 4
+f 10 4 8
+f 10 8 9
+f 11 9 8
+f 11 8 3
+f 11 3 9
+f 12 10 9
+f 12 9 5
+f 12 5 10
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_19.obj b/bagel/bagel_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a132d8f2f6f22c6f30f5225c8da48d1078a1d2b
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00949445 -0.08922059 0.01568704
+v 0.08197527 -0.08442332 -0.11398103
+v 0.07020182 -0.00611821 0.02127226
+v 0.03047943 0.10215733 -0.00157654
+v 0.01875402 0.10384785 -0.09021518
+v 0.08222605 0.09945525 -0.11567583
+v 0.05149925 0.07854468 0.01674989
+v 0.04450049 -0.06461574 0.02220295
+v 0.01034980 -0.09232638 -0.09344561
+v 0.01964698 0.10355532 -0.01973077
+v 0.05652840 -0.08841505 -0.10593765
+v 0.04026269 0.10322982 -0.10377103
+f 6 3 2
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 10 4 6
+f 11 9 2
+f 11 2 1
+f 11 1 9
+f 12 6 2
+f 12 2 9
+f 12 9 5
+f 12 10 6
+f 12 5 10
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_2.obj b/bagel/bagel_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11d52d0ca011420ff75c72e844c70d6d126b25f
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.07791385 -0.47930424 0.01167004
+v 0.19599531 -0.42001038 0.01410790
+v 0.13818783 -0.29064354 0.13606701
+v 0.07656647 -0.07919439 0.10026558
+v -0.01230746 -0.11157734 0.01705850
+v 0.20075126 -0.26367508 0.12968032
+v 0.12313964 -0.40007854 0.09313686
+v 0.17674977 -0.43233720 0.01220075
+v 0.12629748 -0.14393940 0.01773863
+v -0.17635501 -0.26584843 0.13086859
+v 0.12856685 -0.08687267 0.12235608
+v 0.19682802 -0.30204561 0.12164837
+v 0.14811297 -0.44610944 0.01174930
+v 0.12997959 -0.42915701 0.06610053
+v 0.20205506 -0.26515153 0.01773863
+v -0.05077223 -0.39640066 0.12098485
+v -0.17336605 -0.45449989 0.01629665
+v 0.14036282 -0.26508335 0.13729968
+v 0.11827100 -0.07853241 0.11838298
+v 0.06218796 -0.37469234 0.12138151
+v 0.14960950 -0.44235656 0.03018348
+v 0.19079220 -0.36164800 0.09137587
+v -0.00996536 -0.30895572 0.13806868
+v 0.02022095 -0.41881103 0.10599377
+v -0.17673283 -0.26515153 0.01773863
+v -0.17335503 -0.37188853 0.10872447
+v 0.13433404 -0.34606427 0.11829268
+v 0.17579841 -0.42758253 0.02908044
+v 0.11550282 -0.44351616 0.05404022
+v 0.14888251 -0.38524612 0.09342338
+v 0.19145343 -0.41439094 0.03932727
+v -0.12378031 -0.37562011 0.12024922
+v 0.07899851 -0.30988276 0.13650751
+v 0.05059643 -0.25367487 0.13641839
+v 0.03073580 -0.43316093 0.09087512
+v -0.01146258 -0.39485923 0.12095291
+v 0.10551379 -0.39297264 0.10318889
+v -0.09528053 -0.43149068 0.09289027
+v 0.18234812 -0.41169839 0.05151590
+v -0.17001128 -0.35095748 0.12000554
+v 0.11009691 -0.25233709 0.13712996
+v -0.00752635 -0.28118461 0.13720020
+v 0.03742925 -0.45919565 0.06558804
+v -0.00687192 -0.41920918 0.10672102
+v -0.16874168 -0.43193472 0.06151707
+v 0.09253388 -0.44366894 0.06322748
+v 0.05203313 -0.47513741 0.03750068
+v -0.00462054 -0.47463444 0.05524808
+v -0.16996864 -0.41550543 0.07695470
+v -0.06964572 -0.45990830 0.06768087
+v 0.01278273 -0.47535699 0.05184548
+v -0.11237427 -0.47611210 0.01630779
+v -0.13632838 -0.42881200 0.07940209
+v -0.08394883 -0.47056850 0.04499669
+v -0.15599543 -0.46086182 0.02793480
+v -0.11468871 -0.45874488 0.05285549
+v -0.11425077 -0.47422439 0.02634844
+v -0.16861584 -0.44588296 0.04029985
+v -0.15528797 -0.46219477 0.01681781
+f 9 5 4
+f 9 8 5
+f 10 4 5
+f 12 6 3
+f 12 2 6
+f 13 1 5
+f 13 5 8
+f 15 2 8
+f 15 8 9
+f 15 6 2
+f 15 11 6
+f 15 9 11
+f 18 3 6
+f 18 6 11
+f 19 4 10
+f 19 10 11
+f 19 11 9
+f 19 9 4
+f 21 13 8
+f 21 1 13
+f 25 17 10
+f 25 10 5
+f 25 5 1
+f 25 1 17
+f 26 10 17
+f 27 12 3
+f 27 3 20
+f 28 21 8
+f 28 8 2
+f 29 21 14
+f 29 1 21
+f 30 22 12
+f 30 7 14
+f 30 14 22
+f 31 2 12
+f 31 12 22
+f 31 28 2
+f 31 21 28
+f 32 16 23
+f 33 3 18
+f 33 18 23
+f 33 20 3
+f 34 11 10
+f 35 14 7
+f 35 7 24
+f 36 24 20
+f 36 20 33
+f 36 33 23
+f 36 23 16
+f 37 24 7
+f 37 20 24
+f 37 27 20
+f 37 7 30
+f 37 30 12
+f 37 12 27
+f 38 32 26
+f 38 16 32
+f 39 31 22
+f 39 22 14
+f 39 14 21
+f 39 21 31
+f 40 10 26
+f 40 26 32
+f 40 32 23
+f 40 23 10
+f 41 23 18
+f 41 18 11
+f 41 11 34
+f 42 34 10
+f 42 10 23
+f 42 41 34
+f 42 23 41
+f 43 14 35
+f 43 35 24
+f 44 36 16
+f 44 24 36
+f 44 16 38
+f 46 43 29
+f 46 29 14
+f 46 14 43
+f 47 1 29
+f 47 29 43
+f 48 43 24
+f 48 24 44
+f 49 38 26
+f 49 26 17
+f 49 17 45
+f 50 48 44
+f 50 44 38
+f 51 47 43
+f 51 43 48
+f 51 1 47
+f 52 17 1
+f 52 51 48
+f 52 1 51
+f 53 49 45
+f 53 38 49
+f 54 48 50
+f 56 50 38
+f 56 38 53
+f 56 53 45
+f 56 45 55
+f 56 54 50
+f 57 52 48
+f 57 48 54
+f 57 55 52
+f 57 56 55
+f 57 54 56
+f 58 55 45
+f 58 45 17
+f 58 17 55
+f 59 55 17
+f 59 17 52
+f 59 52 55
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_20.obj b/bagel/bagel_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa161dd46cca4f38c6505232ec667b0ab629840
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.16861584 -0.44588296 0.04029985
+v -0.17250977 -0.42001265 -0.11839740
+v -0.17925343 -0.26035930 0.13023771
+v -0.36186816 -0.25833041 0.05335819
+v -0.31204610 -0.35670018 -0.08246163
+v -0.21618960 -0.36068319 0.10016964
+v -0.18119605 -0.26928193 -0.12216104
+v -0.19680137 -0.44446257 -0.06322142
+v -0.28271729 -0.38638282 0.02153989
+v -0.17667149 -0.37103214 0.10846080
+v -0.31296008 -0.26507440 0.09328317
+v -0.17086511 -0.39289371 0.09460138
+v -0.36379413 -0.26196592 -0.10939344
+v -0.23925122 -0.40026122 -0.10324514
+v -0.17196558 -0.45312157 -0.06764396
+v -0.35403247 -0.31459938 0.00000137
+v -0.19661281 -0.41958938 0.06602255
+v -0.25108996 -0.41959071 -0.01623716
+v -0.33367697 -0.25894367 0.07770923
+v -0.33344284 -0.29930201 0.06065125
+v -0.26685994 -0.26521677 -0.13418815
+v -0.37731873 -0.25816454 -0.08520488
+v -0.25638957 -0.41176806 -0.05396222
+v -0.26449379 -0.32237608 -0.13153840
+v -0.26943491 -0.35887661 -0.11560818
+v -0.19581659 -0.44531405 0.01207205
+v -0.21698977 -0.40337582 -0.11609328
+v -0.35665307 -0.31290552 -0.05311765
+v -0.32544081 -0.34336995 0.01932507
+v -0.27025252 -0.34788177 0.07507552
+v -0.34222190 -0.30082827 0.05121741
+v -0.17943616 -0.32377374 -0.13323899
+v -0.22344406 -0.26642767 -0.13310990
+v -0.37756302 -0.25823582 0.02827654
+v -0.22604229 -0.42823260 -0.06291107
+v -0.30081981 -0.36842716 -0.07689570
+v -0.31500807 -0.34862312 -0.08955440
+v -0.18133653 -0.44475448 0.03392622
+v -0.22593712 -0.42854482 0.01150245
+v -0.18628147 -0.41529508 -0.11865980
+v -0.25596066 -0.37258172 -0.11556906
+v -0.37052352 -0.28899025 -0.06174528
+v -0.24230604 -0.37705617 0.07525446
+v -0.35976164 -0.29727960 0.01940156
+v -0.18213338 -0.29981260 -0.13157762
+v -0.36171661 -0.26743877 -0.10804851
+v -0.25112551 -0.40221802 0.03472762
+v -0.36669148 -0.28833311 0.01325588
+v -0.22603872 -0.40064650 0.06248317
+f 7 1 2
+f 10 3 6
+f 11 6 3
+f 12 7 3
+f 12 1 7
+f 12 3 10
+f 15 2 1
+f 17 1 12
+f 17 12 10
+f 17 10 6
+f 19 11 3
+f 19 3 4
+f 19 4 11
+f 20 11 4
+f 22 4 3
+f 22 21 13
+f 24 13 21
+f 25 13 24
+f 26 15 1
+f 26 8 15
+f 26 18 8
+f 27 15 8
+f 27 8 14
+f 29 18 9
+f 29 28 18
+f 29 16 28
+f 30 6 11
+f 30 11 20
+f 31 20 4
+f 31 29 9
+f 32 7 2
+f 32 24 21
+f 32 2 24
+f 33 3 7
+f 33 32 21
+f 33 22 3
+f 33 21 22
+f 34 4 22
+f 34 31 4
+f 35 23 14
+f 35 14 8
+f 35 8 18
+f 35 18 23
+f 36 5 14
+f 36 14 23
+f 36 23 18
+f 36 28 5
+f 36 18 28
+f 37 14 5
+f 37 5 28
+f 38 26 1
+f 38 1 17
+f 39 9 18
+f 39 18 26
+f 39 26 38
+f 40 2 15
+f 40 15 27
+f 40 27 24
+f 40 24 2
+f 41 27 14
+f 41 25 24
+f 41 24 27
+f 41 37 25
+f 41 14 37
+f 42 37 28
+f 42 34 22
+f 42 28 16
+f 43 17 6
+f 43 6 30
+f 43 31 9
+f 43 30 20
+f 43 20 31
+f 44 16 29
+f 44 29 31
+f 44 31 34
+f 45 33 7
+f 45 7 32
+f 45 32 33
+f 46 13 25
+f 46 25 37
+f 46 37 42
+f 46 42 22
+f 46 22 13
+f 47 39 38
+f 47 38 17
+f 47 9 39
+f 47 43 9
+f 48 42 16
+f 48 34 42
+f 48 44 34
+f 48 16 44
+f 49 47 17
+f 49 17 43
+f 49 43 47
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_21.obj b/bagel/bagel_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3770bb3a32c3973a9a59fb9fe175b56a745edc
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.16903529 -0.00962123 0.08061460
+v -0.14709293 -0.00774274 0.06257307
+v -0.17278677 0.09568827 0.06596693
+v -0.38213106 0.10551929 -0.01854881
+v -0.42802665 0.01600011 -0.01338139
+v -0.20703586 0.09848485 -0.01256440
+v -0.15919617 0.07647421 0.06349938
+v -0.20703586 -0.00757576 -0.01256440
+v -0.36663645 0.03464710 0.07480739
+v -0.16508660 0.09672861 0.05831016
+v -0.15357769 -0.00847196 0.06926361
+v -0.19518683 -0.00843699 0.09441143
+v -0.15218571 0.08131113 0.05551944
+v -0.32320761 0.09354784 0.07606943
+v -0.35873894 0.09138411 0.06052646
+v -0.18456141 0.09408788 0.07415063
+v -0.17184753 0.03142503 0.07756127
+v -0.36776009 -0.00900311 0.07962739
+v -0.34917330 0.06340621 0.07611527
+v -0.22636251 0.04982567 0.09142161
+v -0.32563359 -0.00881633 0.09376181
+v -0.29580782 0.04974789 0.09183762
+v -0.32262522 0.03376218 0.08867773
+f 8 5 4
+f 8 4 6
+f 10 6 4
+f 11 7 1
+f 11 2 7
+f 11 8 2
+f 11 1 8
+f 13 8 6
+f 13 2 8
+f 13 6 10
+f 13 7 2
+f 13 10 3
+f 13 3 7
+f 14 10 4
+f 14 3 10
+f 15 4 5
+f 15 5 9
+f 15 14 4
+f 16 7 3
+f 16 3 14
+f 17 12 1
+f 17 1 7
+f 17 16 12
+f 17 7 16
+f 18 9 5
+f 18 5 8
+f 18 8 1
+f 19 15 9
+f 19 14 15
+f 20 16 14
+f 20 12 16
+f 21 18 1
+f 21 1 12
+f 21 9 18
+f 22 21 12
+f 22 12 20
+f 22 20 14
+f 22 14 19
+f 23 19 9
+f 23 9 21
+f 23 22 19
+f 23 21 22
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_22.obj b/bagel/bagel_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16eab3ac18ac0e75a2c612082dbea132972ccd0
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.15719279 0.23606008 0.06763075
+v -0.16130910 0.23421754 -0.13924590
+v -0.15532464 0.45062983 -0.12150954
+v -0.15371763 0.46675279 -0.02952114
+v -0.33408515 0.22690447 0.01043431
+v -0.15347135 0.42249970 0.02304734
+v -0.29163749 0.22791890 0.04780611
+v -0.32126668 0.23183188 -0.12111160
+v -0.19168195 0.43562310 -0.02259080
+v -0.16357012 0.41774378 0.01971606
+v -0.23720191 0.23490552 0.06264324
+v -0.15865771 0.42826791 -0.13500961
+v -0.33251695 0.22865495 -0.11122791
+v -0.15534591 0.45110655 -0.00490650
+v -0.20752584 0.43098609 -0.08173843
+v -0.28882253 0.24006999 0.04298803
+v -0.32740430 0.23927961 0.00780646
+v -0.15530954 0.38187116 0.03667475
+v -0.23266138 0.27365751 0.05269235
+v -0.20762585 0.41990145 -0.10336848
+v -0.29244017 0.23112584 -0.13463443
+v -0.17976162 0.44640359 -0.02136366
+v -0.15552971 0.46854956 -0.09929281
+v -0.17623267 0.42152585 0.00484325
+v -0.31443418 0.26477443 -0.00378875
+v -0.18187516 0.40852652 -0.13249283
+v -0.31202252 0.25713807 -0.11705182
+v -0.16909647 0.44484911 -0.00991585
+v -0.20725980 0.43000514 -0.06628875
+v -0.16835920 0.46033257 -0.03360408
+v -0.17543541 0.44723510 -0.11353894
+v -0.29542650 0.29744252 -0.09573365
+v -0.32706128 0.24033054 -0.10795708
+v -0.27441135 0.27120481 -0.13174708
+v -0.17049173 0.44696476 -0.11977481
+v -0.16754035 0.46168486 -0.09492996
+v -0.29557037 0.29821135 -0.06762163
+v -0.31085950 0.26759576 -0.10947261
+v -0.16721690 0.42569898 -0.13257393
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 11 7 1
+f 12 3 2
+f 13 2 5
+f 14 6 4
+f 14 10 6
+f 16 7 6
+f 16 6 10
+f 16 5 7
+f 17 16 10
+f 17 5 16
+f 18 11 1
+f 18 1 6
+f 19 6 7
+f 19 7 11
+f 19 18 6
+f 19 11 18
+f 21 12 2
+f 21 13 8
+f 21 2 13
+f 22 14 4
+f 23 4 3
+f 24 17 10
+f 24 9 17
+f 25 17 9
+f 25 5 17
+f 26 12 21
+f 27 8 13
+f 27 26 8
+f 28 10 14
+f 28 14 22
+f 28 24 10
+f 28 22 9
+f 28 9 24
+f 29 25 9
+f 29 15 25
+f 30 4 23
+f 30 15 29
+f 30 22 4
+f 30 29 9
+f 30 9 22
+f 31 20 15
+f 32 15 20
+f 33 13 5
+f 33 5 25
+f 34 26 21
+f 34 21 8
+f 34 8 26
+f 35 27 20
+f 35 26 27
+f 35 20 31
+f 35 3 12
+f 35 31 23
+f 35 23 3
+f 36 30 23
+f 36 15 30
+f 36 31 15
+f 36 23 31
+f 37 25 15
+f 37 15 32
+f 37 33 25
+f 37 32 33
+f 38 32 20
+f 38 20 27
+f 38 33 32
+f 38 27 13
+f 38 13 33
+f 39 35 12
+f 39 12 26
+f 39 26 35
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_23.obj b/bagel/bagel_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0b328ee8258d0106736d5f082243c68d57301c
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.20192330 0.23459662 0.09046006
+v 0.20155270 0.23785181 -0.13647217
+v 0.20220651 0.35634086 -0.13017050
+v 0.00608584 0.35449694 0.07087729
+v 0.00140291 0.23014738 0.06169659
+v 0.19795502 0.34585173 0.06101634
+v 0.02483466 0.25214300 0.07425081
+v 0.00557820 0.35625430 -0.14059229
+v 0.19973262 0.31003195 0.07680349
+v 0.05293685 0.23807448 0.07717596
+v 0.01004902 0.23800268 0.06716064
+v 0.19995994 0.32283420 -0.13346839
+v 0.00433106 0.23452227 -0.13838978
+v 0.13691458 0.33397729 0.07567749
+v 0.02119992 0.32197554 0.07645899
+v 0.18807851 0.32179253 0.07591457
+v 0.09540888 0.33699240 0.07500706
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 5 1
+f 11 4 5
+f 11 10 7
+f 11 5 10
+f 12 8 3
+f 12 3 2
+f 12 2 8
+f 13 8 2
+f 13 2 5
+f 13 5 8
+f 14 6 4
+f 15 10 1
+f 15 7 10
+f 15 11 7
+f 15 4 11
+f 16 9 6
+f 16 6 14
+f 16 14 1
+f 16 1 9
+f 17 14 4
+f 17 4 15
+f 17 15 1
+f 17 1 14
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_24.obj b/bagel/bagel_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3962be68a38cd09fbdb7f6e7f72226ca26c36fe8
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.20770557 -0.40661040 0.02046589
+v 0.23235809 -0.26515153 -0.05801894
+v 0.23235809 -0.14393940 0.01773863
+v -0.01230746 -0.11157734 0.01705850
+v 0.00508536 -0.40151517 -0.05801894
+v -0.01364880 -0.09957648 -0.05605646
+v 0.23235809 -0.26515153 0.01773863
+v 0.20356425 -0.40330901 -0.05857402
+v 0.00508536 -0.40151517 0.01773863
+v 0.23235809 -0.14393940 -0.05801894
+v 0.12629748 -0.14393940 -0.05801894
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 6 5
+f 9 4 6
+f 10 6 3
+f 10 3 2
+f 10 2 8
+f 11 5 6
+f 11 6 10
+f 11 10 8
+f 11 8 5
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_25.obj b/bagel/bagel_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..784a7a5fcbbf82d3717b75255ee8074f65c833e8
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.20838218 -0.14472702 0.11445237
+v -0.21183539 -0.14978456 -0.12870043
+v -0.20866643 -0.00622275 -0.13225913
+v -0.39269848 -0.00844977 0.06393768
+v -0.43064458 -0.14201627 -0.04020610
+v -0.20747608 -0.00901865 0.09606687
+v -0.20708187 -0.08336535 -0.13330617
+v -0.30929298 -0.14600558 0.10902249
+v -0.40273413 -0.00804875 -0.11961977
+v -0.20821962 -0.02215682 -0.13144161
+v -0.40344773 -0.13951674 0.04791031
+v -0.33952988 -0.01118493 0.09135077
+v -0.43391451 -0.00921805 -0.00234914
+v -0.39459266 -0.03372226 -0.13110370
+v -0.37475822 -0.13629455 0.08080846
+v -0.41731989 -0.14028934 0.02499781
+v -0.26765299 -0.05724615 0.10697972
+v -0.43310641 -0.05866753 -0.07454394
+v -0.41956849 -0.01168699 0.03564273
+v -0.39253613 -0.01255170 -0.13084364
+v -0.35516797 -0.06530395 -0.13172425
+v -0.34975553 -0.14162930 0.09538379
+v -0.43323793 -0.09358687 0.01426927
+v -0.31029742 -0.11431200 0.10676637
+v -0.25345275 -0.05564524 0.10702098
+v -0.43235226 -0.02564009 -0.06661390
+v -0.42051027 -0.14118132 -0.08159560
+v -0.40183066 -0.03371588 -0.12390030
+v -0.41795977 -0.10460443 0.03469514
+v -0.38334204 -0.04719129 -0.13184905
+v -0.35174123 -0.05359821 0.08996158
+v -0.43105957 -0.13722827 -0.01600650
+v -0.43384711 -0.10523137 -0.07370809
+v -0.43083557 -0.03861532 0.01381116
+v -0.21078654 -0.08759347 0.10805975
+v -0.43138815 -0.00912228 -0.03909516
+v -0.37776286 -0.14178209 -0.12302960
+v -0.38626181 -0.12430364 -0.12134586
+v -0.38040769 -0.02686780 0.07581081
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 12 6 4
+f 13 4 9
+f 16 5 8
+f 16 8 11
+f 17 8 1
+f 17 6 12
+f 19 4 13
+f 19 15 4
+f 20 9 3
+f 21 7 2
+f 22 15 11
+f 22 11 8
+f 23 16 11
+f 24 17 12
+f 24 12 8
+f 24 8 17
+f 25 17 1
+f 25 6 17
+f 26 18 13
+f 26 9 18
+f 27 2 5
+f 28 18 9
+f 28 20 14
+f 28 9 20
+f 29 11 15
+f 29 15 19
+f 29 23 11
+f 29 19 23
+f 30 20 3
+f 30 3 7
+f 30 14 20
+f 30 7 21
+f 31 22 8
+f 31 8 12
+f 32 5 16
+f 32 16 23
+f 33 32 23
+f 33 5 32
+f 33 27 5
+f 33 28 27
+f 33 18 28
+f 33 23 13
+f 33 13 18
+f 34 23 19
+f 34 19 13
+f 34 13 23
+f 35 25 1
+f 35 1 6
+f 35 6 25
+f 36 26 13
+f 36 13 9
+f 36 9 26
+f 37 21 2
+f 37 2 27
+f 37 30 21
+f 37 14 30
+f 38 28 14
+f 38 27 28
+f 38 37 27
+f 38 14 37
+f 39 31 12
+f 39 12 4
+f 39 4 15
+f 39 15 22
+f 39 22 31
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_26.obj b/bagel/bagel_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952a5db2a62932ad72b1738b502d472c59305963
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.29769514 -0.37351278 -0.06590482
+v -0.25195022 -0.26513150 -0.13443870
+v -0.25249041 -0.14393940 -0.05801894
+v -0.39739137 -0.14345013 -0.10184266
+v -0.30306953 -0.33048817 -0.11465343
+v -0.24976818 -0.14224550 -0.12459052
+v -0.34720482 -0.32834738 -0.05098923
+v -0.25249041 -0.26515153 -0.05801894
+v -0.26545477 -0.33856386 -0.12670976
+v -0.37776286 -0.14178209 -0.12302960
+v -0.31170406 -0.32911976 -0.10621605
+v -0.32575954 -0.20377248 -0.13285237
+v -0.37256831 -0.24408476 -0.10539972
+v -0.34200762 -0.32533718 -0.06431214
+v -0.27156946 -0.20878371 -0.13195028
+v -0.26579184 -0.30675038 -0.13461969
+v -0.37768419 -0.20149938 -0.11520369
+v -0.37366332 -0.25547487 -0.09578655
+v -0.27934688 -0.30484714 -0.13208918
+v -0.32193563 -0.23097420 -0.13085661
+v -0.36160189 -0.24456137 -0.11488677
+v -0.37731873 -0.25816454 -0.08520488
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 4 3
+f 10 3 6
+f 11 5 1
+f 12 10 6
+f 14 11 1
+f 14 1 7
+f 15 12 6
+f 15 6 2
+f 15 2 12
+f 16 12 2
+f 16 2 9
+f 17 13 4
+f 17 4 10
+f 18 13 5
+f 18 5 11
+f 18 11 14
+f 18 14 7
+f 19 16 9
+f 19 9 5
+f 19 12 16
+f 20 17 10
+f 20 10 12
+f 20 12 19
+f 21 5 13
+f 21 13 17
+f 21 19 5
+f 21 20 19
+f 21 17 20
+f 22 18 7
+f 22 7 4
+f 22 4 13
+f 22 13 18
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_27.obj b/bagel/bagel_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170441864676cc0c09522da69f10be794ccbad16
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02327088 -0.14876250 0.08595368
+v -0.03974425 -0.13401110 -0.10773751
+v -0.04136340 -0.09940840 -0.02024074
+v -0.20169103 -0.07767205 0.10353185
+v -0.21412596 -0.15306423 -0.12751519
+v -0.01551405 -0.12306318 0.06711834
+v -0.20201759 -0.13910908 0.11272104
+v -0.19573680 -0.07837648 -0.13060773
+v -0.02447526 -0.11459666 0.04774898
+v -0.02492112 -0.13853840 0.08021276
+v -0.03786151 -0.10566173 -0.08154958
+v -0.12228142 -0.14976919 0.09486676
+v -0.04013970 -0.09963819 -0.04859615
+v -0.13387300 -0.14805125 0.09798756
+f 5 2 1
+f 6 1 2
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 10 4 1
+f 10 1 6
+f 11 6 2
+f 11 2 8
+f 12 7 5
+f 12 5 1
+f 13 9 6
+f 13 3 9
+f 13 6 11
+f 13 11 8
+f 13 8 3
+f 14 12 1
+f 14 1 7
+f 14 7 12
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_28.obj b/bagel/bagel_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b9f6eb53f9ca5bb9e3a4cd77cc6118db5ac840
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12734865 -0.08370281 -0.12692833
+v 0.08270932 0.23337670 -0.13629424
+v 0.08084294 0.23484849 -0.05801894
+v 0.06241024 -0.00994555 -0.09026049
+v 0.12629748 0.23484849 -0.05801894
+v 0.10047037 -0.08664346 -0.12093922
+v 0.12636339 0.23459676 -0.13831122
+v 0.07464438 -0.07737949 -0.11048089
+v 0.13021969 0.08602202 -0.13455990
+v 0.08197527 -0.08442332 -0.11398103
+f 4 3 2
+f 5 4 1
+f 5 3 4
+f 6 2 1
+f 7 2 3
+f 7 3 5
+f 8 4 2
+f 9 7 5
+f 9 5 1
+f 9 1 2
+f 9 2 7
+f 10 8 2
+f 10 2 6
+f 10 6 1
+f 10 1 4
+f 10 4 8
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_29.obj b/bagel/bagel_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5215d274488049fa7fb6cf4f304d870a688876
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.35420308 -0.26170857 0.05849398
+v -0.36534610 -0.27126484 -0.09083033
+v -0.35630783 -0.14342373 0.09017421
+v -0.38900963 -0.13882276 0.06584284
+v -0.41579881 -0.19730573 -0.01533099
+v -0.38525918 -0.14257249 -0.11508516
+v -0.36272016 -0.20151806 0.07541015
+v -0.34856090 -0.24337064 0.07224106
+v -0.38601582 -0.25647173 0.01040219
+v -0.38404766 -0.14921768 -0.11427689
+v -0.36817969 -0.13905556 0.08423627
+v -0.42051027 -0.14118132 -0.08159560
+v -0.39833944 -0.21747662 0.02607971
+v -0.35144309 -0.20216566 0.08184222
+v -0.36186816 -0.25833041 0.05335819
+v -0.39279062 -0.25430219 -0.04655040
+v -0.39184088 -0.14000816 -0.10865213
+v -0.41731989 -0.14028934 0.02499781
+v -0.38385671 -0.20309521 -0.11108818
+v -0.40078576 -0.18505387 0.03728236
+v -0.40170219 -0.23833090 -0.00613994
+v -0.37338151 -0.25681818 0.03605855
+v -0.41665273 -0.19897860 -0.04119707
+v -0.41723862 -0.18338308 0.01004105
+v -0.38767176 -0.20106243 -0.10788445
+v -0.38501556 -0.20312292 0.04926072
+v -0.40157477 -0.24091867 -0.01288079
+v -0.39905445 -0.22660062 -0.07201332
+v -0.37731873 -0.25816454 -0.08520488
+v -0.41783268 -0.18069417 -0.06207357
+f 8 1 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 3 6
+f 11 4 7
+f 14 8 2
+f 14 2 3
+f 14 7 8
+f 14 11 7
+f 14 3 11
+f 15 8 7
+f 15 1 8
+f 16 2 9
+f 17 11 6
+f 17 4 11
+f 17 6 12
+f 18 17 12
+f 18 4 17
+f 19 6 10
+f 19 10 2
+f 20 7 4
+f 20 4 18
+f 21 9 13
+f 22 15 13
+f 22 13 9
+f 22 9 1
+f 22 1 15
+f 24 20 18
+f 24 13 20
+f 24 21 13
+f 24 5 21
+f 24 23 5
+f 24 18 12
+f 24 12 23
+f 25 12 6
+f 25 6 19
+f 26 15 7
+f 26 7 20
+f 26 20 13
+f 26 13 15
+f 27 16 9
+f 27 9 21
+f 27 23 16
+f 27 21 5
+f 27 5 23
+f 28 12 25
+f 28 16 23
+f 29 25 19
+f 29 19 2
+f 29 28 25
+f 29 2 16
+f 29 16 28
+f 30 28 23
+f 30 23 12
+f 30 12 28
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_3.obj b/bagel/bagel_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a94185984a75011e8acb6761109fc2bf6c54f7
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01532729 0.11820958 -0.01737902
+v 0.01563385 0.11884522 -0.09326507
+v 0.00608584 0.35449694 0.07087729
+v -0.16454093 0.35777215 0.03912722
+v -0.20808362 0.09910914 -0.13870120
+v 0.00557820 0.35625430 -0.14059229
+v -0.15719279 0.23606008 0.06763075
+v 0.01504194 0.13638318 0.02861160
+v -0.12306042 0.09000132 -0.02591835
+v -0.07069940 0.35681777 0.06282167
+v -0.16269681 0.35788112 -0.13826671
+v 0.00528384 0.19800662 -0.13085888
+v -0.20703586 0.09848485 -0.01256440
+v 0.00997903 0.22553630 0.06269708
+v -0.13215605 0.09851928 -0.10509454
+v -0.13601884 0.09817571 0.01551136
+v -0.20587351 0.23489389 -0.13850938
+v -0.16768104 0.10155992 -0.13020531
+v -0.20703586 0.23484849 -0.01256440
+v -0.12812349 0.09633371 0.00461891
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 4 6
+f 12 6 2
+f 12 5 6
+f 13 5 9
+f 14 8 3
+f 14 3 7
+f 15 9 5
+f 15 2 9
+f 16 1 8
+f 16 13 9
+f 16 7 13
+f 16 14 7
+f 16 8 14
+f 17 11 6
+f 17 6 5
+f 17 4 11
+f 18 12 2
+f 18 5 12
+f 18 15 5
+f 18 2 15
+f 19 13 7
+f 19 7 4
+f 19 4 17
+f 19 17 5
+f 19 5 13
+f 20 16 9
+f 20 9 1
+f 20 1 16
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_30.obj b/bagel/bagel_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ed5cf777bbad887ced8a89630f26019c9d8f8d
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00494118 -0.25544159 0.13563783
+v 0.00508536 -0.26515153 -0.05801894
+v -0.01364880 -0.09957648 -0.05605646
+v -0.36366873 -0.14589496 0.08473385
+v -0.37470008 -0.27282753 -0.06268906
+v 0.00162035 -0.13650230 0.08498756
+v -0.34600556 -0.26242585 0.06806622
+v -0.39539761 -0.14460066 -0.10344318
+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 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_31.obj b/bagel/bagel_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3e3758af6dcda0813160a88ed1356df772de45
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.20703586 -0.00757576 -0.01256440
+v -0.20866643 -0.00622275 -0.13225913
+v -0.20587351 0.23489389 -0.13850938
+v -0.32871501 0.24466519 -0.01137011
+v -0.31309647 -0.00757576 -0.01256440
+v -0.31340505 -0.00692284 -0.13468872
+v -0.20703586 0.23484849 -0.01256440
+v -0.30485825 0.22676858 -0.13146820
+v -0.31309647 -0.00757576 -0.02771591
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 6 1
+f 9 1 5
+f 9 5 6
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_4.obj b/bagel/bagel_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf2f7e07152c20c1302e26683b5491e2747f1af
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.36113182 -0.00774000 0.09196176
+v 0.34701317 -0.00858176 0.10139522
+v 0.06241024 -0.00994555 -0.09026049
+v 0.03728715 0.10654385 0.04070178
+v 0.35145621 0.09820842 0.08658176
+v 0.12210338 -0.00925083 0.09458418
+v 0.23235809 -0.00757576 -0.05801894
+v 0.35776517 0.09779364 0.08256501
+v 0.09068821 -0.01041589 0.06918810
+v 0.20308832 0.09828413 0.10689541
+v 0.33395001 -0.00917257 0.10827789
+v 0.23235809 0.09848485 -0.05801894
+v 0.05363961 -0.00788769 0.00013783
+v 0.08889186 0.10595581 0.07904449
+v 0.16052556 -0.01000390 0.10720825
+v 0.34641400 0.08157799 0.09131430
+v 0.06897178 0.08406788 -0.10504091
+v 0.03226663 0.08646418 -0.00685146
+v 0.06136742 -0.01017188 0.00980141
+v 0.02964864 0.10674321 0.01892776
+v 0.28879582 0.08130298 0.10808274
+v 0.15964762 0.03532537 0.10743779
+v 0.03047943 0.10215733 -0.00157654
+v 0.31580131 0.06196488 0.10566575
+v 0.24568867 0.09617507 0.10658947
+v 0.13015150 0.10039811 0.09282011
+v 0.32982459 0.03365596 0.10518335
+v 0.11897662 0.08028381 0.09089583
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 6 4
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 12 5 8
+f 12 8 7
+f 13 9 4
+f 14 10 5
+f 14 4 6
+f 15 6 9
+f 15 9 11
+f 16 11 2
+f 16 2 5
+f 17 12 7
+f 17 7 3
+f 18 3 13
+f 18 17 3
+f 19 13 3
+f 19 3 9
+f 19 9 13
+f 20 4 14
+f 20 12 17
+f 20 18 13
+f 20 13 4
+f 20 14 5
+f 20 5 12
+f 22 14 6
+f 22 6 15
+f 22 21 10
+f 22 15 11
+f 22 11 21
+f 23 20 17
+f 23 17 18
+f 23 18 20
+f 24 21 11
+f 24 16 5
+f 24 5 21
+f 25 21 5
+f 25 5 10
+f 25 10 21
+f 26 22 10
+f 26 10 14
+f 27 24 11
+f 27 11 16
+f 27 16 24
+f 28 26 14
+f 28 14 22
+f 28 22 26
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_5.obj b/bagel/bagel_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38d7acf4fc49eb4a64d1164a7b0904af8080605
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.36240520 -0.27135978 -0.06740960
+v 0.37554893 -0.21685550 -0.05563861
+v -0.25249041 -0.26515153 -0.05801894
+v -0.25208980 -0.08276035 -0.12964300
+v 0.32963010 -0.21276170 -0.12100512
+v -0.25249041 -0.14393940 -0.05801894
+v 0.37116132 -0.23083202 -0.05436525
+v 0.37166500 -0.21605830 -0.06430531
+v -0.25195022 -0.26513150 -0.13443870
+v -0.10760848 -0.08774615 -0.08615783
+v -0.25524630 -0.08633398 -0.12886408
+v 0.36177280 -0.27044216 -0.06603097
+v 0.12629748 -0.14393940 -0.05801894
+v 0.24441934 -0.26320782 -0.13164707
+v 0.12706643 -0.14415611 -0.13145712
+v -0.25509039 -0.23761670 -0.13303874
+v 0.29939514 -0.26053633 -0.11499148
+v -0.19573680 -0.07837648 -0.13060773
+v 0.25918356 -0.21904676 -0.13002145
+v 0.12943153 -0.16081515 -0.13440691
+v 0.32482520 -0.22760686 -0.11742434
+v -0.23517822 -0.08302069 -0.13174520
+v 0.25843845 -0.24938618 -0.13058874
+v -0.19622333 -0.08579888 -0.13167088
+f 7 1 2
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 10 4 6
+f 11 6 4
+f 11 3 6
+f 12 7 3
+f 12 3 1
+f 12 1 7
+f 13 7 2
+f 13 6 7
+f 13 10 6
+f 14 1 9
+f 15 10 13
+f 15 8 5
+f 15 13 2
+f 15 2 8
+f 16 9 3
+f 16 3 11
+f 16 11 4
+f 16 4 9
+f 17 14 5
+f 17 1 14
+f 18 4 10
+f 18 10 15
+f 20 14 9
+f 20 18 15
+f 20 19 14
+f 20 15 5
+f 20 5 19
+f 21 17 5
+f 21 5 1
+f 21 1 17
+f 22 9 4
+f 22 4 18
+f 22 20 9
+f 23 19 5
+f 23 5 14
+f 23 14 19
+f 24 22 18
+f 24 18 20
+f 24 20 22
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_6.obj b/bagel/bagel_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3504305c05d9a69c39b1ddf1058c7c7eaaa91a08
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.18295446 -0.38309546 0.09652378
+v 0.00521661 -0.26530972 0.13741001
+v -0.24879207 -0.22019655 0.12270396
+v -0.20169103 -0.07767205 0.10353185
+v 0.00162035 -0.13650230 0.08498756
+v -0.21078654 -0.08759347 0.10805975
+v -0.34856090 -0.24337064 0.07224106
+v -0.17357929 -0.33462073 0.12525277
+v 0.01068381 -0.16579577 0.10805458
+v -0.22110419 -0.19090291 0.12243253
+v -0.26284313 -0.36097820 0.07065823
+v -0.13790003 -0.08765033 0.06959454
+v -0.36366873 -0.14589496 0.08473385
+v -0.17351537 -0.36548136 0.11433348
+v -0.29047118 -0.26108710 0.10530264
+v 0.00877471 -0.14946334 0.10058710
+v 0.00752607 -0.21096252 0.12616988
+v -0.32241238 -0.14652296 0.10523987
+v -0.15960748 -0.08705763 0.09262125
+v -0.30332249 -0.31710137 0.06875470
+v -0.34975553 -0.14162930 0.09538379
+v -0.20252706 -0.35907923 0.10643428
+v -0.23336564 -0.27704996 0.12134708
+v 0.00494118 -0.25544159 0.13563783
+v -0.32356072 -0.17567358 0.10431237
+v -0.31602637 -0.26272635 0.09188178
+v -0.25868884 -0.35771882 0.07643603
+v -0.19838542 -0.33439981 0.12023331
+v -0.34672570 -0.23865036 0.08055242
+v -0.26971058 -0.32932192 0.09042737
+v -0.27612708 -0.28804077 0.10411586
+v -0.34454471 -0.18343675 0.09203434
+v -0.29913383 -0.31257939 0.07918762
+f 5 2 1
+f 8 2 3
+f 9 2 5
+f 10 3 2
+f 10 2 6
+f 11 5 1
+f 12 5 11
+f 13 12 7
+f 13 4 12
+f 14 1 2
+f 14 2 8
+f 16 9 5
+f 16 5 4
+f 16 4 9
+f 17 2 9
+f 17 9 4
+f 17 4 6
+f 18 10 6
+f 18 3 10
+f 19 12 4
+f 19 4 5
+f 19 5 12
+f 20 12 11
+f 20 7 12
+f 21 6 4
+f 21 4 13
+f 21 18 6
+f 22 1 14
+f 23 8 3
+f 24 17 6
+f 24 6 2
+f 24 2 17
+f 25 3 18
+f 25 23 3
+f 25 15 23
+f 25 18 21
+f 26 15 25
+f 27 11 1
+f 27 1 22
+f 28 22 14
+f 28 14 8
+f 28 8 23
+f 29 7 20
+f 29 13 7
+f 30 27 22
+f 30 11 27
+f 30 22 28
+f 31 28 23
+f 31 23 15
+f 31 30 28
+f 31 15 26
+f 31 26 30
+f 32 21 13
+f 32 13 29
+f 32 25 21
+f 32 29 26
+f 32 26 25
+f 33 20 11
+f 33 11 30
+f 33 29 20
+f 33 30 26
+f 33 26 29
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_7.obj b/bagel/bagel_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72fd66f26d07c3b10dd7fac658843917d3fac0b0
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24274821 0.34884024 0.04147960
+v 0.24729368 0.35582827 0.03257956
+v 0.04608959 0.47383832 0.00689046
+v -0.06601725 0.49060633 -0.03082431
+v -0.16269681 0.35788112 -0.13826671
+v -0.14116374 0.35428744 0.04892876
+v 0.20805107 0.38692026 0.03347747
+v 0.20220651 0.35634086 -0.13017050
+v -0.09414050 0.44738038 0.03276122
+v 0.15474548 0.34877735 0.06929384
+v 0.22754984 0.34944585 0.05263146
+v 0.13912873 0.35326174 -0.13389496
+v 0.19142992 0.41450560 -0.09616201
+v -0.06828320 0.47441511 0.00738858
+v -0.15368838 0.47325350 -0.08524314
+v -0.02300208 0.39364336 0.06052542
+v 0.09107463 0.42049753 0.04597999
+v 0.19350742 0.41768929 -0.00853885
+v 0.19494108 0.40401763 -0.11796723
+v 0.07507544 0.47688255 -0.10845162
+v 0.06223499 0.44542918 0.03353737
+v 0.01373834 0.49310189 -0.01918118
+v -0.15933817 0.35494985 0.04192684
+v -0.15238663 0.46582265 -0.02318923
+v -0.09781655 0.42490135 0.04385674
+v -0.07069940 0.35681777 0.06282167
+v 0.06195007 0.39304062 0.05988802
+v 0.17414872 0.38588240 0.04704851
+v 0.24227817 0.36310946 0.02848164
+v 0.07267266 0.47663717 -0.01095010
+v 0.10304465 0.47687243 -0.08080275
+v -0.05340252 0.49197193 -0.08469571
+v -0.12604974 0.45114895 -0.13298459
+v 0.10558146 0.43225003 0.03324736
+v -0.05639272 0.48964621 -0.01895145
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+v 0.15797523 0.44542593 -0.06821798
+v 0.13102959 0.45776779 -0.09215698
+v 0.04739881 0.49223992 -0.03238724
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+v -0.15661868 0.43689434 -0.13187858
+v -0.05304864 0.47628625 -0.11918117
+v 0.10477036 0.43790754 -0.13262914
+v 0.10340232 0.44423835 0.01819175
+v -0.15126411 0.47452102 -0.05991576
+v -0.09415999 0.47371623 -0.00456156
+v -0.12098224 0.43750148 0.02935773
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+v 0.10409492 0.47455512 -0.04259380
+v 0.08788281 0.46297579 -0.11875163
+v 0.04615854 0.48552660 -0.08825171
+v -0.12929982 0.47266511 -0.11144613
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+v 0.15210869 0.41015374 -0.13158043
+v -0.14867273 0.42991972 0.01846017
+v 0.13374845 0.45781393 -0.03280934
+v 0.11798965 0.44504959 -0.11997831
+v -0.14137515 0.46437042 -0.11908883
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+f 53 37 39
+f 54 39 37
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+f 58 46 32
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+f 58 32 48
+f 59 48 32
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+f 59 49 33
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+f 62 31 55
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+f 63 19 49
+f 63 49 56
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+f 64 33 47
+f 64 47 15
+f 64 15 58
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_8.obj b/bagel/bagel_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c958dc180871593e2fa35992afe42f7a36bcac01
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01498953 -0.49302351 0.01394834
+v 0.18970028 -0.40061936 -0.10515771
+v 0.20770557 -0.40661040 0.02046589
+v -0.17673283 -0.26515153 0.01773863
+v -0.17250977 -0.42001265 -0.11839740
+v 0.20215162 -0.26518749 -0.13292352
+v -0.06763539 -0.48898667 0.01548320
+v 0.10621625 -0.47491445 -0.02628384
+v 0.19986405 -0.30947205 -0.13304378
+v 0.20205506 -0.26515153 -0.05801894
+v -0.18119605 -0.26928193 -0.12216104
+v -0.04266445 -0.48837260 -0.08108838
+v -0.16772893 -0.45776018 0.01327325
+v 0.15980526 -0.44521948 -0.03631083
+v 0.13401764 -0.46104973 0.00005845
+v 0.20322452 -0.28084236 -0.13331806
+v 0.06195509 -0.44140748 -0.13099722
+v 0.10923257 -0.26423706 -0.13316737
+v 0.00508536 -0.26515153 0.01773863
+v -0.08199157 -0.49250510 -0.05401148
+v 0.04565954 -0.49011371 -0.05268814
+v -0.16991328 -0.45842919 -0.05344851
+v 0.13075998 -0.44375987 -0.09589800
+v 0.18546340 -0.41720601 -0.06859428
+v 0.08461275 -0.47628745 0.01034457
+v 0.19599531 -0.42001038 0.01410790
+v 0.16175928 -0.44461211 -0.02960737
+v 0.18265402 -0.35162754 -0.13217674
+v -0.08601249 -0.41712672 -0.13343248
+v 0.03743008 -0.26441653 -0.13339916
+v -0.08012892 -0.49141552 -0.00514832
+v -0.10919288 -0.47660160 -0.07553217
+v 0.04528840 -0.49065202 -0.04615951
+v 0.01513407 -0.48947144 -0.07459162
+v 0.12837882 -0.46018323 -0.04459333
+v 0.09222712 -0.47361234 -0.06154260
+v 0.07098896 -0.45891141 -0.11946284
+v 0.16382208 -0.42755928 -0.09204740
+v 0.17674977 -0.43233720 0.01220075
+v 0.18936091 -0.37837641 -0.11826853
+v -0.06733068 -0.43813316 -0.13167363
+v -0.12296999 -0.47286102 0.01422930
+v -0.16966705 -0.44861994 -0.07550833
+v -0.12435165 -0.47384686 -0.06702528
+v 0.10197552 -0.47488826 -0.03761061
+v 0.14978003 -0.41669895 -0.11698206
+v -0.08429492 -0.42818858 -0.13255462
+v -0.14054778 -0.43203592 -0.11994958
+v -0.00585754 -0.46322668 -0.11662356
+v 0.14875215 -0.42625074 -0.10661852
+v -0.07894585 -0.47668733 -0.08738129
+v -0.08114132 -0.44521647 -0.12202516
+f 7 1 3
+f 7 3 4
+f 9 3 2
+f 13 7 4
+f 13 4 11
+f 16 3 9
+f 16 10 3
+f 16 6 10
+f 18 10 6
+f 19 4 3
+f 19 3 10
+f 19 18 4
+f 19 10 18
+f 22 13 11
+f 22 11 5
+f 22 20 13
+f 24 2 3
+f 25 3 1
+f 25 1 8
+f 25 8 15
+f 26 24 3
+f 27 15 8
+f 27 8 14
+f 27 26 15
+f 27 14 24
+f 27 24 26
+f 29 5 11
+f 29 28 17
+f 29 9 28
+f 29 16 9
+f 30 11 4
+f 30 4 18
+f 30 29 11
+f 30 16 29
+f 30 18 6
+f 30 6 16
+f 31 20 1
+f 31 1 7
+f 31 13 20
+f 32 12 20
+f 33 21 8
+f 33 8 1
+f 33 1 20
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+f 38 35 23
+f 38 14 35
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+f 39 15 26
+f 39 26 3
+f 39 3 25
+f 40 28 9
+f 40 9 2
+f 42 31 7
+f 42 7 13
+f 42 13 31
+f 43 22 5
+f 43 5 32
+f 44 32 20
+f 44 20 22
+f 44 43 32
+f 44 22 43
+f 45 8 21
+f 45 21 36
+f 45 36 35
+f 45 35 8
+f 46 40 2
+f 46 37 17
+f 46 17 28
+f 46 28 40
+f 47 5 29
+f 47 29 17
+f 47 17 41
+f 48 32 5
+f 48 47 41
+f 48 5 47
+f 49 37 12
+f 49 41 17
+f 49 17 37
+f 50 46 2
+f 50 2 38
+f 50 38 23
+f 50 23 37
+f 50 37 46
+f 51 12 32
+f 51 32 48
+f 51 49 12
+f 52 51 48
+f 52 48 41
+f 52 41 49
+f 52 49 51
\ No newline at end of file
diff --git a/bagel/bagel_6/collision/model_normalized_collision_9.obj b/bagel/bagel_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ede738421c5825955d42f0ed7538949fb5ac0a4
--- /dev/null
+++ b/bagel/bagel_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.22756017 -0.26088014 0.12563810
+v 0.23235809 -0.26515153 0.01773863
+v 0.23260033 -0.00837316 0.12027408
+v 0.13411901 -0.01459615 0.10440361
+v 0.12629748 -0.26515153 0.01773863
+v 0.09684054 -0.00305969 -0.10618706
+v 0.12627647 -0.26522130 0.13851861
+v 0.23344528 -0.02430495 0.12369401
+v 0.23235809 -0.00757576 -0.05801894
+v 0.12629748 -0.14393940 -0.05801894
+v 0.12856685 -0.08687267 0.12235608
+v 0.21641674 -0.20554999 0.13677048
+v 0.23235809 -0.14393940 -0.05801894
+v 0.16976417 -0.20466386 0.13650368
+v 0.21935005 -0.02464293 0.12223009
+v 0.21356164 -0.23290214 0.13707656
+v 0.17468559 -0.23349577 0.13820370
+f 6 4 3
+f 7 6 5
+f 7 5 2
+f 7 2 1
+f 8 1 2
+f 9 6 3
+f 9 3 8
+f 10 2 5
+f 10 5 6
+f 11 4 6
+f 11 6 7
+f 12 1 8
+f 13 9 8
+f 13 8 2
+f 13 2 10
+f 13 10 6
+f 13 6 9
+f 14 11 7
+f 14 8 11
+f 14 12 8
+f 15 11 8
+f 15 8 3
+f 15 3 4
+f 15 4 11
+f 16 7 1
+f 16 1 12
+f 17 14 7
+f 17 12 14
+f 17 16 12
+f 17 7 16
\ No newline at end of file
diff --git a/bagel/bagel_6/model.xml b/bagel/bagel_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..240fe9562a296217c2e273850866a5ed9c2cf01f
--- /dev/null
+++ b/bagel/bagel_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.010" texture="image0" specular="0.5" shininess="1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material_0.010"/>
+        <geom solimp="0.998 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="0.00015847315000000085 4.310899999999397e-06 -0.015465151900000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00015847315000000085 4.310899999999397e-06 0.0152370471" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.048047542400000004 0.0542412079 -0.00011405240000000123" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bagel/bagel_6/visual/material.mtl b/bagel/bagel_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..427d89a0978ac8386623d514566658cda383bc98
--- /dev/null
+++ b/bagel/bagel_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 1000.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_0.obj b/bagel/bagel_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25570b525e1c7b0d876a2a16be7f5252d95a45ea
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.38495576 -0.00841642 -0.02071824
+v 0.42014004 -0.02188840 -0.24411061
+v 0.41963850 0.12549195 -0.21275753
+v 0.13229468 0.10794196 -0.17654403
+v 0.11350329 0.00754680 -0.15742415
+v 0.15936780 0.09795444 -0.19430160
+v 0.38495541 0.09856871 -0.01517377
+v 0.25852229 -0.01205134 0.01025649
+v 0.15347732 -0.00488761 -0.20657910
+v 0.26400067 0.09848484 -0.01501369
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 2 1
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 7 3
+f 10 3 4
+f 10 8 7
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_1.obj b/bagel/bagel_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d3f539d91a9fe0570dde8f01701cc2d1b01882
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21780158 0.21982073 0.10591828
+v 0.39802370 0.23307741 -0.12925839
+v 0.32659061 0.34256967 0.00187475
+v 0.14197167 0.43065896 -0.01387172
+v 0.14703988 0.23061468 -0.15387695
+v 0.32296663 0.36708971 -0.12194702
+v 0.21055221 0.36615091 0.09640763
+v 0.35992949 0.23271065 0.02407885
+v 0.30742210 0.22695337 -0.20562568
+v 0.14278854 0.23484848 -0.01501369
+v 0.38376082 0.30245738 -0.06075822
+v 0.22628665 0.41481794 -0.01736612
+v 0.16125801 0.38807089 -0.13547638
+v 0.40093655 0.23075446 -0.03618116
+v 0.21206406 0.26579202 0.12966761
+v 0.36341058 0.27747860 0.01294877
+v 0.18110142 0.22961935 -0.16735167
+v 0.33120440 0.30216964 -0.17785803
+v 0.21248484 0.22088785 0.11565537
+v 0.14342239 0.43057765 -0.06943394
+v 0.34355873 0.35393696 -0.06880019
+v 0.38238773 0.29705093 -0.11306796
+v 0.21397560 0.37936106 0.08329969
+v 0.39887940 0.27055601 -0.10181462
+v 0.21019203 0.33689075 0.11325365
+v 0.21034586 0.29220570 0.12664066
+v 0.21821625 0.37330881 0.08454822
+v 0.38699191 0.27199244 -0.01756714
+v 0.22987320 0.33297941 -0.18035441
+v 0.34522573 0.25684765 -0.17960249
+v 0.31348856 0.23337146 0.06054576
+v 0.15132466 0.37804478 -0.13578450
+v 0.22865771 0.40157479 -0.12114569
+v 0.18423675 0.42992300 -0.05509805
+v 0.35430740 0.31983806 -0.01124811
+v 0.28205006 0.38303146 -0.02316084
+v 0.26942862 0.40354620 -0.09281723
+v 0.37015293 0.32747727 -0.08865514
+v 0.34145753 0.32943143 -0.15538306
+v 0.38182222 0.27112777 -0.13977529
+v 0.21785209 0.36159748 0.09309120
+v 0.31477557 0.26425995 0.05568665
+v 0.39739101 0.27144132 -0.07885026
+v 0.26691196 0.22824040 -0.20051728
+v 0.29128411 0.29131400 -0.19696957
+v 0.36214151 0.23886486 -0.16634812
+v 0.34342826 0.27388537 -0.17853786
+v 0.15331407 0.42117492 -0.09324574
+v 0.16677015 0.33358069 -0.15098861
+v 0.27330035 0.35348602 -0.17142349
+v 0.17528448 0.43134597 -0.03867562
+v 0.22100178 0.41199306 -0.10520963
+v 0.36701576 0.33173224 -0.08095996
+v 0.38229242 0.29081747 -0.03530350
+v 0.31049653 0.36827619 -0.03614064
+v 0.24067130 0.40082227 -0.00072724
+v 0.24289232 0.41362027 -0.06739467
+v 0.27105352 0.37181932 -0.15391368
+v 0.34081700 0.34006447 -0.14028476
+v 0.39567416 0.24444614 -0.13263612
+v 0.36673646 0.29917161 -0.13986327
+v 0.21833356 0.28775454 0.12227702
+v 0.39682410 0.25054541 -0.03493864
+v 0.25423758 0.29103921 -0.19222864
+f 14 8 1
+f 14 9 2
+f 14 1 9
+f 17 9 1
+f 17 1 5
+f 19 10 5
+f 19 5 1
+f 19 15 10
+f 19 1 8
+f 20 10 4
+f 20 5 10
+f 23 12 4
+f 23 4 7
+f 24 14 2
+f 25 7 4
+f 26 4 10
+f 26 10 15
+f 26 25 4
+f 27 16 3
+f 27 23 7
+f 27 3 23
+f 28 16 8
+f 28 8 14
+f 29 17 5
+f 31 19 8
+f 31 15 19
+f 32 5 20
+f 32 13 29
+f 35 21 3
+f 35 3 16
+f 35 16 28
+f 37 21 6
+f 37 12 36
+f 38 24 22
+f 38 11 24
+f 40 22 24
+f 41 25 16
+f 41 7 25
+f 41 27 7
+f 41 16 27
+f 42 16 25
+f 42 15 31
+f 42 31 8
+f 42 8 16
+f 43 24 11
+f 43 11 28
+f 43 14 24
+f 44 9 17
+f 45 18 9
+f 45 9 44
+f 46 2 9
+f 46 9 30
+f 47 30 9
+f 47 9 18
+f 47 18 39
+f 47 39 40
+f 47 46 30
+f 48 32 20
+f 48 13 32
+f 48 33 13
+f 49 32 29
+f 49 29 5
+f 49 5 32
+f 50 29 13
+f 50 45 29
+f 50 39 18
+f 50 18 45
+f 51 34 20
+f 51 20 4
+f 51 4 12
+f 52 20 34
+f 52 48 20
+f 52 33 48
+f 52 37 33
+f 52 34 37
+f 53 35 11
+f 53 21 35
+f 53 11 38
+f 53 38 6
+f 53 6 21
+f 54 35 28
+f 54 28 11
+f 54 11 35
+f 55 36 3
+f 55 3 21
+f 55 37 36
+f 55 21 37
+f 56 23 3
+f 56 3 36
+f 56 36 12
+f 56 12 23
+f 57 37 34
+f 57 12 37
+f 57 51 12
+f 57 34 51
+f 58 37 6
+f 58 33 37
+f 58 6 39
+f 58 39 50
+f 58 50 13
+f 58 13 33
+f 59 38 22
+f 59 22 39
+f 59 39 6
+f 59 6 38
+f 60 40 24
+f 60 24 2
+f 60 2 46
+f 60 47 40
+f 60 46 47
+f 61 40 39
+f 61 39 22
+f 61 22 40
+f 62 42 25
+f 62 25 26
+f 62 26 15
+f 62 15 42
+f 63 43 28
+f 63 28 14
+f 63 14 43
+f 64 44 17
+f 64 17 29
+f 64 45 44
+f 64 29 45
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_10.obj b/bagel/bagel_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d560c918cae71086293edc4510fe6f8f75da3291
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01503883 0.23807095 0.24139862
+v 0.02218784 0.23456954 -0.10333031
+v 0.02194223 0.49221445 0.01849719
+v -0.03246692 0.48989880 0.07228840
+v -0.40249828 0.23074143 0.09881351
+v 0.02153130 0.42156517 0.18177838
+v -0.04700440 0.23504968 0.26935556
+v 0.00281088 0.42578619 -0.05843161
+v 0.01842014 0.48405276 0.11362635
+v 0.02947026 0.29196793 -0.09416420
+v -0.18087782 0.23038188 -0.01445741
+v -0.26415079 0.33662728 0.26811346
+v -0.00402722 0.28668083 0.25642692
+v -0.26636968 0.38539412 0.07268005
+v 0.02319064 0.46728253 0.13612024
+v 0.01913099 0.49202629 0.07139141
+v 0.02526428 0.43696935 -0.05969892
+v -0.40330795 0.22999923 0.20433465
+v -0.35263005 0.23141562 0.05936284
+v -0.20333388 0.41248029 0.19354420
+v -0.00093310 0.26440563 0.25430599
+v 0.01572481 0.30814644 0.23949044
+v -0.18811068 0.27801772 0.30262022
+v -0.09207229 0.47295808 0.03794736
+v -0.03554362 0.49076766 0.04606408
+v -0.35661402 0.32703371 0.15486431
+v -0.00015798 0.26931509 -0.08899058
+v -0.26937726 0.34941869 0.04971121
+v -0.06837032 0.46175333 0.14557993
+v -0.08942082 0.23805056 0.28586336
+v -0.05276949 0.34502172 0.25447056
+v -0.29371482 0.23488732 0.29437335
+v -0.03319946 0.47443474 -0.00090705
+v -0.24212870 0.41313680 0.14902118
+v -0.09131009 0.47384526 0.08540988
+v -0.37267366 0.29527221 0.11093224
+v -0.36945356 0.29738136 0.20177270
+v -0.13433341 0.43538334 0.01840270
+v -0.37150516 0.25809862 0.07713711
+v -0.05105855 0.47455037 0.11373264
+v -0.16486139 0.37214215 0.25656980
+v -0.09298155 0.30138827 0.28392604
+v -0.00315516 0.35414117 0.22735849
+v -0.23164856 0.31638307 0.28550843
+v -0.15322389 0.23875667 0.30611305
+v -0.33303021 0.23259862 0.27013619
+v 0.02242137 0.48227504 -0.00863357
+v -0.03122029 0.44889463 -0.02714641
+v -0.01675697 0.49091806 0.02092565
+v -0.24465893 0.41379234 0.11009924
+v -0.27095482 0.38172806 0.20440985
+v -0.07819159 0.47432269 0.09968673
+v -0.28165217 0.38657217 0.10029765
+v -0.40149507 0.25738876 0.12793698
+v -0.26775448 0.37155500 0.06011531
+v -0.16478244 0.40564958 0.01867668
+v -0.14970404 0.44388185 0.04137080
+v -0.09408496 0.46086405 0.01756920
+v -0.35128511 0.25760940 0.06526264
+v -0.37866599 0.23159760 0.07297003
+v -0.38594540 0.26585255 0.10128425
+v -0.06077895 0.40572529 0.21273959
+v -0.22180740 0.37113069 0.25848813
+v -0.12206132 0.32246878 0.28338217
+f 7 2 1
+f 10 6 1
+f 10 1 2
+f 11 2 7
+f 15 6 10
+f 16 4 9
+f 16 15 3
+f 16 9 15
+f 17 10 8
+f 17 15 10
+f 17 3 15
+f 18 11 7
+f 18 5 11
+f 19 2 11
+f 19 11 5
+f 21 7 1
+f 22 1 6
+f 22 21 1
+f 22 13 21
+f 25 16 3
+f 25 4 16
+f 27 19 8
+f 27 2 19
+f 27 10 2
+f 27 8 10
+f 28 8 19
+f 29 15 9
+f 30 21 13
+f 30 7 21
+f 31 13 22
+f 35 25 24
+f 35 4 25
+f 40 29 9
+f 40 9 4
+f 41 15 29
+f 42 13 31
+f 43 31 22
+f 43 22 6
+f 43 6 31
+f 44 32 23
+f 44 12 32
+f 45 23 32
+f 45 42 23
+f 45 30 13
+f 45 13 42
+f 45 32 7
+f 45 7 30
+f 46 18 7
+f 46 7 32
+f 46 37 18
+f 46 32 12
+f 46 12 37
+f 47 3 17
+f 47 17 33
+f 48 33 17
+f 48 17 8
+f 48 8 38
+f 49 25 3
+f 49 47 33
+f 49 3 47
+f 49 33 24
+f 49 24 25
+f 50 26 34
+f 50 35 24
+f 50 34 35
+f 51 20 34
+f 51 37 12
+f 51 34 26
+f 51 26 37
+f 52 35 34
+f 52 34 20
+f 52 20 29
+f 52 29 40
+f 52 40 4
+f 52 4 35
+f 53 36 26
+f 53 14 36
+f 53 50 14
+f 53 26 50
+f 54 5 18
+f 54 26 36
+f 54 37 26
+f 54 18 37
+f 55 14 38
+f 55 28 39
+f 55 39 36
+f 55 36 14
+f 56 38 8
+f 56 8 28
+f 56 55 38
+f 56 28 55
+f 57 38 14
+f 57 50 24
+f 57 14 50
+f 58 24 33
+f 58 48 38
+f 58 33 48
+f 58 57 24
+f 58 38 57
+f 59 39 28
+f 59 28 19
+f 60 19 5
+f 60 5 39
+f 60 59 19
+f 60 39 59
+f 61 39 5
+f 61 36 39
+f 61 54 36
+f 61 5 54
+f 62 6 15
+f 62 15 41
+f 62 41 31
+f 62 31 6
+f 63 41 29
+f 63 29 20
+f 63 12 44
+f 63 51 12
+f 63 20 51
+f 64 23 42
+f 64 44 23
+f 64 63 44
+f 64 41 63
+f 64 42 31
+f 64 31 41
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_11.obj b/bagel/bagel_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bed1a5d1c4467b38983d7d96183d1a659c2cd9
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02124751 -0.42504281 0.08575199
+v 0.21690478 -0.30739486 0.07010148
+v 0.00006610 -0.23684847 0.17346545
+v -0.00237332 -0.07237533 0.10368769
+v 0.02570822 -0.11937213 0.06333462
+v 0.11832249 -0.15330763 0.10319230
+v 0.00398957 -0.39919262 0.11716721
+v 0.16663420 -0.38242143 0.05159921
+v -0.00163608 -0.09599300 0.06923214
+v 0.19431929 -0.25183345 0.08687307
+v -0.00198081 -0.14675393 0.16136326
+v 0.00258725 -0.36347523 0.14044671
+v 0.21381697 -0.20733993 0.06492576
+v 0.12603188 -0.39690161 0.05440873
+v 0.20084341 -0.36396479 0.05425498
+v 0.19049916 -0.26318701 0.08967059
+v -0.00141091 -0.11873908 0.14561438
+v 0.20754046 -0.21850417 0.07594787
+v -0.00130423 -0.31889015 0.15318145
+v 0.02223300 -0.30042293 0.15035944
+v 0.13515121 -0.13870686 0.07475392
+v 0.20111107 -0.35822864 0.05899697
+v 0.21674894 -0.30183157 0.07305422
+v 0.12909289 -0.14077162 0.08961946
+v 0.00006995 -0.24712009 0.17159541
+v -0.00094950 -0.07203197 0.07656861
+f 9 1 7
+f 11 3 10
+f 13 8 5
+f 14 8 1
+f 14 5 8
+f 14 9 5
+f 14 1 9
+f 15 7 1
+f 15 1 8
+f 15 13 2
+f 15 8 13
+f 16 10 3
+f 17 11 6
+f 17 4 11
+f 18 11 10
+f 18 6 11
+f 19 11 4
+f 19 4 9
+f 19 9 7
+f 19 7 12
+f 19 3 11
+f 21 13 5
+f 22 12 7
+f 22 7 15
+f 22 15 2
+f 23 16 3
+f 23 10 16
+f 23 18 10
+f 23 2 13
+f 23 13 18
+f 23 20 12
+f 23 22 2
+f 23 12 22
+f 24 17 6
+f 24 4 17
+f 24 21 4
+f 24 13 21
+f 24 18 13
+f 24 6 18
+f 25 19 12
+f 25 12 20
+f 25 3 19
+f 25 23 3
+f 25 20 23
+f 26 21 5
+f 26 5 9
+f 26 9 4
+f 26 4 21
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_12.obj b/bagel/bagel_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c57f133a6ec82140f2e7834820c586e619aa4d4
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22436139 -0.33062368 0.06982945
+v -0.22406061 -0.32315499 0.08310484
+v -0.41530378 -0.23428885 0.15821456
+v -0.43404065 -0.00928972 0.23278989
+v -0.22084782 -0.00757576 0.07589540
+v -0.25629822 -0.15032037 0.28445261
+v -0.30908395 -0.29253700 0.15659892
+v -0.45161596 -0.18552747 0.07800622
+v -0.40305821 -0.09030640 0.27204467
+v -0.22387939 -0.00750621 0.30845541
+v -0.27669684 -0.29608020 0.15236404
+v -0.30662952 -0.32625480 0.07245695
+v -0.43048521 -0.00996301 0.07786849
+v -0.44560477 -0.09607266 0.21604057
+v -0.38975189 -0.20441898 0.22979984
+v -0.25343448 -0.00498159 0.31911984
+v -0.22492008 -0.18177543 0.25408821
+v -0.28974485 -0.22126226 0.24239342
+v -0.36198453 -0.29271284 0.11445134
+v -0.27462898 -0.32638801 0.09676158
+v -0.44539968 -0.19589297 0.14798507
+v -0.44931287 -0.02426612 0.20679226
+v -0.43197652 -0.06813820 0.24374267
+v -0.35237924 -0.15845606 0.27294627
+v -0.43194091 -0.11952450 0.23772958
+v -0.35027009 -0.01004935 0.30103729
+v -0.22963030 -0.07763378 0.30038403
+v -0.44476714 -0.00840417 0.21116399
+v -0.24943331 -0.24906872 0.20336713
+v -0.30419369 -0.25196930 0.21276043
+v -0.24655390 -0.19680922 0.25453610
+v -0.30696033 -0.31976870 0.10123814
+v -0.41546215 -0.25231468 0.07807288
+v -0.37827485 -0.24728692 0.18567346
+v -0.42834808 -0.19543766 0.18835575
+v -0.41631124 -0.02309887 0.25666419
+v -0.44425167 -0.02418161 0.22176171
+v -0.36012492 -0.15342919 0.27291275
+v -0.32426235 -0.08987239 0.30326298
+v -0.30010879 -0.17473638 0.27355028
+v -0.31675708 -0.21758917 0.24253084
+v -0.43413351 -0.15035596 0.21260463
+v -0.40511409 -0.08550226 0.27167206
+v -0.29337566 -0.00643585 0.31828314
+v -0.22648572 -0.14877986 0.27123887
+v -0.26121126 -0.27690945 0.17202744
+v -0.33319837 -0.30632402 0.11436297
+v -0.38887160 -0.28021523 0.10245769
+v -0.38968586 -0.28020197 0.07657701
+v -0.44764650 -0.19709666 0.08018978
+v -0.41650292 -0.25004852 0.11675882
+v -0.40358936 -0.24739133 0.15723812
+v -0.36472109 -0.23215723 0.21236245
+v -0.43109560 -0.20616528 0.17290463
+v -0.41673563 -0.18380688 0.21447614
+v -0.43365294 -0.05617023 0.24098739
+v -0.37928831 -0.00932637 0.28569809
+v -0.35170273 -0.06489006 0.30057330
+v -0.28097339 -0.11109335 0.30196556
+v -0.31754867 -0.17518145 0.27111612
+v -0.31958629 -0.30573824 0.12625976
+v -0.33473768 -0.27777794 0.17031822
+v -0.40368139 -0.26277382 0.11609542
+v -0.43050309 -0.22223370 0.14662354
+f 5 2 1
+f 10 2 5
+f 11 1 2
+f 13 5 1
+f 13 12 8
+f 13 1 12
+f 16 10 5
+f 17 2 10
+f 20 11 7
+f 20 12 1
+f 20 1 11
+f 21 14 8
+f 22 13 8
+f 22 8 14
+f 25 15 9
+f 25 23 14
+f 27 10 16
+f 28 13 22
+f 28 16 5
+f 28 5 13
+f 29 2 17
+f 30 7 11
+f 30 29 18
+f 30 11 29
+f 31 17 6
+f 31 29 17
+f 31 18 29
+f 32 20 7
+f 32 12 20
+f 37 22 14
+f 37 14 23
+f 37 28 22
+f 37 4 28
+f 38 9 15
+f 38 15 24
+f 39 38 24
+f 40 31 6
+f 40 18 31
+f 41 24 15
+f 41 18 40
+f 41 30 18
+f 42 25 14
+f 42 14 21
+f 42 21 35
+f 43 25 9
+f 43 23 25
+f 43 36 23
+f 44 16 28
+f 45 17 10
+f 45 10 27
+f 45 27 6
+f 45 6 17
+f 46 29 11
+f 46 11 2
+f 46 2 29
+f 47 19 12
+f 47 12 32
+f 48 12 19
+f 49 33 8
+f 49 8 12
+f 49 12 48
+f 50 21 8
+f 50 8 33
+f 51 50 33
+f 51 21 50
+f 51 49 48
+f 51 33 49
+f 52 34 15
+f 52 3 51
+f 52 48 19
+f 52 19 34
+f 53 15 34
+f 53 41 15
+f 53 30 41
+f 54 35 21
+f 54 15 35
+f 54 52 15
+f 54 3 52
+f 55 35 15
+f 55 15 25
+f 55 42 35
+f 55 25 42
+f 56 36 4
+f 56 23 36
+f 56 37 23
+f 56 4 37
+f 57 4 36
+f 57 26 44
+f 57 44 28
+f 57 28 4
+f 57 36 43
+f 58 9 38
+f 58 38 39
+f 58 43 9
+f 58 57 43
+f 58 26 57
+f 58 44 26
+f 58 39 44
+f 59 27 16
+f 59 44 39
+f 59 16 44
+f 59 6 27
+f 59 40 6
+f 59 39 24
+f 60 41 40
+f 60 24 41
+f 60 59 24
+f 60 40 59
+f 61 47 32
+f 61 32 7
+f 62 34 19
+f 62 19 47
+f 62 47 61
+f 62 61 7
+f 62 53 34
+f 62 7 30
+f 62 30 53
+f 63 52 51
+f 63 51 48
+f 63 48 52
+f 64 51 3
+f 64 3 54
+f 64 54 21
+f 64 21 51
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_13.obj b/bagel/bagel_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23654b8e231a4605b0e4ae54ef37c752a7183763
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15676569 -0.00827561 -0.01348274
+v 0.15869941 -0.00795133 -0.21031123
+v 0.15055066 0.03738775 -0.01082145
+v -0.08560076 0.03828414 -0.01379448
+v -0.08212228 -0.01164830 -0.08543472
+v 0.16321452 0.03087240 -0.20048956
+v -0.03769299 -0.01194861 0.02110690
+v -0.08555526 0.01091415 -0.07491616
+v -0.04623804 -0.01591537 -0.10785566
+v -0.01343166 -0.01383298 0.02071838
+v -0.03539256 -0.00027359 0.01601800
+v -0.09315756 0.01500097 -0.03346024
+v -0.03105919 0.02355763 -0.09182536
+v 0.14165212 0.01683388 -0.19450335
+v -0.03138348 0.01150789 -0.10511564
+v 0.13688906 -0.01126380 -0.19953914
+v -0.01746785 -0.00480418 0.01722529
+v -0.07871641 0.02150299 -0.06284914
+v 0.15065993 0.03035463 -0.19471543
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 9 5 8
+f 9 7 5
+f 10 1 3
+f 10 7 9
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 5 7
+f 12 8 5
+f 12 4 8
+f 14 2 9
+f 15 9 8
+f 16 9 2
+f 16 2 1
+f 16 10 9
+f 16 1 10
+f 17 10 3
+f 17 3 11
+f 17 11 7
+f 17 7 10
+f 18 13 8
+f 18 8 4
+f 18 4 13
+f 19 13 4
+f 19 4 6
+f 19 8 13
+f 19 15 8
+f 19 9 15
+f 19 14 9
+f 19 6 2
+f 19 2 14
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_14.obj b/bagel/bagel_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451b8512a7bb63ab040e4fedb62562e8b74e1a9e
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00312185 -0.45025143 0.06702034
+v 0.00266810 -0.44273454 0.07943958
+v -0.22877314 -0.31513770 0.09564224
+v -0.03908588 -0.05306363 0.15161181
+v 0.01448324 -0.13641292 0.07879876
+v -0.22219737 -0.18558599 0.25140104
+v -0.10584222 -0.44983111 0.07217635
+v 0.00017937 -0.27801823 0.16203989
+v -0.22084782 -0.14393940 0.07589540
+v -0.18399277 -0.38079696 0.09877100
+v -0.04591318 -0.37535353 0.14971999
+v -0.00141091 -0.11873908 0.14561438
+v -0.03120753 -0.05842231 0.14575639
+v -0.04494722 -0.05656574 0.16253834
+v -0.22793020 -0.21011655 0.23390722
+v -0.22084591 -0.32566194 0.07586315
+v -0.10537889 -0.44609075 0.07836306
+v -0.06260424 -0.25375654 0.19847284
+v -0.00232136 -0.37548457 0.13316471
+v -0.02099764 -0.07422027 0.14385023
+v -0.10462048 -0.37221161 0.14961499
+v -0.18942201 -0.38138472 0.07490949
+v -0.14953337 -0.41934016 0.07035190
+v 0.00137497 -0.43390935 0.08962575
+v -0.06147084 -0.32120168 0.17853920
+v -0.05901666 -0.13029228 0.20747713
+v -0.04060158 -0.09143518 0.18419656
+v -0.22326820 -0.19520422 0.24579111
+v -0.18473817 -0.32817276 0.15357942
+v -0.18849270 -0.37948993 0.08820869
+v -0.00676522 -0.40129679 0.11992599
+v -0.01698249 -0.32152981 0.16444595
+v -0.06808706 -0.13994093 0.21216782
+v -0.00569683 -0.12138688 0.15411353
+v -0.06832835 -0.11794898 0.20865210
+v -0.02629534 -0.07761928 0.15389179
+v -0.03732498 -0.06100943 0.15619559
+v -0.18714317 -0.35210314 0.12638644
+v -0.17002804 -0.37028329 0.11938575
+v -0.03077308 -0.33171117 0.16453396
+v -0.00194421 -0.33573283 0.14799493
+v -0.01271806 -0.24415647 0.17724037
+v -0.07648896 -0.20253313 0.20856005
+v -0.01125001 -0.13684823 0.17037040
+v -0.09022339 -0.12134975 0.21122928
+v -0.21016541 -0.18315934 0.24862201
+v -0.01843126 -0.13598363 0.17982169
+f 5 2 1
+f 8 2 5
+f 9 5 1
+f 12 8 5
+f 13 9 4
+f 13 5 9
+f 14 9 6
+f 14 4 9
+f 14 13 4
+f 15 9 3
+f 15 6 9
+f 15 3 10
+f 16 3 9
+f 17 7 1
+f 17 1 2
+f 17 10 7
+f 19 2 8
+f 20 12 5
+f 20 5 13
+f 21 11 6
+f 21 17 11
+f 22 3 16
+f 23 16 9
+f 23 9 1
+f 23 22 16
+f 23 1 7
+f 23 7 10
+f 24 17 2
+f 24 11 17
+f 24 2 19
+f 25 18 6
+f 25 6 11
+f 28 21 6
+f 28 6 15
+f 28 15 21
+f 29 21 15
+f 29 17 21
+f 30 10 3
+f 30 3 22
+f 30 23 10
+f 30 22 23
+f 31 24 19
+f 31 19 11
+f 31 11 24
+f 32 11 19
+f 32 18 25
+f 34 12 20
+f 35 27 14
+f 35 26 27
+f 35 33 26
+f 36 20 13
+f 36 34 20
+f 36 27 34
+f 37 13 14
+f 37 14 27
+f 37 36 13
+f 37 27 36
+f 38 29 15
+f 38 15 10
+f 38 10 29
+f 39 29 10
+f 39 10 17
+f 39 17 29
+f 40 32 25
+f 40 25 11
+f 40 11 32
+f 41 32 19
+f 41 19 8
+f 41 8 32
+f 42 32 8
+f 42 18 32
+f 42 33 18
+f 42 26 33
+f 43 18 33
+f 44 8 12
+f 44 12 34
+f 45 35 14
+f 45 14 6
+f 45 6 35
+f 46 35 6
+f 46 33 35
+f 46 43 33
+f 46 6 18
+f 46 18 43
+f 47 42 8
+f 47 8 44
+f 47 26 42
+f 47 27 26
+f 47 44 34
+f 47 34 27
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_15.obj b/bagel/bagel_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cbced0ee2b8448f9a07f5db28df73b4ef7d678
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01736357 -0.49001413 -0.00698851
+v 0.20312843 -0.45859457 -0.06244400
+v 0.02744249 -0.46108675 0.04484534
+v 0.00398957 -0.39919262 0.11716721
+v 0.00642491 -0.40151516 -0.06046823
+v 0.20198984 -0.39998567 0.02789864
+v 0.00061526 -0.46359043 0.05009795
+v 0.04638866 -0.47603271 0.00625179
+v 0.00525256 -0.48583557 -0.11084219
+v 0.16400068 -0.44727060 -0.01206753
+v 0.03509721 -0.41407540 0.09167930
+v 0.02056534 -0.39524226 0.11129100
+v 0.20463759 -0.44217701 -0.04072727
+v 0.00167152 -0.40699626 0.11285044
+v 0.05526989 -0.48086363 -0.10945418
+v 0.00669457 -0.49104260 -0.00535959
+v 0.19868683 -0.43010229 -0.01291523
+v 0.04861011 -0.48697360 -0.10185282
+v 0.00487542 -0.49089925 -0.08756828
+v 0.20062862 -0.44583018 -0.03910391
+v 0.00645996 -0.48728604 -0.10460929
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 7 5
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 3 6
+f 12 6 5
+f 12 5 4
+f 12 4 6
+f 13 6 2
+f 13 2 5
+f 13 5 6
+f 14 7 3
+f 14 4 5
+f 14 5 7
+f 14 3 11
+f 14 11 6
+f 14 6 4
+f 15 9 5
+f 15 5 2
+f 16 1 7
+f 17 6 10
+f 18 15 2
+f 18 2 1
+f 18 9 15
+f 18 1 16
+f 19 16 7
+f 19 7 9
+f 19 18 16
+f 20 17 10
+f 20 10 2
+f 20 2 6
+f 20 6 17
+f 21 19 9
+f 21 9 18
+f 21 18 19
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_16.obj b/bagel/bagel_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69957837c3f028f3fbef024119c89ebe7b043d4
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02962482 -0.17489516 0.19116496
+v 0.01448324 -0.13641292 0.07879876
+v -0.07976542 -0.00500401 0.20528412
+v -0.22084782 -0.00757576 0.21225904
+v -0.22084782 -0.14393940 0.07589540
+v -0.19095372 -0.17455161 0.21922750
+v 0.00376666 -0.14612820 0.15063700
+v -0.22084782 -0.00757576 0.07589540
+v -0.09108823 -0.05199812 0.22195584
+v -0.00995941 -0.06546778 0.11484347
+v -0.03860451 -0.14778494 0.19628269
+v -0.07143118 -0.00298249 0.18968883
+v -0.04315485 -0.17113918 0.19769898
+v -0.09306815 -0.03808240 0.21931149
+v -0.03631171 -0.01724920 0.07914924
+v -0.00987044 -0.09137667 0.14005683
+v -0.03938615 -0.17398055 0.19593502
+v -0.03422177 -0.17160656 0.19410621
+v -0.00613847 -0.06259132 0.08043394
+v -0.02518792 -0.03371694 0.10105761
+v -0.02529395 -0.03181115 0.07936694
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 9 4 6
+f 10 7 2
+f 11 7 3
+f 11 1 7
+f 11 3 9
+f 12 8 4
+f 12 4 3
+f 13 9 6
+f 14 9 3
+f 14 3 4
+f 14 4 9
+f 15 2 8
+f 15 8 12
+f 16 12 3
+f 16 3 7
+f 16 7 10
+f 16 10 12
+f 17 13 6
+f 17 6 1
+f 18 11 9
+f 18 9 13
+f 18 13 17
+f 18 17 1
+f 18 1 11
+f 19 10 2
+f 20 15 12
+f 20 12 10
+f 20 10 19
+f 21 19 2
+f 21 2 15
+f 21 20 19
+f 21 15 20
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_17.obj b/bagel/bagel_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a0779d0eae9089990278707e91189a3c8487a5
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.19673112 -0.15044792 0.03330201
+v 0.23340285 -0.14305529 -0.00355345
+v 0.18937363 -0.08371631 0.01223729
+v 0.00114614 -0.08133678 0.00866269
+v 0.00642491 -0.14393940 -0.06046823
+v 0.00896955 -0.11255073 0.12323642
+v 0.23348331 -0.12590459 0.01189582
+v 0.11949751 -0.08113144 -0.05222530
+v 0.18506908 -0.08180208 0.01004034
+v 0.01605794 -0.14482098 0.12707579
+v 0.23604306 -0.13578268 0.00547575
+v 0.09355902 -0.12291756 0.10468799
+v 0.04693024 -0.09143743 -0.03699873
+v 0.10510957 -0.15253123 0.10795117
+v 0.10341207 -0.13554638 0.10341451
+v 0.11394929 -0.12575971 0.09259103
+f 5 2 1
+f 6 4 5
+f 8 2 5
+f 8 7 2
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 7
+f 9 7 8
+f 10 6 5
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 13 5 4
+f 13 4 8
+f 14 10 5
+f 14 5 1
+f 14 1 7
+f 14 12 6
+f 14 6 10
+f 15 14 7
+f 15 12 14
+f 16 15 7
+f 16 7 12
+f 16 12 15
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_18.obj b/bagel/bagel_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14f79c6f606bf089ae3d5fbc453ebf1b787ef7de
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.20312843 -0.45859457 -0.06244400
+v 0.37123665 -0.31857301 -0.06562695
+v 0.26654163 -0.37624097 0.01347489
+v 0.20524939 -0.26511686 0.07853867
+v 0.20339460 -0.26515152 -0.06046823
+v 0.33889429 -0.26883211 -0.00714259
+v 0.19675497 -0.35385029 0.06192781
+v 0.31713817 -0.40822336 -0.06519291
+v 0.32530466 -0.35699625 -0.02546670
+v 0.27163763 -0.30710200 0.04253112
+v 0.36721677 -0.24051040 -0.06432382
+v 0.20051050 -0.39815121 0.02918855
+v 0.20062862 -0.44583018 -0.03910391
+v 0.37547131 -0.24177192 -0.07023281
+v 0.36908258 -0.31776210 -0.05686562
+v 0.32402629 -0.39801770 -0.05998684
+v 0.25115324 -0.26482780 0.06201104
+v 0.32276933 -0.29327151 0.00220412
+v 0.31897577 -0.35613467 -0.01933129
+v 0.22923673 -0.32698775 0.05978962
+v 0.22312058 -0.38573162 0.03029032
+v 0.24449249 -0.41469784 -0.01100768
+v 0.20002118 -0.41673531 0.00498890
+v 0.35820933 -0.34674632 -0.06900109
+v 0.30904711 -0.26366285 0.01656938
+v 0.36902603 -0.24735215 -0.05873927
+v 0.27457103 -0.39897395 -0.01468021
+v 0.32409318 -0.34304810 -0.01753321
+v 0.28105479 -0.31706022 0.03042557
+v 0.21063578 -0.34963671 0.05816680
+v 0.22939330 -0.44375512 -0.04286437
+v 0.21183199 -0.41686368 0.00050671
+v 0.27425951 -0.43371947 -0.06602306
+v 0.36140512 -0.24419047 -0.05344848
+v 0.27655358 -0.41980252 -0.04052601
+v 0.22680901 -0.45068061 -0.06285346
+f 7 4 5
+f 11 5 4
+f 13 7 5
+f 13 5 1
+f 14 5 11
+f 14 1 5
+f 15 2 14
+f 16 9 3
+f 16 15 9
+f 17 10 6
+f 17 11 4
+f 18 6 10
+f 18 15 6
+f 19 3 9
+f 20 3 10
+f 20 10 17
+f 20 17 4
+f 20 4 7
+f 21 7 12
+f 22 21 12
+f 22 3 21
+f 23 12 7
+f 23 7 13
+f 24 14 2
+f 24 16 8
+f 24 2 15
+f 24 15 16
+f 25 17 6
+f 26 15 14
+f 26 14 6
+f 26 6 15
+f 27 16 3
+f 27 8 16
+f 27 3 22
+f 28 9 15
+f 28 15 18
+f 28 19 9
+f 28 18 10
+f 29 10 3
+f 29 3 19
+f 29 28 10
+f 29 19 28
+f 30 20 7
+f 30 3 20
+f 30 21 3
+f 30 7 21
+f 31 13 1
+f 31 23 13
+f 32 22 12
+f 32 12 23
+f 32 31 22
+f 32 23 31
+f 33 24 8
+f 33 1 14
+f 33 14 24
+f 34 14 11
+f 34 11 17
+f 34 17 25
+f 34 25 6
+f 34 6 14
+f 35 27 22
+f 35 8 27
+f 35 33 8
+f 35 22 31
+f 35 31 33
+f 36 33 31
+f 36 31 1
+f 36 1 33
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_19.obj b/bagel/bagel_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7830b4d0d896ea69a2bd168226f53436c3c90a
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.05935584 -0.46970366 -0.15980559
+v 0.12520411 -0.40954061 -0.21599462
+v 0.12212332 -0.45159022 -0.16270513
+v 0.00675311 -0.14410290 -0.16611637
+v 0.01233519 -0.42237864 -0.20559393
+v 0.12866779 -0.21708721 -0.21754841
+v 0.06548813 -0.44477465 -0.19972159
+v 0.00765921 -0.46726030 -0.15992300
+v 0.13567340 -0.25688362 -0.22282285
+v 0.04161854 -0.14141307 -0.18333761
+v 0.12451421 -0.44614784 -0.17561166
+v 0.10303848 -0.40514073 -0.22708806
+v 0.05028606 -0.46115034 -0.17603806
+v 0.05383968 -0.44784750 -0.19641265
+v 0.10588248 -0.36765215 -0.24033313
+v 0.01518197 -0.37429957 -0.20943523
+v 0.10813689 -0.43220116 -0.19766911
+v 0.06674303 -0.45851789 -0.17748647
+v 0.06931849 -0.40843825 -0.22124641
+v 0.00973739 -0.46105385 -0.16963926
+v 0.12783993 -0.21849820 -0.22266490
+v 0.12290397 -0.36716805 -0.24127452
+v 0.01626137 -0.17575334 -0.17830957
+v 0.10403087 -0.24148476 -0.22334588
+v 0.05333916 -0.14493637 -0.19047640
+v 0.12585336 -0.34346184 -0.23934780
+v 0.01172477 -0.14598780 -0.17032889
+v 0.10547227 -0.35824317 -0.23919450
+v 0.11482270 -0.34500599 -0.23927100
+v 0.03095347 -0.14935922 -0.18074606
+f 1 3 4
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 10 4 3
+f 10 3 6
+f 11 3 1
+f 11 9 3
+f 11 2 9
+f 12 2 7
+f 13 1 8
+f 14 7 13
+f 16 5 4
+f 16 15 5
+f 17 11 7
+f 17 7 2
+f 17 2 11
+f 18 11 1
+f 18 7 11
+f 18 13 7
+f 18 1 13
+f 19 12 7
+f 19 15 12
+f 19 5 15
+f 19 14 5
+f 19 7 14
+f 20 8 5
+f 20 5 14
+f 20 14 13
+f 20 13 8
+f 21 6 9
+f 22 2 12
+f 22 12 15
+f 25 10 6
+f 25 6 21
+f 25 21 24
+f 25 24 16
+f 25 16 23
+f 26 9 2
+f 26 2 22
+f 26 21 9
+f 27 23 16
+f 27 16 4
+f 27 4 10
+f 27 10 25
+f 28 15 16
+f 28 16 24
+f 29 26 22
+f 29 22 15
+f 29 15 28
+f 29 28 24
+f 29 24 21
+f 29 21 26
+f 30 27 25
+f 30 25 23
+f 30 23 27
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_2.obj b/bagel/bagel_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9155203e9b0b67138ddeb3863c370bfd596886a9
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.36914483 -0.15781126 -0.06097477
+v 0.43331536 -0.04671718 -0.06600629
+v 0.19046866 0.03929955 0.02245004
+v 0.00503310 0.03034443 -0.06069908
+v 0.38777548 -0.14756193 -0.06633339
+v 0.43911879 0.00703141 -0.06898594
+v -0.00012445 -0.06540373 0.02767362
+v 0.31819173 -0.10457649 0.01389555
+v 0.04693024 -0.09143743 -0.03699873
+v 0.14368825 0.03786984 -0.01588533
+v 0.42169095 -0.09473036 -0.06855607
+v 0.00353852 -0.01694800 0.01626576
+v 0.23604306 -0.13578268 0.00547575
+v 0.36340974 0.01721682 -0.01533681
+v 0.37393295 -0.13445970 -0.02842339
+v 0.11644397 -0.09014372 -0.04615017
+v 0.00114614 -0.08133678 0.00866269
+v 0.15763441 0.04053711 0.00061537
+v 0.18060742 0.03993894 0.01796722
+v 0.22200880 -0.12123217 0.01292198
+v 0.36754958 0.01977914 -0.01876739
+v 0.32628582 -0.04135784 0.01251797
+v 0.38388935 -0.14517379 -0.05255297
+v 0.38565700 -0.08057235 -0.01499463
+v 0.31443598 -0.13532541 -0.00371047
+v 0.13825468 -0.11224338 0.01011663
+v 0.29103103 -0.11734225 0.01313583
+v 0.34739108 -0.01116024 -0.00187036
+v 0.37560385 -0.14314876 -0.04095372
+v 0.38270298 -0.13600070 -0.04103122
+v 0.41666105 -0.08349276 -0.05344319
+v 0.42362359 -0.05418617 -0.05114404
+v 0.40409011 -0.00958695 -0.02990108
+v 0.35648465 -0.10242335 -0.00302291
+v 0.34711824 -0.11782891 -0.00350509
+v 0.36311952 -0.14637803 -0.03682764
+v 0.39594366 -0.08153815 -0.02694894
+v 0.37818341 0.00638854 -0.02017531
+v 0.35938679 -0.04063858 -0.00239803
+v 0.43013093 0.00734989 -0.06100075
+v 0.37038097 -0.11145633 -0.01538438
+f 8 3 7
+f 9 5 1
+f 10 6 4
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 12 7 3
+f 12 4 7
+f 13 9 1
+f 16 9 4
+f 16 4 5
+f 16 5 9
+f 17 7 4
+f 17 4 9
+f 17 9 13
+f 18 10 4
+f 18 6 10
+f 19 12 3
+f 19 4 12
+f 19 18 4
+f 20 7 13
+f 21 3 14
+f 21 19 3
+f 21 6 18
+f 21 18 19
+f 22 3 8
+f 23 1 5
+f 23 5 11
+f 24 22 8
+f 25 13 1
+f 26 17 13
+f 26 13 7
+f 26 7 17
+f 27 20 13
+f 27 8 7
+f 27 7 20
+f 27 25 8
+f 27 13 25
+f 28 14 3
+f 28 3 22
+f 29 23 15
+f 29 1 23
+f 30 23 11
+f 30 15 23
+f 31 30 11
+f 31 15 30
+f 32 2 6
+f 32 31 11
+f 32 11 2
+f 33 32 6
+f 33 24 32
+f 34 24 8
+f 35 25 15
+f 35 8 25
+f 35 34 8
+f 36 25 1
+f 36 1 29
+f 36 29 15
+f 36 15 25
+f 37 24 15
+f 37 15 31
+f 37 32 24
+f 37 31 32
+f 38 14 28
+f 38 28 33
+f 38 33 21
+f 38 21 14
+f 39 33 28
+f 39 28 22
+f 39 22 24
+f 39 24 33
+f 40 33 6
+f 40 6 21
+f 40 21 33
+f 41 15 24
+f 41 24 34
+f 41 35 15
+f 41 34 35
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_20.obj b/bagel/bagel_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa06bd5f47c141ebc333161b39de153760fbc82
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.41862694 -0.01147125 -0.04172044
+v 0.46401260 0.01438577 -0.20555771
+v 0.46050539 0.06131374 -0.12943098
+v 0.38495541 0.09856871 -0.01517377
+v 0.38406791 -0.00616578 -0.26839487
+v 0.44628446 0.03960774 -0.08479646
+v 0.46073943 -0.00469267 -0.19071528
+v 0.38495576 -0.00841642 -0.02071824
+v 0.42176160 0.12121210 -0.22151804
+v 0.40181713 0.10354303 -0.03560718
+v 0.43252881 -0.00751146 -0.24081053
+v 0.45925085 -0.00632204 -0.10935492
+v 0.40409011 -0.00958695 -0.02990108
+v 0.38122793 0.02057576 -0.27429464
+v 0.44539793 0.10560479 -0.20207834
+v 0.39187328 0.09888135 -0.02283431
+v 0.44748772 -0.00337161 -0.07960007
+v 0.42598431 0.12561211 -0.13685525
+v 0.41572385 0.07923456 -0.25586861
+v 0.45733116 0.03122332 -0.11198683
+v 0.41122992 0.00544130 -0.03561048
+v 0.38423828 0.09762214 -0.26937261
+v 0.40782687 -0.00448276 -0.25947981
+v 0.46020754 0.05935661 -0.18834814
+v 0.44398697 0.10739394 -0.15183232
+v 0.44240829 0.04892831 -0.23119036
+v 0.42935043 0.11109446 -0.22571361
+v 0.39112230 0.08150047 -0.26996101
+v 0.41827153 0.00703224 -0.25485335
+v 0.45779317 0.04961478 -0.20423869
+v 0.44265914 0.01053370 -0.23227755
+v 0.40642610 0.09102013 -0.25998572
+v 0.38397540 0.08128544 -0.27186349
+v 0.39606398 0.02312361 -0.26880930
+f 8 5 1
+f 10 6 3
+f 11 2 7
+f 11 1 5
+f 12 11 7
+f 12 1 11
+f 12 7 2
+f 12 2 3
+f 13 8 1
+f 13 4 8
+f 14 8 4
+f 14 5 8
+f 16 10 4
+f 16 4 1
+f 16 1 10
+f 17 10 1
+f 17 6 10
+f 17 12 6
+f 17 1 12
+f 18 4 10
+f 18 15 9
+f 20 12 3
+f 20 3 6
+f 20 6 12
+f 21 13 1
+f 21 1 4
+f 21 4 13
+f 22 14 4
+f 22 18 9
+f 22 4 18
+f 23 11 5
+f 23 5 14
+f 24 15 3
+f 24 3 2
+f 25 18 10
+f 25 10 3
+f 25 3 15
+f 25 15 18
+f 27 9 15
+f 27 26 19
+f 27 15 26
+f 27 22 9
+f 29 11 23
+f 30 24 2
+f 30 15 24
+f 30 26 15
+f 30 2 26
+f 31 26 2
+f 31 2 11
+f 31 11 29
+f 31 29 19
+f 31 19 26
+f 32 27 19
+f 32 22 27
+f 32 28 22
+f 32 19 28
+f 33 28 14
+f 33 14 22
+f 33 22 28
+f 34 28 19
+f 34 19 29
+f 34 14 28
+f 34 29 23
+f 34 23 14
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_21.obj b/bagel/bagel_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccd262a8996951e6b33ea55a4f7311b4d64e4b9
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.42014004 -0.02188840 -0.24411061
+v 0.44217665 0.09514991 -0.19721618
+v 0.15347732 -0.00488761 -0.20657910
+v 0.26425132 0.23388645 -0.19556932
+v 0.38039020 0.09405181 -0.27149585
+v 0.15936780 0.09795444 -0.19430160
+v 0.41975304 0.09049664 -0.24828208
+v 0.32928903 -0.00698905 -0.27276022
+v 0.33450693 0.22400806 -0.19201211
+v 0.34305683 0.10886730 -0.26816859
+v 0.40642610 0.09102013 -0.25998572
+v 0.37865087 -0.00168726 -0.27182307
+v 0.16408031 -0.00995955 -0.21319575
+v 0.41901577 0.15435684 -0.19312489
+v 0.26720713 0.20188637 -0.21169799
+v 0.36450735 0.10607858 -0.27072330
+v 0.25785903 -0.00863966 -0.25671482
+v 0.41665212 0.10375474 -0.24393484
+v 0.27100601 0.11338921 -0.23937500
+v 0.26691196 0.22824040 -0.20051728
+v 0.32108697 0.03576824 -0.26997123
+v 0.37685883 0.15640644 -0.24682271
+v 0.40322996 0.10758409 -0.25484445
+v 0.30100708 0.19230409 -0.22503254
+v 0.33159838 0.21976480 -0.20925617
+v 0.39942759 0.15246619 -0.23007968
+v 0.36015154 0.20603318 -0.20462997
+v 0.41639906 0.14810418 -0.20407835
+v 0.36087090 0.20757384 -0.19462331
+v 0.40104985 0.15783516 -0.22136741
+v 0.34736195 0.21018687 -0.21131595
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 4 6
+f 11 7 1
+f 12 8 5
+f 12 1 8
+f 12 11 1
+f 12 5 11
+f 13 1 3
+f 13 3 6
+f 14 9 6
+f 14 6 2
+f 16 5 8
+f 17 8 1
+f 17 1 13
+f 17 13 6
+f 18 14 2
+f 18 2 7
+f 19 15 10
+f 19 6 15
+f 19 17 6
+f 19 10 17
+f 20 15 6
+f 20 6 4
+f 21 16 8
+f 21 10 16
+f 21 17 10
+f 21 8 17
+f 22 5 16
+f 22 16 10
+f 23 18 7
+f 23 7 11
+f 23 11 5
+f 23 5 22
+f 24 10 15
+f 24 15 20
+f 24 22 10
+f 25 20 4
+f 25 4 9
+f 25 24 20
+f 25 22 24
+f 26 23 22
+f 26 18 23
+f 27 25 9
+f 27 26 22
+f 28 26 14
+f 28 14 18
+f 28 18 26
+f 29 27 9
+f 29 9 14
+f 29 14 27
+f 30 27 14
+f 30 14 26
+f 30 26 27
+f 31 27 22
+f 31 22 25
+f 31 25 27
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_22.obj b/bagel/bagel_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ef541406cf3322c624c5b74b06ff5acb5cccf4
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.42362830 -0.18382803 0.20558655
+v -0.44626754 -0.19498535 0.07291101
+v -0.43048521 -0.00996301 0.07786849
+v -0.43990032 -0.00639310 0.21449819
+v -0.45984996 -0.13823063 0.17459341
+v -0.43237203 -0.05621366 0.04848283
+v -0.44615733 -0.17959269 0.17336046
+v -0.44498609 -0.13983920 0.20113810
+v -0.46101593 -0.04180133 0.10755726
+v -0.46017390 -0.16938988 0.12154475
+v -0.44770676 -0.01232514 0.20610395
+v -0.43160827 -0.17989033 0.19794488
+v -0.44259144 -0.17068493 0.18657822
+v -0.44728978 -0.03124722 0.08156136
+v -0.44690625 -0.11057732 0.04866431
+v -0.46102870 -0.04103083 0.16551309
+v -0.44736618 -0.01844097 0.09717123
+v -0.45892683 -0.15613944 0.08040619
+v -0.45922768 -0.05825433 0.08501125
+v -0.46081221 -0.05495869 0.17811176
+v -0.46043253 -0.16829164 0.09582734
+v -0.43741690 -0.01479039 0.08216277
+v -0.45161596 -0.18552747 0.07800622
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 1 4
+f 10 7 5
+f 10 2 7
+f 11 8 4
+f 11 5 8
+f 12 7 1
+f 12 1 8
+f 13 8 5
+f 13 5 7
+f 13 12 8
+f 13 7 12
+f 14 3 6
+f 15 6 2
+f 16 11 9
+f 17 11 4
+f 17 4 3
+f 17 9 11
+f 17 14 9
+f 19 14 6
+f 19 6 15
+f 19 9 14
+f 19 15 18
+f 20 10 5
+f 20 5 11
+f 20 11 16
+f 21 16 9
+f 21 20 16
+f 21 10 20
+f 21 19 18
+f 21 9 19
+f 22 17 3
+f 22 3 14
+f 22 14 17
+f 23 18 15
+f 23 15 2
+f 23 21 18
+f 23 2 10
+f 23 10 21
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_23.obj b/bagel/bagel_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460bc7a91923fca547427e7aa2f01c8668a367c5
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.35269332 -0.00858980 -0.00478632
+v 0.38495541 0.09856871 -0.01517377
+v 0.31729303 0.10539166 0.04592793
+v 0.09692757 0.10660017 0.04248798
+v 0.10203443 0.08033172 -0.01994655
+v 0.37398311 0.10334911 0.00458939
+v 0.21259157 0.01570115 0.02834199
+v 0.37358459 0.06097958 -0.01744265
+v 0.08020192 0.09261837 -0.01462683
+v 0.35728265 -0.00618570 -0.00999000
+v 0.34001148 0.09116197 0.03176316
+v 0.28820610 0.05825331 0.04161429
+v 0.18251149 -0.01318465 -0.00185821
+v 0.08541211 0.09011715 -0.01592901
+v 0.34461697 0.10284432 0.03101454
+v 0.31341055 0.08667861 0.04370415
+v 0.30100234 -0.00599497 0.01406109
+v 0.20641829 0.10392448 0.04959642
+v 0.07666900 0.09657496 0.03443116
+v 0.26124530 0.04837098 0.04173021
+v 0.33337692 -0.01006418 0.00322900
+v 0.08169623 0.10013905 0.03035787
+v 0.26237517 0.01771471 0.02774015
+v 0.24121783 0.04881157 0.04300180
+f 6 4 3
+f 8 5 2
+f 9 6 2
+f 9 4 6
+f 10 6 1
+f 10 2 6
+f 10 8 2
+f 10 5 8
+f 13 10 1
+f 13 5 10
+f 13 9 5
+f 14 9 2
+f 14 2 5
+f 14 5 9
+f 15 6 3
+f 15 3 11
+f 15 11 1
+f 15 1 6
+f 16 11 3
+f 16 1 11
+f 16 3 12
+f 17 7 13
+f 18 3 4
+f 19 13 7
+f 19 7 4
+f 19 9 13
+f 20 17 12
+f 21 16 12
+f 21 12 17
+f 21 1 16
+f 21 17 13
+f 21 13 1
+f 22 19 4
+f 22 4 9
+f 22 9 19
+f 23 7 17
+f 23 17 20
+f 24 20 12
+f 24 12 3
+f 24 3 18
+f 24 18 4
+f 24 4 7
+f 24 23 20
+f 24 7 23
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_24.obj b/bagel/bagel_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8f18ae58d321a83a11a5393f4365d6981f9542
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.13862927 0.09222152 0.26318196
+v 0.02988715 0.13576650 -0.09751563
+v 0.01503883 0.23807095 0.24139862
+v -0.20623019 0.23443150 0.30461343
+v -0.20031830 0.09713919 -0.02229768
+v 0.02218784 0.23456954 -0.10333031
+v -0.15300586 0.21063861 0.30172263
+v 0.00722321 0.10650592 0.16901350
+v -0.20360808 0.10766203 0.28635025
+v -0.15322389 0.23875667 0.30611305
+v -0.19535185 0.23445713 -0.00417672
+v -0.18296166 0.09601877 -0.03212896
+v -0.02004396 0.20954257 0.25425080
+v 0.01036770 0.14547779 0.19646748
+v -0.20617401 0.11281033 0.28702777
+v -0.10559082 0.15675883 0.27371413
+v -0.20724162 0.20597234 0.30348541
+v -0.18087782 0.23038188 -0.01445741
+v 0.02624847 0.11544062 -0.06602843
+v -0.08942082 0.23805056 0.28586336
+v 0.01118317 0.18168665 0.22522395
+v -0.12003275 0.17852732 0.28395123
+v -0.07367764 0.14337034 0.25554281
+v -0.16531636 0.19958859 -0.02634738
+v -0.19529997 0.18498246 -0.01294008
+v -0.01856023 0.23708701 0.25649522
+v 0.01194962 0.22813936 0.24154022
+v -0.03387903 0.11401228 0.21135709
+v -0.08935968 0.21211639 0.28119275
+v -0.06712752 0.14824771 0.25413515
+v -0.15316301 0.22966272 -0.02694704
+f 6 3 2
+f 9 5 1
+f 10 3 6
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 6 2
+f 12 8 1
+f 12 1 5
+f 15 5 9
+f 16 9 1
+f 17 9 7
+f 17 7 10
+f 17 10 4
+f 17 15 9
+f 17 4 5
+f 17 5 15
+f 18 11 6
+f 19 12 2
+f 19 8 12
+f 19 14 8
+f 19 2 3
+f 19 3 14
+f 20 10 7
+f 20 3 10
+f 21 14 3
+f 21 8 14
+f 22 7 9
+f 22 9 16
+f 23 16 1
+f 23 13 16
+f 24 6 12
+f 24 12 18
+f 25 18 12
+f 25 12 5
+f 25 5 11
+f 25 11 18
+f 26 20 13
+f 26 13 3
+f 26 3 20
+f 27 21 3
+f 27 3 13
+f 27 13 21
+f 28 1 8
+f 28 8 21
+f 28 23 1
+f 28 21 23
+f 29 20 7
+f 29 7 22
+f 29 13 20
+f 29 22 16
+f 29 16 13
+f 30 23 21
+f 30 21 13
+f 30 13 23
+f 31 24 18
+f 31 18 6
+f 31 6 24
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_25.obj b/bagel/bagel_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4290334106f76f937391d26f52acfbaa24bd4a4
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.29603799 -0.26381368 0.02780373
+v 0.37161820 -0.26565782 -0.05941806
+v 0.36645522 -0.13428023 -0.02328257
+v 0.01448324 -0.13641292 0.07879876
+v 0.00642491 -0.26515152 -0.06046823
+v 0.23721294 -0.22981803 0.06242774
+v 0.35320029 -0.25820006 -0.02813877
+v 0.00642491 -0.26515152 0.07589540
+v 0.00642491 -0.14393940 -0.06046823
+v 0.25115324 -0.26482780 0.06201104
+v 0.15506448 -0.15760644 0.06829056
+v 0.37285572 -0.15240248 -0.05765871
+v 0.29458624 -0.23064936 0.03121156
+v 0.25291893 -0.25897058 0.06051378
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 9 2 5
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 4 8
+f 10 8 2
+f 10 2 1
+f 11 6 3
+f 11 3 4
+f 11 10 6
+f 11 4 10
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 10 1
+f 13 1 3
+f 14 3 6
+f 14 6 10
+f 14 13 3
+f 14 10 13
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_26.obj b/bagel/bagel_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f8500f89a96cbb5b67ee9f5225bde10213d546
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.20923172 -0.19693432 0.21706400
+v -0.08481799 -0.13361147 0.21571430
+v -0.21307477 -0.04420362 0.30254567
+v -0.20472134 0.11852643 0.27853833
+v -0.20569631 0.09848484 0.21225904
+v -0.12082335 0.05713140 0.27007646
+v -0.19911142 -0.13484475 0.27275387
+v -0.18489177 -0.18088713 0.20457281
+v -0.22084782 -0.00757576 0.21225904
+v -0.13760354 -0.01541535 0.27000698
+v -0.19311539 0.09382820 0.30278567
+v -0.08150510 0.09866526 0.21389918
+v -0.22219737 -0.18558599 0.25140104
+v -0.15452054 -0.11846857 0.25619379
+v -0.22387939 -0.00750621 0.30845541
+v -0.19257459 -0.00691479 0.30038706
+v -0.11479914 0.01328858 0.25943496
+v -0.09527621 0.08357375 0.24279118
+v -0.17359909 0.11267275 0.27861351
+v -0.08447514 -0.12869275 0.21273803
+v -0.19561288 -0.16721460 0.25251264
+v -0.22111108 -0.13627770 0.27796116
+v -0.20226808 0.09075478 0.30306140
+v -0.22320536 -0.16733722 0.26016111
+v -0.18192722 0.10833051 0.29044467
+v -0.09571370 0.03182460 0.24315423
+v -0.16824767 0.11400971 0.26856984
+v -0.20038219 -0.17517030 0.24871602
+v -0.22210293 -0.05218537 0.30167184
+v -0.20288325 0.10540290 0.29374875
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 12 5 4
+f 12 8 5
+f 13 1 2
+f 13 9 1
+f 14 7 2
+f 14 3 7
+f 14 2 10
+f 15 4 5
+f 15 5 9
+f 16 10 6
+f 16 14 10
+f 16 3 14
+f 16 6 11
+f 16 15 3
+f 16 11 15
+f 17 10 2
+f 17 2 6
+f 17 6 10
+f 19 18 12
+f 20 12 2
+f 20 2 8
+f 20 8 12
+f 21 2 7
+f 21 7 13
+f 22 13 7
+f 22 7 3
+f 23 15 11
+f 24 15 9
+f 24 9 13
+f 24 13 22
+f 25 11 6
+f 25 6 18
+f 25 18 19
+f 25 19 4
+f 26 18 6
+f 26 6 2
+f 26 2 12
+f 26 12 18
+f 27 19 12
+f 27 12 4
+f 27 4 19
+f 28 21 13
+f 28 13 2
+f 28 2 21
+f 29 22 3
+f 29 3 15
+f 29 24 22
+f 29 15 24
+f 30 23 11
+f 30 4 15
+f 30 15 23
+f 30 25 4
+f 30 11 25
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_27.obj b/bagel/bagel_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f66694dc0dc5efa9acbbd36cd55c3d4b4aba25
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.32690843 -0.00757576 0.09104692
+v -0.28083908 0.09829946 0.01701205
+v -0.27820267 0.23198118 0.04091809
+v -0.39824292 0.23323008 0.09393397
+v -0.43741690 -0.01479039 0.08216277
+v -0.36579092 0.09417452 0.03577558
+v -0.28906245 0.23572157 0.05010956
+v -0.27417943 0.16997530 0.02954901
+v -0.32367506 -0.00638575 0.00632119
+v -0.43522965 -0.00547017 0.09628313
+v -0.35263005 0.23141562 0.05936284
+v -0.40452783 0.09583715 0.06252550
+v -0.35449156 -0.01632902 0.01847627
+v -0.33596862 0.04964797 0.01664059
+v -0.44206616 -0.01362728 0.09458554
+v -0.40653385 0.21708946 0.09803236
+v -0.33758300 0.24265729 0.06114848
+v -0.37820731 0.19984632 0.06461439
+v -0.38121729 -0.01523506 0.02818246
+v -0.32472237 0.04941698 0.01490927
+v -0.31008984 0.23403281 0.04732624
+v -0.42111407 0.14235883 0.09705005
+v -0.40234937 0.18317407 0.07838841
+v -0.37866599 0.23159760 0.07297003
+v -0.38939390 0.07960504 0.04751810
+v -0.37083417 0.04703466 0.02956553
+v -0.40159582 0.21302727 0.08783538
+v -0.41459449 0.14304414 0.08457757
+v -0.38927298 0.21555242 0.07655484
+v -0.34699340 0.03705782 0.01865844
+v -0.39238578 0.23093673 0.08487662
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 13 9 1
+f 13 1 5
+f 14 3 2
+f 14 6 11
+f 15 5 1
+f 15 1 10
+f 16 10 1
+f 16 1 4
+f 17 7 3
+f 17 4 7
+f 18 11 6
+f 19 9 13
+f 19 13 5
+f 19 5 12
+f 20 14 2
+f 20 2 9
+f 20 9 14
+f 21 14 11
+f 21 3 14
+f 21 17 3
+f 21 11 17
+f 22 15 10
+f 22 10 16
+f 22 5 15
+f 24 17 11
+f 24 4 17
+f 24 11 18
+f 25 18 6
+f 25 23 18
+f 25 12 23
+f 25 19 12
+f 26 25 6
+f 26 19 25
+f 27 16 4
+f 28 22 16
+f 28 27 23
+f 28 16 27
+f 28 5 22
+f 28 23 12
+f 28 12 5
+f 29 24 18
+f 29 18 23
+f 29 23 27
+f 30 26 6
+f 30 6 14
+f 30 14 9
+f 30 9 19
+f 30 19 26
+f 31 27 4
+f 31 4 24
+f 31 29 27
+f 31 24 29
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_28.obj b/bagel/bagel_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3bfc6d33bbc2b833ad2729fd4967f9a2c6ebea
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.18169746 -0.01507933 0.29064450
+v -0.21185348 -0.00625160 0.30391075
+v -0.42902203 -0.00754926 0.24001544
+v -0.24710433 0.12084810 0.28228443
+v -0.20226808 0.09075478 0.30306140
+v -0.35389207 0.09853132 0.23773346
+v -0.37928831 -0.00932637 0.28569809
+v -0.22552852 0.07571645 0.31714567
+v -0.20248266 0.11714522 0.27935223
+v -0.30482190 -0.00520301 0.31597386
+v -0.42197814 -0.00946233 0.24988418
+v -0.30361576 0.06989295 0.32073838
+v -0.22733372 0.10444970 0.30389346
+v -0.21102514 0.12763113 0.28262022
+v -0.24147796 -0.00411136 0.31502403
+v -0.37170248 0.04677181 0.29203139
+v -0.31416102 0.08750965 0.28993198
+v -0.23955711 0.10204114 0.30345712
+v -0.33226840 0.10473524 0.24622407
+v -0.21530999 0.12314370 0.28703880
+v -0.42400999 0.01549782 0.23758593
+v -0.32302465 0.05385119 0.31505931
+v -0.34672001 0.05635828 0.30286469
+v -0.41769918 0.01709896 0.24744641
+v -0.32186478 0.06048914 0.31560142
+v -0.36471112 0.05149827 0.29302463
+f 6 1 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 6
+f 10 7 1
+f 11 3 1
+f 11 1 7
+f 13 8 5
+f 13 12 8
+f 14 9 6
+f 14 13 5
+f 14 5 9
+f 15 10 1
+f 15 1 2
+f 15 2 8
+f 15 12 10
+f 15 8 12
+f 16 11 7
+f 17 12 4
+f 18 13 4
+f 18 4 12
+f 18 12 13
+f 19 14 6
+f 19 4 14
+f 19 17 4
+f 19 6 17
+f 20 14 4
+f 20 4 13
+f 20 13 14
+f 21 16 6
+f 21 6 3
+f 22 16 7
+f 22 7 10
+f 22 10 12
+f 23 12 17
+f 24 21 3
+f 24 3 11
+f 24 11 16
+f 24 16 21
+f 25 22 12
+f 25 12 23
+f 25 23 16
+f 25 16 22
+f 26 23 17
+f 26 17 6
+f 26 6 16
+f 26 16 23
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_29.obj b/bagel/bagel_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7963e573e9e9f5cdc69374efdeb3fbb46f0457
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.39187328 0.09888135 -0.02283431
+v 0.44217665 0.09514991 -0.19721618
+v 0.40093655 0.23075446 -0.03618116
+v 0.26400067 0.23484848 -0.01501369
+v 0.24795524 0.10184865 -0.22618455
+v 0.39201690 0.23405990 -0.02106250
+v 0.44213240 0.09644535 -0.13688037
+v 0.26400067 0.09848484 -0.01501369
+v 0.26425132 0.23388645 -0.19556932
+v 0.39796706 0.21019029 -0.02189919
+v 0.41336918 0.19126328 -0.06783745
+v 0.43457045 0.09217665 -0.11347885
+v 0.39802370 0.23307741 -0.12925839
+v 0.34404585 0.21850533 -0.19191764
+v 0.41139125 0.15860911 -0.05143660
+v 0.41901577 0.15435684 -0.19312489
+v 0.41190580 0.14564399 -0.05073973
+v 0.38432408 0.19286551 -0.18985947
+v 0.40181713 0.10354303 -0.03560718
+v 0.39762798 0.13080892 -0.02601103
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 4 6
+f 10 6 1
+f 10 3 6
+f 11 7 2
+f 11 3 7
+f 12 8 5
+f 12 5 2
+f 12 2 7
+f 12 1 8
+f 13 11 2
+f 13 3 11
+f 13 9 6
+f 13 6 3
+f 14 5 9
+f 14 9 13
+f 15 7 3
+f 15 3 10
+f 16 2 5
+f 16 5 14
+f 16 13 2
+f 17 12 7
+f 17 7 15
+f 17 15 10
+f 18 16 14
+f 18 14 13
+f 18 13 16
+f 19 1 12
+f 19 12 17
+f 20 19 17
+f 20 17 10
+f 20 10 1
+f 20 1 19
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_3.obj b/bagel/bagel_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f37214fbdcb437fa1cdba977e2e9725c29eed5
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20159798 -0.46292904 -0.06883143
+v 0.43149844 -0.26094511 -0.21594636
+v 0.44123402 -0.01469590 -0.06667802
+v 0.00503310 0.03034443 -0.06069908
+v 0.19565098 -0.36491137 -0.28347262
+v 0.37865087 -0.00168726 -0.27182307
+v 0.04993954 -0.48976307 -0.06006635
+v 0.37169097 -0.33174129 -0.07551629
+v 0.32635133 -0.41477257 -0.21902892
+v 0.46073943 -0.00469267 -0.19071528
+v 0.01356028 -0.03008133 -0.15135355
+v 0.36060678 -0.25022540 -0.31559012
+v 0.32221720 -0.40324273 -0.06609435
+v 0.40079712 -0.31097025 -0.12038755
+v 0.00765921 -0.46726030 -0.15992300
+v 0.23750797 -0.46118014 -0.15779866
+v 0.45956733 -0.04668656 -0.12401742
+v 0.45925085 -0.00632204 -0.10935492
+v 0.28310606 -0.01106383 -0.26821895
+v 0.31143551 -0.37566029 -0.28836176
+v 0.43147478 -0.18147612 -0.26286856
+v 0.28164830 -0.43124913 -0.06816300
+v 0.37936651 -0.29207422 -0.06884730
+v 0.38422460 -0.36046477 -0.14450676
+v 0.01172477 -0.14598780 -0.17032889
+v 0.01026375 -0.49268087 -0.06000430
+v 0.24229489 -0.46524401 -0.12687657
+v 0.41025433 -0.30165502 -0.14817426
+v 0.44508070 -0.02640606 -0.07104547
+v 0.31592888 -0.21091141 -0.31722338
+v 0.01148434 -0.01617637 -0.14112754
+v 0.28764503 -0.30881274 -0.31356901
+v 0.20771666 -0.41634768 -0.25637153
+v 0.38963612 -0.30811102 -0.27627456
+v 0.38658783 -0.12856864 -0.29840688
+v 0.38499599 -0.31313882 -0.08715053
+v 0.38415065 -0.34163141 -0.11893161
+v 0.35421472 -0.36213425 -0.07434358
+v 0.33169466 -0.41411762 -0.12302943
+v 0.17091788 -0.34460232 -0.27144166
+v 0.00645996 -0.48728604 -0.10460929
+v 0.25200805 -0.44609165 -0.07003885
+v 0.27393927 -0.44582575 -0.20422219
+v 0.45832239 -0.03783281 -0.11643507
+v 0.01499969 -0.08772663 -0.16310570
+v 0.36025507 -0.10165586 -0.29944282
+v 0.15180673 -0.01196676 -0.20803062
+v 0.24541329 -0.36669000 -0.29927452
+v 0.32060982 -0.30538850 -0.31574846
+v 0.28340139 -0.28403271 -0.31618946
+v 0.37216226 -0.35733564 -0.25044945
+v 0.41348294 -0.27394864 -0.26201914
+v 0.38376458 -0.24437531 -0.30217927
+v 0.43252881 -0.00751146 -0.24081053
+v 0.33672896 -0.40538590 -0.11159389
+v 0.38207510 -0.36008862 -0.21805856
+v 0.28162197 -0.44568741 -0.11565302
+v 0.16874153 -0.36507416 -0.26890781
+v 0.25819239 -0.43044802 -0.24592502
+v 0.00818043 -0.47556230 -0.14407918
+v 0.37047426 -0.10468202 -0.30009802
+v 0.20911384 -0.38050873 -0.28241832
+v 0.31657021 -0.34566081 -0.30251330
+v 0.35476739 -0.20573436 -0.31710279
+f 7 3 4
+f 10 6 4
+f 13 3 7
+f 17 2 10
+f 18 10 4
+f 18 4 3
+f 18 17 10
+f 19 4 6
+f 21 10 2
+f 22 13 7
+f 22 7 1
+f 23 13 8
+f 23 3 13
+f 25 15 4
+f 26 7 4
+f 27 1 7
+f 28 17 14
+f 28 2 17
+f 28 24 2
+f 28 14 24
+f 29 14 17
+f 29 3 23
+f 29 18 3
+f 31 25 4
+f 31 11 25
+f 36 23 8
+f 36 8 14
+f 36 29 23
+f 36 14 29
+f 37 24 14
+f 37 14 8
+f 37 8 24
+f 38 24 8
+f 38 8 13
+f 38 13 24
+f 40 15 25
+f 41 26 4
+f 41 4 15
+f 41 7 26
+f 41 27 7
+f 41 16 27
+f 42 22 1
+f 42 1 27
+f 43 27 16
+f 44 29 17
+f 44 17 18
+f 44 18 29
+f 45 25 11
+f 45 11 19
+f 46 30 19
+f 46 19 6
+f 47 19 11
+f 47 11 31
+f 47 31 4
+f 47 4 19
+f 49 48 32
+f 50 49 32
+f 50 30 49
+f 50 5 40
+f 50 40 25
+f 50 25 45
+f 50 45 19
+f 50 19 30
+f 50 48 5
+f 50 32 48
+f 51 9 20
+f 51 20 34
+f 52 21 2
+f 52 51 34
+f 53 35 21
+f 53 12 35
+f 53 21 52
+f 53 52 34
+f 53 34 12
+f 54 35 6
+f 54 6 10
+f 54 10 21
+f 54 21 35
+f 55 39 24
+f 55 24 13
+f 55 13 39
+f 56 39 9
+f 56 24 39
+f 56 9 51
+f 56 2 24
+f 56 52 2
+f 56 51 52
+f 57 27 43
+f 57 43 9
+f 57 9 39
+f 57 42 27
+f 57 22 42
+f 57 39 13
+f 57 13 22
+f 58 40 5
+f 58 5 15
+f 58 15 40
+f 59 15 33
+f 59 20 9
+f 59 9 43
+f 59 48 20
+f 59 33 48
+f 60 41 15
+f 60 59 43
+f 60 15 59
+f 60 43 16
+f 60 16 41
+f 61 46 6
+f 61 6 35
+f 62 48 33
+f 62 33 15
+f 62 15 5
+f 62 5 48
+f 63 20 48
+f 63 48 49
+f 63 34 20
+f 63 49 12
+f 63 12 34
+f 64 49 30
+f 64 12 49
+f 64 30 46
+f 64 46 61
+f 64 61 35
+f 64 35 12
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_30.obj b/bagel/bagel_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb863bb11314a174b6c4ebb354327b6ae4782c95
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.20569631 0.09848484 0.07589540
+v -0.20031830 0.09713919 -0.02229768
+v -0.20305751 0.23348289 0.00413078
+v -0.28906245 0.23572157 0.05010956
+v -0.29565448 0.10995237 0.02892904
+v -0.23616924 0.24186056 0.03042777
+v -0.19697613 0.21823315 -0.00425379
+v -0.27643794 0.09643065 0.01524027
+v -0.19771719 0.14342198 -0.01898359
+v -0.27820267 0.23198118 0.04091809
+v -0.21254493 0.09374178 -0.01560554
+v -0.27625417 0.12509688 0.01897873
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 1
+f 8 1 5
+f 9 7 1
+f 9 1 2
+f 9 2 8
+f 10 4 3
+f 10 3 7
+f 10 7 9
+f 10 5 4
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 10 9
+f 12 9 8
+f 12 8 5
+f 12 5 10
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_31.obj b/bagel/bagel_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f7057f4b77b94dce316f7beb9c9fcf7c1ef0eb
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.20463759 -0.44217701 -0.04072727
+v 0.20051050 -0.39815121 0.02918855
+v 0.01605665 -0.43330918 0.07967718
+v 0.00642491 -0.26515152 0.06074389
+v 0.20339460 -0.26515152 -0.06046823
+v 0.21173573 -0.26492872 0.07398472
+v 0.00642491 -0.40151516 -0.06046823
+v 0.19563093 -0.37577391 0.04705335
+v 0.02124751 -0.42504281 0.08575199
+v 0.00642491 -0.26515152 -0.06046823
+v 0.21609752 -0.26609541 0.07181181
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 2 1
+f 11 1 5
+f 11 5 6
+f 11 8 2
+f 11 6 8
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_4.obj b/bagel/bagel_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e897f7b6178b6a7f03fcbfb655289347ff3bee04
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.18169746 -0.01507933 0.29064450
+v 0.07636185 0.08967430 -0.06322007
+v -0.20248266 0.11714522 0.27935223
+v -0.42043168 0.10020681 0.18803431
+v -0.30796894 -0.00728974 -0.00101260
+v -0.15717224 0.09542201 -0.04190506
+v -0.34923844 -0.00213603 0.29753748
+v 0.04636109 0.10653648 0.12086312
+v -0.08212228 -0.01164830 -0.08543472
+v -0.42263032 0.09875399 0.09422809
+v -0.32911221 0.10049092 0.25860305
+v -0.45083904 -0.01640802 0.11054877
+v -0.04799079 -0.01501087 0.11787648
+v -0.01939627 0.10733585 0.18832053
+v 0.07009290 0.10041171 -0.06087317
+v -0.16799455 0.00535623 -0.05772534
+v -0.32387907 0.09514636 0.02699504
+v -0.37654658 0.09950377 0.23106231
+v -0.44770676 -0.01232514 0.20610395
+v -0.09381537 -0.01414522 -0.08323987
+v -0.44206616 -0.01362728 0.09458554
+v -0.08685550 -0.00265665 0.21774874
+v 0.07721318 0.10518468 0.07275421
+v -0.08670504 0.08542805 0.22743449
+v -0.32488511 0.06490881 0.01917539
+v -0.43404065 -0.00928972 0.23278989
+v -0.16761534 -0.00612394 -0.05777919
+v -0.16857955 0.07835386 -0.04321919
+v -0.07899135 0.03032976 0.22665242
+v 0.08541211 0.09011715 -0.01592901
+v -0.07143118 -0.00298249 0.18968883
+v -0.06861911 0.02321537 0.21525544
+v -0.30866681 0.01486250 0.00195827
+v -0.42914253 0.01079424 0.23458948
+v 0.00043483 0.10522061 0.17234282
+v -0.44313506 0.00130867 0.20992920
+f 7 1 3
+f 10 4 3
+f 11 7 3
+f 12 4 10
+f 13 9 2
+f 13 1 12
+f 14 8 3
+f 15 10 3
+f 15 6 10
+f 15 9 6
+f 15 2 9
+f 17 10 6
+f 18 11 3
+f 18 3 4
+f 18 7 11
+f 19 12 1
+f 19 4 12
+f 20 12 5
+f 20 13 12
+f 20 9 13
+f 20 6 9
+f 21 12 10
+f 21 5 12
+f 22 1 13
+f 23 15 3
+f 23 3 8
+f 24 14 3
+f 24 3 1
+f 24 1 14
+f 25 10 17
+f 25 21 10
+f 25 5 21
+f 26 19 1
+f 26 1 7
+f 27 20 5
+f 27 5 16
+f 27 16 20
+f 28 20 16
+f 28 6 20
+f 28 25 17
+f 28 17 6
+f 29 14 1
+f 30 23 13
+f 30 13 2
+f 30 2 15
+f 30 15 23
+f 31 23 22
+f 31 22 13
+f 31 13 23
+f 32 23 8
+f 32 22 23
+f 32 29 1
+f 32 1 22
+f 33 16 5
+f 33 5 25
+f 33 28 16
+f 33 25 28
+f 34 26 7
+f 34 7 18
+f 34 18 4
+f 35 32 8
+f 35 8 14
+f 35 14 29
+f 35 29 32
+f 36 34 4
+f 36 4 19
+f 36 19 26
+f 36 26 34
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_5.obj b/bagel/bagel_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..256a79b69a6fc610040df4058a19c0992ebda3ff
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.35641989 0.09898664 0.01714253
+v 0.39187328 0.09888135 -0.02283431
+v 0.36374411 0.29795660 -0.00560630
+v 0.01842014 0.48405276 0.11362635
+v 0.02138036 0.09580137 -0.01587079
+v 0.03533577 0.29035312 0.23236184
+v 0.38283872 0.18753984 0.00659445
+v 0.09364863 0.47278340 -0.01174085
+v 0.11473261 0.42128018 0.15114593
+v 0.00815288 0.10764827 0.16611138
+v 0.38574377 0.13332190 0.00122512
+v 0.38699191 0.27199244 -0.01756714
+v 0.37753075 0.28933391 -0.02542051
+v 0.02242137 0.48227504 -0.00863357
+v 0.02153130 0.42156517 0.18177838
+v 0.09851670 0.48057167 0.08008496
+v 0.18025333 0.32728572 0.14853820
+v 0.01352087 0.19534978 0.23013972
+v 0.38488390 0.10539001 -0.01056293
+v 0.01913099 0.49202629 0.07139141
+v 0.07111445 0.46390066 0.12976134
+v 0.01531748 0.32205283 0.23560097
+v 0.19556378 0.41294124 0.07419066
+v 0.15657080 0.45057835 0.02290340
+v 0.19237324 0.38828157 0.10929795
+v 0.36828136 0.25726115 0.01461180
+v 0.34029661 0.17560322 0.04609608
+v 0.29449068 0.10961058 0.05719483
+v 0.03504262 0.49045136 0.07389928
+v 0.08412310 0.44403682 0.14252047
+v 0.02319064 0.46728253 0.13612024
+v 0.13029095 0.43505221 0.12401378
+v 0.06250292 0.40593565 0.17975879
+v 0.11622145 0.33434566 0.18049195
+v 0.01716196 0.39303724 0.19495736
+v 0.12969340 0.46096194 -0.00434965
+v 0.16380596 0.44443671 0.03870488
+v 0.15926909 0.39099285 0.13739784
+v 0.18704485 0.40461047 0.09868597
+v 0.36077476 0.13091814 0.02617870
+v 0.34091381 0.23087496 0.04388132
+v 0.17845629 0.27515805 0.14871171
+v 0.04037171 0.24026396 0.22659823
+v 0.01588550 0.16961867 0.21571832
+v 0.34461697 0.10284432 0.03101454
+v 0.07875127 0.49451893 0.02089004
+v 0.03761401 0.43428846 0.16599534
+v 0.14231659 0.32967198 0.16828975
+v 0.18827977 0.33655695 0.14011811
+v 0.17601160 0.41297335 0.10061172
+v 0.32086283 0.14650258 0.05646327
+v 0.30422665 0.11691931 0.05695066
+v 0.02194223 0.49221445 0.01849719
+v 0.07974154 0.49424660 0.02184201
+v 0.02956376 0.20097261 0.22499845
+v 0.33578597 0.12170607 0.04226358
+f 5 2 1
+f 10 5 1
+f 12 11 2
+f 12 7 11
+f 13 2 5
+f 13 5 8
+f 13 12 2
+f 13 3 12
+f 14 8 5
+f 14 5 10
+f 19 11 1
+f 19 1 2
+f 19 2 11
+f 20 14 10
+f 20 10 4
+f 21 16 4
+f 22 18 6
+f 22 4 10
+f 22 10 18
+f 26 12 3
+f 26 3 25
+f 26 7 12
+f 29 20 4
+f 29 4 16
+f 30 9 21
+f 31 21 4
+f 31 4 15
+f 32 21 9
+f 32 16 21
+f 32 23 16
+f 32 9 25
+f 33 22 9
+f 33 9 15
+f 33 15 22
+f 34 9 22
+f 35 22 15
+f 35 15 4
+f 35 4 22
+f 36 24 13
+f 36 13 8
+f 37 24 16
+f 37 16 23
+f 37 23 3
+f 37 3 13
+f 37 13 24
+f 38 25 9
+f 38 9 17
+f 39 25 3
+f 39 3 23
+f 39 32 25
+f 40 11 7
+f 40 7 27
+f 40 1 11
+f 41 17 27
+f 41 27 7
+f 41 7 26
+f 42 27 17
+f 42 17 6
+f 43 6 18
+f 43 42 6
+f 44 18 10
+f 44 10 28
+f 45 28 10
+f 45 10 1
+f 45 1 40
+f 45 44 28
+f 46 8 14
+f 46 20 29
+f 46 36 8
+f 47 30 21
+f 47 15 9
+f 47 9 30
+f 47 31 15
+f 47 21 31
+f 48 17 9
+f 48 9 34
+f 48 6 17
+f 48 34 22
+f 48 22 6
+f 49 26 25
+f 49 25 38
+f 49 38 17
+f 49 41 26
+f 49 17 41
+f 50 39 23
+f 50 23 32
+f 50 32 39
+f 51 27 42
+f 51 42 43
+f 51 40 27
+f 52 18 44
+f 52 44 45
+f 53 46 14
+f 53 14 20
+f 53 20 46
+f 54 16 24
+f 54 24 36
+f 54 36 46
+f 54 46 29
+f 54 29 16
+f 55 51 43
+f 55 43 18
+f 55 18 52
+f 56 45 40
+f 56 40 51
+f 56 52 45
+f 56 55 52
+f 56 51 55
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_6.obj b/bagel/bagel_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68be6ba7ba9d651899615fdf856551bc1141b40f
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00669457 -0.49104260 -0.00535959
+v 0.01269058 -0.43644784 -0.19873050
+v 0.00353852 -0.01694800 0.01626576
+v -0.43741690 -0.01479039 0.08216277
+v -0.40264766 -0.26561040 0.06372642
+v 0.01148434 -0.01617637 -0.14112754
+v 0.00312185 -0.45025143 0.06702034
+v -0.11967773 -0.45877739 -0.08517784
+v -0.37743395 -0.17855157 -0.01292247
+v -0.00613847 -0.06259132 0.08043394
+v -0.11921214 -0.44396394 0.06497722
+v -0.04830438 -0.48865875 -0.08715670
+v -0.44459015 -0.18392207 0.05634614
+v -0.35879481 -0.26817462 -0.01368208
+v -0.03296180 -0.38683774 -0.19344088
+v -0.39397834 -0.04858561 0.01919931
+v -0.03631171 -0.01724920 0.07914924
+v -0.34114462 -0.30884879 0.09057642
+v -0.07006392 -0.45931558 0.07208674
+v -0.04203886 -0.46516110 -0.14937836
+v 0.00818043 -0.47556230 -0.14407918
+v -0.10527606 -0.47439806 -0.00307508
+v -0.35859277 -0.29666647 0.02328675
+v -0.41838318 -0.17387988 0.01710286
+v -0.41399022 -0.23973734 0.03561876
+v 0.01021646 -0.04528606 -0.15154661
+v -0.17880715 -0.36436012 -0.11890203
+v -0.39315944 -0.01799101 0.03379534
+v -0.02529395 -0.03181115 0.07936694
+v -0.44764650 -0.19709666 0.08018978
+v -0.01685941 -0.47718813 0.03612899
+v -0.07255486 -0.49002962 -0.06477311
+v 0.00487542 -0.49089925 -0.08756828
+v 0.00973739 -0.46105385 -0.16963926
+v -0.00625387 -0.47432090 -0.14315216
+v -0.12250042 -0.45835065 0.03554091
+v -0.13180866 -0.44519407 -0.09434758
+v -0.13320850 -0.46004473 -0.03135336
+v -0.37418182 -0.23190549 -0.01289630
+v -0.41942708 -0.11565894 0.01634606
+v -0.41569266 -0.22907958 0.02894459
+v -0.38610548 -0.27886032 0.04880437
+v -0.35751839 -0.28255814 -0.00139112
+v -0.39472553 -0.11681432 0.00280516
+v 0.01165395 -0.33637337 -0.19817047
+v -0.01415640 -0.02200887 -0.13388673
+v -0.02127113 -0.42484515 -0.19475203
+v -0.41798978 -0.05985145 0.03091741
+v -0.40399944 -0.26588199 0.07706612
+v -0.43073742 -0.22573987 0.06583153
+v -0.35391144 -0.30296338 0.09011186
+v -0.44728978 -0.03124722 0.08156136
+v 0.00061526 -0.46359043 0.05009795
+v -0.06571817 -0.48702036 -0.00397290
+v -0.01534765 -0.44822634 -0.17888578
+v -0.14489268 -0.44638730 -0.06888733
+v -0.13086682 -0.43416374 -0.10658516
+v -0.08754083 -0.44521499 -0.13829424
+v -0.07731231 -0.48895246 -0.05805224
+v -0.43071951 -0.15446772 0.02667474
+v -0.44454312 -0.19609771 0.06385741
+v -0.38530013 -0.26781238 0.02495992
+v -0.38968586 -0.28020197 0.07657701
+v -0.16627096 -0.26871716 -0.11820229
+f 6 4 3
+f 6 1 2
+f 7 6 3
+f 7 1 6
+f 10 7 3
+f 17 3 4
+f 17 4 10
+f 18 10 4
+f 19 18 11
+f 19 7 10
+f 19 10 18
+f 21 2 1
+f 27 9 15
+f 28 4 6
+f 29 17 10
+f 29 10 3
+f 29 3 17
+f 32 20 12
+f 32 8 20
+f 33 21 1
+f 33 12 21
+f 33 32 12
+f 33 1 32
+f 34 2 21
+f 35 21 12
+f 35 12 20
+f 35 34 21
+f 35 20 34
+f 36 19 11
+f 39 24 9
+f 39 27 14
+f 39 9 27
+f 40 9 24
+f 41 24 39
+f 41 39 14
+f 41 14 25
+f 42 5 25
+f 43 25 14
+f 43 37 23
+f 44 15 9
+f 44 9 40
+f 44 40 16
+f 44 16 26
+f 45 26 6
+f 45 6 2
+f 45 2 15
+f 45 15 26
+f 46 26 16
+f 46 6 26
+f 46 28 6
+f 46 16 28
+f 47 27 15
+f 47 15 2
+f 48 28 16
+f 48 4 28
+f 48 16 40
+f 50 25 5
+f 50 49 30
+f 50 5 49
+f 51 18 4
+f 51 30 49
+f 51 36 11
+f 51 11 18
+f 51 38 22
+f 51 22 36
+f 52 13 30
+f 52 48 40
+f 52 4 48
+f 52 51 4
+f 52 30 51
+f 53 31 1
+f 53 1 7
+f 53 7 19
+f 53 19 31
+f 54 1 31
+f 54 32 1
+f 54 31 19
+f 54 36 22
+f 54 19 36
+f 55 34 20
+f 55 2 34
+f 55 47 2
+f 55 20 47
+f 56 37 8
+f 56 23 37
+f 56 8 38
+f 57 14 27
+f 57 43 14
+f 57 37 43
+f 58 20 8
+f 58 8 37
+f 58 37 57
+f 58 47 20
+f 58 57 27
+f 58 27 47
+f 59 22 38
+f 59 54 22
+f 59 32 54
+f 59 38 8
+f 59 8 32
+f 60 40 24
+f 60 52 40
+f 60 13 52
+f 60 41 13
+f 60 24 41
+f 61 41 25
+f 61 13 41
+f 61 25 50
+f 61 50 30
+f 61 30 13
+f 62 42 25
+f 62 23 42
+f 62 43 23
+f 62 25 43
+f 63 42 23
+f 63 38 51
+f 63 51 49
+f 63 49 5
+f 63 5 42
+f 63 56 38
+f 63 23 56
+f 64 44 26
+f 64 26 15
+f 64 15 44
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_7.obj b/bagel/bagel_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44567f71807e5f5932e62e2b255221207b06727
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.25852229 -0.01205134 0.01025649
+v 0.26478049 0.09787490 -0.24011755
+v 0.26400067 0.23484848 -0.01501369
+v 0.15794006 0.23484848 -0.01501369
+v 0.11350329 0.00754680 -0.15742415
+v 0.26691196 0.22824040 -0.20051728
+v 0.26400067 -0.00757576 -0.13622581
+v 0.15676569 -0.00827561 -0.01348274
+v 0.16043733 0.23052482 -0.15745780
+v 0.26720713 0.20188637 -0.21169799
+v 0.16304275 0.09720143 -0.19596236
+v 0.18110142 0.22961935 -0.16735167
+v 0.16381639 0.17196869 -0.17752900
+v 0.25628276 0.19868167 -0.20933935
+v 0.18013557 0.19342299 -0.17977111
+v 0.24225101 0.22580314 -0.19255968
+v 0.25457329 0.15364322 -0.22590037
+v 0.26494932 0.15232954 -0.22873008
+f 1 3 4
+f 7 5 2
+f 7 3 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 7 2
+f 10 6 3
+f 10 3 7
+f 11 2 5
+f 12 9 6
+f 13 11 5
+f 13 5 9
+f 14 6 10
+f 15 13 9
+f 15 9 12
+f 16 14 12
+f 16 12 6
+f 16 6 14
+f 17 14 10
+f 17 2 11
+f 17 11 13
+f 17 13 15
+f 17 15 12
+f 17 12 14
+f 18 17 10
+f 18 10 2
+f 18 2 17
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_8.obj b/bagel/bagel_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90855d5c16e14fe56ebb330feb10a7558f93a4aa
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.15055066 0.03738775 -0.01082145
+v 0.15921282 0.03645318 -0.19506760
+v 0.15331407 0.42117492 -0.09324574
+v 0.00798118 0.48115309 -0.00643944
+v 0.02138036 0.09580137 -0.01587079
+v 0.02846808 0.41266974 -0.07223025
+v 0.13567775 0.44353915 -0.01014611
+v 0.16599220 0.19629143 -0.16953216
+v 0.11156874 0.03046225 -0.13272154
+v 0.00943686 0.44990453 -0.04363181
+v 0.15794006 0.23484848 -0.01501369
+v 0.06407718 0.48220863 -0.00802783
+v 0.14966571 0.37163849 -0.13646491
+v 0.12601763 0.02995449 -0.17418001
+v 0.11949332 0.03670388 -0.04239022
+v 0.01326040 0.47468764 -0.01756446
+v 0.03334270 0.13896813 -0.10314141
+v -0.01394352 0.45653288 -0.02676287
+v 0.12380124 0.46360185 -0.00753328
+v 0.14741024 0.39206847 -0.12256326
+v -0.00728652 0.44511000 -0.04326644
+v 0.16195829 0.14145683 -0.18339678
+v 0.11174847 0.03407594 -0.09366505
+v 0.06775689 0.47266306 -0.02243300
+v 0.02624847 0.11544062 -0.06602843
+v 0.03014400 0.26165784 -0.10371162
+v -0.00794243 0.47368224 -0.01210009
+v 0.04100784 0.42212346 -0.07235972
+v 0.03289936 0.12931852 -0.09323340
+v 0.13836336 0.03333119 -0.18655896
+v 0.13771688 0.36084371 -0.13377340
+v -0.00572387 0.45221153 -0.03805238
+v 0.04308790 0.17428940 -0.11632098
+v 0.13787806 0.12256121 -0.17789436
+v 0.04482746 0.20312686 -0.11790810
+v 0.14922134 0.13869217 -0.17959427
+f 5 1 4
+f 8 1 2
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 8
+f 13 3 8
+f 14 2 1
+f 14 1 9
+f 14 9 5
+f 15 9 1
+f 15 1 5
+f 16 3 10
+f 16 4 12
+f 19 7 3
+f 19 3 12
+f 19 1 7
+f 19 12 4
+f 19 4 1
+f 20 10 3
+f 20 3 13
+f 21 10 20
+f 21 17 18
+f 22 13 8
+f 22 8 2
+f 23 15 5
+f 23 5 9
+f 23 9 15
+f 24 16 12
+f 24 12 3
+f 24 3 16
+f 25 14 5
+f 25 18 17
+f 25 5 18
+f 26 21 6
+f 26 17 21
+f 27 18 5
+f 27 5 4
+f 27 4 16
+f 28 13 6
+f 28 6 21
+f 28 21 20
+f 28 20 13
+f 29 25 17
+f 29 17 14
+f 29 14 25
+f 30 2 14
+f 30 14 17
+f 31 26 6
+f 31 6 13
+f 32 21 18
+f 32 18 27
+f 32 10 21
+f 32 27 16
+f 32 16 10
+f 33 30 17
+f 33 17 26
+f 34 22 2
+f 34 2 30
+f 34 26 31
+f 35 33 26
+f 35 30 33
+f 35 34 30
+f 35 26 34
+f 36 34 31
+f 36 31 13
+f 36 13 22
+f 36 22 34
\ No newline at end of file
diff --git a/bagel/bagel_9/collision/model_normalized_collision_9.obj b/bagel/bagel_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90599dd0190c330e1bdc85cf04b0c67b0a2f015
--- /dev/null
+++ b/bagel/bagel_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.20642955 0.10301673 0.29130314
+v -0.20569631 0.09848484 0.07589540
+v -0.18937771 0.26741400 0.30270503
+v -0.22066260 0.26500232 0.30067418
+v -0.42263032 0.09875399 0.09422809
+v -0.23616924 0.24186056 0.03042777
+v -0.25112618 0.09776672 0.30200401
+v -0.19029224 0.23588149 0.30399915
+v -0.41433952 0.22977591 0.17690652
+v -0.33519372 0.10850118 0.03962165
+v -0.30661283 0.08992779 0.29455002
+v -0.24847544 0.23433184 0.30087146
+v -0.40249828 0.23074143 0.09881351
+v -0.42043168 0.10020681 0.18803431
+v -0.21817567 0.26200653 0.30152216
+v -0.25051182 0.19880062 0.30193375
+v -0.37258776 0.23013690 0.24275836
+v -0.41425505 0.22708912 0.12557696
+v -0.41445251 0.18492061 0.09825602
+v -0.33219386 0.23716950 0.05849760
+v -0.30132208 0.24088656 0.28829390
+v -0.38579933 0.23132754 0.22870600
+v -0.40624195 0.12258071 0.21148462
+v -0.41392882 0.21654811 0.11376296
+v -0.35885649 0.21823742 0.25598492
+v -0.37654658 0.09950377 0.23106231
+v -0.39936885 0.21709351 0.21511502
+v -0.35980559 0.16590472 0.25641677
+v -0.41417167 0.21642993 0.18897630
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 10 6 2
+f 10 2 5
+f 11 5 2
+f 11 2 1
+f 11 1 7
+f 13 9 4
+f 14 9 5
+f 14 5 11
+f 15 12 8
+f 15 8 3
+f 15 3 4
+f 15 4 12
+f 16 7 8
+f 16 8 12
+f 16 12 11
+f 16 11 7
+f 18 5 9
+f 18 9 13
+f 19 10 5
+f 20 6 10
+f 20 19 13
+f 20 10 19
+f 20 13 4
+f 20 4 6
+f 21 12 4
+f 21 11 12
+f 22 4 9
+f 22 21 4
+f 22 17 21
+f 24 18 13
+f 24 13 19
+f 24 19 5
+f 24 5 18
+f 25 21 17
+f 25 11 21
+f 26 23 14
+f 26 14 11
+f 26 11 23
+f 27 23 17
+f 27 17 22
+f 28 23 11
+f 28 11 25
+f 28 25 17
+f 28 17 23
+f 29 27 22
+f 29 22 9
+f 29 9 14
+f 29 14 23
+f 29 23 27
\ No newline at end of file
diff --git a/bagel/bagel_9/model.xml b/bagel/bagel_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ff51c7d9cdea2f5c81e87e725478405f3485968
--- /dev/null
+++ b/bagel/bagel_9/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="bagel_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex0" texture="image0" specular="0.5" shininess="0.0"/>
+    <material name="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex1" texture="image1" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex1"/>
+        <geom solimp="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="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex0"/>
+        <geom solimp="0.998 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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005614725973644047 0.00010109330000000168 -0.024247925986285626" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005614725973644047 0.00010109330000000168 0.025012475509750817" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05552801190014766 0.05439708230000001 0.00038227476173259534" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bagel/bagel_9/visual/material.mtl b/bagel/bagel_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/bagel/bagel_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bagel/bagel_9/visual/model_normalized_1.obj b/bagel/bagel_9/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d9eb4eee36f4e3f41e699e4d8f6e5f884ca7aa
--- /dev/null
+++ b/bagel/bagel_9/visual/model_normalized_1.obj
@@ -0,0 +1,198454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 43207/43207/43207 43210/43210/43210 43211/43211/43211
+f 43212/43212/43212 43213/43213/43213 43214/43214/43214
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_0.obj b/new_comb/new_comb_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ed4df49df041f0f78c8c55d2041e70d2268f8f
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.00046488 -0.02118866 0.00097965
+v 0.00046488 -0.02006860 -0.00096870
+v 0.00046552 -0.02118866 -0.00096969
+v 0.00452515 -0.02118866 0.00096232
+v 0.00452515 -0.01877366 0.00098969
+v 0.00452515 -0.01747872 0.00100426
+v 0.00064150 -0.01747872 0.00100387
+v 0.00046488 -0.01765360 0.00100092
+v 0.00046488 -0.01877366 -0.00098879
+v 0.00452515 -0.02118866 -0.00096240
+v 0.00046488 -0.01747872 -0.00100159
+v 0.00064150 -0.01747872 -0.00100396
+v 0.00452515 -0.01747872 -0.00100435
+v 0.00452515 -0.01877366 -0.00098978
+v 0.00470304 -0.02118866 0.00096015
+v 0.00581906 -0.01747872 0.00098713
+v 0.00581906 -0.01100817 0.00099363
+v 0.00452451 -0.01100817 0.00100545
+v 0.00064150 -0.01100817 0.00100584
+v 0.00046488 -0.01100817 0.00100545
+v 0.00046488 -0.01747872 0.00100151
+v 0.00581906 -0.01747872 -0.00098722
+v 0.00581906 -0.02118866 -0.00094448
+v 0.00046488 -0.01100817 -0.00100553
+v 0.00452451 -0.01100817 -0.00100593
+v 0.00581906 -0.01100817 -0.00099372
+v 0.00581906 -0.02118866 0.00094439
+v 0.00700098 -0.02118866 0.00046228
+v 0.00699906 -0.01747872 0.00048473
+v 0.00699522 -0.01100817 0.00049064
+v 0.00581970 0.01099751 0.00099383
+v 0.00452515 0.01099751 0.00100545
+v 0.00064150 0.01099751 0.00100564
+v 0.00046488 0.01099751 0.00100545
+v 0.00699906 -0.01747872 -0.00048561
+v 0.00700098 -0.02118866 -0.00046335
+v 0.00683908 -0.02118866 -0.00052952
+v 0.00046488 0.01099751 -0.00100593
+v 0.00452515 0.01099751 -0.00100612
+v 0.00581970 0.01099751 -0.00099411
+v 0.00699522 -0.01100817 -0.00049151
+v 0.00700226 0.02134872 0.00046267
+v 0.00700034 -0.01877366 0.00047370
+v 0.00699970 0.01747222 0.00048453
+v 0.00699586 0.01099751 0.00049044
+v 0.00581970 0.01747222 0.00098713
+v 0.00452515 0.01747222 0.00100407
+v 0.00064150 0.01747222 0.00100387
+v 0.00046488 0.01747222 0.00100151
+v 0.00700034 -0.01877366 -0.00047477
+v 0.00699586 0.01099751 -0.00049151
+v 0.00699970 0.01747222 -0.00048580
+v 0.00700226 0.02134872 -0.00046394
+v 0.00046488 0.01747222 -0.00100199
+v 0.00064150 0.01747222 -0.00100435
+v 0.00452515 0.01747222 -0.00100455
+v 0.00581970 0.01747222 -0.00098761
+v 0.00581970 0.02134872 0.00094656
+v 0.00700098 0.01876716 0.00047370
+v 0.00452515 0.02134872 0.00096566
+v 0.00046488 0.02134872 0.00097925
+v 0.00700098 0.01876716 -0.00047497
+v 0.00581970 0.02134872 -0.00094704
+v 0.00046488 0.01764710 -0.00100140
+v 0.00046488 0.02134872 -0.00098052
+v 0.00453475 0.02134872 -0.00096614
+f 1 2 3
+f 1 3 10
+f 1 10 23
+f 1 23 37
+f 1 37 36
+f 1 36 28
+f 1 28 27
+f 1 27 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 21
+f 1 21 20
+f 1 20 34
+f 1 34 49
+f 1 49 61
+f 1 61 65
+f 1 65 64
+f 1 64 54
+f 1 54 38
+f 1 38 24
+f 1 24 11
+f 1 11 9
+f 1 9 2
+f 2 9 3
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 10 14 22
+f 10 22 23
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 22
+f 13 22 14
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 22 26 35
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 41 35
+f 26 40 41
+f 28 36 53
+f 28 53 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 31
+f 31 45 44
+f 31 44 46
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 35 50 36
+f 35 41 51
+f 35 51 52
+f 35 52 50
+f 36 50 53
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 40
+f 40 56 57
+f 40 57 52
+f 40 52 51
+f 40 51 41
+f 42 53 63
+f 42 63 66
+f 42 66 65
+f 42 65 61
+f 42 61 60
+f 42 60 58
+f 42 58 46
+f 42 46 44
+f 42 44 59
+f 42 59 43
+f 43 59 44
+f 46 58 60
+f 46 60 47
+f 47 60 61
+f 47 61 48
+f 48 61 49
+f 50 52 62
+f 50 62 53
+f 52 57 53
+f 52 53 62
+f 53 57 63
+f 54 64 55
+f 55 64 65
+f 55 65 56
+f 56 65 66
+f 56 66 57
+f 57 66 63
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_1.obj b/new_comb/new_comb_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aad998c93a590471c9aa779d7c7e233a9be7ca2
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00046517 0.02134872 -0.00098068
+v 0.00334878 0.02134872 -0.00096559
+v 0.00046517 0.02134872 0.00097955
+v 0.00046517 0.02373388 -0.00126442
+v 0.00334878 0.02134872 -0.00080174
+v 0.00046517 0.02429024 -0.00132892
+v 0.00141056 0.02453286 -0.00130214
+v 0.00334878 0.02382998 -0.00111800
+v 0.00323079 0.02134872 0.00096525
+v 0.00334878 0.02134966 0.00096525
+v 0.00046517 0.02353602 0.00124249
+v 0.00046517 0.02493141 -0.00132788
+v 0.00141056 0.02464215 -0.00130214
+v 0.00334878 0.02394776 -0.00112502
+v 0.00334878 0.02394776 0.00112494
+v 0.00142298 0.02452673 0.00130075
+v 0.00046517 0.02428412 0.00132806
+v 0.00046517 0.02507038 -0.00131228
+v 0.00046517 0.02557539 -0.00121163
+v 0.00187973 0.02514104 -0.00106468
+v 0.00334878 0.02536953 -0.00059264
+v 0.00334878 0.02536905 0.00059177
+v 0.00188736 0.02514387 0.00106408
+v 0.00142298 0.02464686 0.00130075
+v 0.00046517 0.02474297 0.00132806
+v 0.00046517 0.02616097 -0.00057703
+v 0.00064160 0.02615908 -0.00054634
+v 0.00193591 0.02605874 -0.00037209
+v 0.00299676 0.02596641 -0.00017963
+v 0.00299676 0.02596641 0.00017798
+v 0.00046517 0.02558199 0.00121102
+v 0.00046517 0.02493753 0.00132702
+v 0.00046517 0.02616144 -0.00036194
+v 0.00064160 0.02615908 0.00054574
+v 0.00193591 0.02605874 0.00037122
+v 0.00046517 0.02607570 0.00070725
+v 0.00046517 0.02616144 0.00057643
+f 1 2 5
+f 1 5 9
+f 1 9 3
+f 1 3 11
+f 1 11 17
+f 1 17 25
+f 1 25 32
+f 1 32 31
+f 1 31 36
+f 1 36 37
+f 1 37 33
+f 1 33 26
+f 1 26 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 14
+f 2 14 21
+f 2 21 22
+f 2 22 15
+f 2 15 10
+f 2 10 5
+f 3 9 10
+f 3 10 11
+f 5 10 9
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 19 21 20
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 21
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 26 33 27
+f 27 33 37
+f 27 37 34
+f 27 34 35
+f 27 35 28
+f 28 35 30
+f 28 30 29
+f 30 35 31
+f 31 35 36
+f 34 37 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_10.obj b/new_comb/new_comb_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ccc63fe163ef06cbbe192c6d8067ea16c8616cd
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00065052 -0.02006054 0.00101392
+v -0.00065052 -0.00323614 0.00100380
+v -0.00065052 -0.02006814 0.00101392
+v -0.00064965 -0.02006814 0.00101392
+v 0.00046477 0.01099756 0.00100558
+v -0.00060609 0.01099756 0.00100558
+v -0.00065052 -0.00194079 0.00099049
+v -0.00060609 0.01747052 0.00098652
+v -0.00060609 0.01873929 0.00098216
+v -0.00065052 -0.02006814 -0.00101442
+v 0.00046488 -0.02006814 0.00096865
+v 0.00046488 -0.01895133 0.00099308
+v 0.00046488 -0.01765597 0.00100102
+v 0.00046488 -0.01748123 0.00100161
+v 0.00046488 -0.01100446 0.00100558
+v 0.00046477 0.01747052 0.00100181
+v 0.00046488 -0.00323994 0.00100380
+v -0.00065052 0.00008771 0.00096091
+v 0.00046477 0.01873929 0.00098891
+v -0.00060609 0.01873929 -0.00098265
+v 0.00046477 0.01099756 -0.00100588
+v 0.00046488 -0.01100446 -0.00100588
+v 0.00046488 -0.01748123 -0.00100191
+v 0.00046488 -0.01877278 -0.00098901
+v 0.00046488 -0.02006814 -0.00096895
+v -0.00065052 -0.00323994 -0.00100410
+v -0.00060609 0.01099756 -0.00100588
+v 0.00046488 -0.00194458 0.00099049
+v -0.00065052 0.00008771 -0.00096121
+v 0.00046488 0.00008771 0.00096091
+v 0.00046477 0.01873929 -0.00098940
+v -0.00060609 0.01871650 -0.00098305
+v 0.00046477 0.01747052 -0.00100211
+v 0.00046488 -0.00323994 -0.00100410
+v -0.00065052 -0.00194458 -0.00099079
+v -0.00060609 0.01747052 -0.00098682
+v 0.00046488 0.00008771 -0.00096121
+v 0.00046488 -0.00194458 -0.00099079
+v 0.00046477 0.01764906 -0.00100152
+v 0.00046488 -0.00306140 -0.00100231
+f 1 2 7
+f 1 7 18
+f 1 18 29
+f 1 29 35
+f 1 35 26
+f 1 26 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 25
+f 3 25 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 16 6
+f 5 15 17
+f 5 17 16
+f 6 16 8
+f 7 9 18
+f 8 16 9
+f 9 16 19
+f 9 19 31
+f 9 31 20
+f 9 20 29
+f 9 29 18
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 26 27
+f 10 27 21
+f 11 25 24
+f 11 24 23
+f 11 23 22
+f 11 22 34
+f 11 34 40
+f 11 40 38
+f 11 38 37
+f 11 37 30
+f 11 30 28
+f 11 28 17
+f 11 17 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 16 17 19
+f 17 28 19
+f 19 28 30
+f 19 30 37
+f 19 37 31
+f 20 31 32
+f 20 32 29
+f 21 27 33
+f 21 33 34
+f 21 34 22
+f 26 35 32
+f 26 32 36
+f 26 36 27
+f 27 36 33
+f 29 32 35
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 32 39 33
+f 32 33 36
+f 33 39 34
+f 34 39 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_11.obj b/new_comb/new_comb_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a70fec21a6a30a043edeb8309bac003865769bc
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00147309 -0.02006814 0.00115732
+v -0.00147309 -0.02006814 -0.00115867
+v -0.00065060 -0.02006814 0.00101402
+v -0.00065060 -0.02006419 0.00101402
+v -0.00065060 -0.00323862 0.00100404
+v -0.00147309 -0.00395095 0.00110268
+v -0.00147309 -0.00450542 -0.00109994
+v -0.00065060 -0.00324257 -0.00100425
+v -0.00065060 -0.02006814 -0.00101446
+v -0.00065060 -0.00194419 0.00099066
+v -0.00065060 0.00008821 0.00096096
+v -0.00147309 0.00008821 0.00104327
+v -0.00147309 -0.00324257 -0.00109019
+v -0.00065060 -0.00194617 -0.00099110
+v -0.00065060 0.00008821 -0.00096140
+v -0.00147309 0.00008821 -0.00104371
+v -0.00147309 -0.00194617 -0.00107250
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 9 8
+f 3 8 14
+f 3 14 15
+f 3 15 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 14 17 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_12.obj b/new_comb/new_comb_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c55c00f6ed717aa70968c63fe785cb8c1aa4a1e
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00166321 0.01100032 0.00114173
+v -0.00060620 0.01099302 0.00100557
+v -0.00060620 0.01100032 0.00100557
+v -0.00166321 0.01873929 0.00113212
+v -0.00166321 0.00447542 0.00112340
+v -0.00060620 0.00322667 0.00100400
+v -0.00060620 0.01747410 0.00098678
+v -0.00060620 0.01873929 0.00098209
+v -0.00166321 0.01873929 -0.00113312
+v -0.00166321 0.00323397 0.00110998
+v -0.00060620 0.00193958 0.00099081
+v -0.00060620 0.01873929 -0.00098264
+v -0.00165172 0.01873929 -0.00113155
+v -0.00060620 0.01100032 -0.00100589
+v -0.00166321 0.01100032 -0.00114251
+v -0.00166321 0.00193958 0.00109120
+v -0.00166321 0.00009019 0.00106236
+v -0.00060620 0.00009019 0.00096107
+v -0.00060620 0.01872103 -0.00098286
+v -0.00060620 0.01868634 -0.00098308
+v -0.00060620 0.01747410 -0.00098711
+v -0.00060620 0.00323397 -0.00100432
+v -0.00166321 0.00412124 -0.00112618
+v -0.00166321 0.00009019 -0.00106268
+v -0.00060620 0.00009019 -0.00096139
+v -0.00060620 0.00318650 -0.00100388
+v -0.00060620 0.00193958 -0.00099091
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 24
+f 1 24 17
+f 1 17 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 25
+f 2 25 27
+f 2 27 26
+f 2 26 22
+f 2 22 14
+f 2 14 21
+f 2 21 20
+f 2 20 19
+f 2 19 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 10 11
+f 5 11 6
+f 9 13 14
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 22 15
+f 15 22 23
+f 17 24 25
+f 17 25 18
+f 22 26 23
+f 23 26 27
+f 23 27 24
+f 24 27 25
\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_2.obj b/new_comb/new_comb_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a51b13d86121cc2c57c97c1059a102efacc88b2
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.00105247 -0.02006814 0.00108359
+v 0.00046423 -0.02006875 0.00096875
+v -0.00105247 -0.02006814 -0.00108451
+v -0.00224840 -0.02006814 0.00140932
+v 0.00046423 -0.02429091 0.00132765
+v 0.00046423 -0.02006875 -0.00096873
+v -0.00225035 -0.02007177 0.00140995
+v -0.00225425 -0.02006814 -0.00141180
+v -0.00324261 -0.02006814 0.00156170
+v 0.00046423 -0.02494507 0.00132671
+v -0.00324261 -0.02266184 0.00156170
+v 0.00046423 -0.02007177 -0.00096905
+v -0.00324261 -0.02006814 -0.00156231
+v 0.00046423 -0.02429876 -0.00132888
+v -0.00453679 -0.02006814 0.00159831
+v -0.00061262 -0.02531474 0.00135644
+v -0.00015390 -0.02578951 0.00127352
+v 0.00046423 -0.02508521 0.00131107
+v -0.00194844 -0.02395507 0.00147472
+v -0.00324261 -0.02395507 0.00154481
+v -0.00453679 -0.02136741 0.00158142
+v -0.00324261 -0.02007177 -0.00156231
+v -0.00453679 -0.02006814 -0.00159829
+v 0.00046423 -0.02474574 -0.00132888
+v -0.00548936 -0.02006814 0.00144687
+v -0.00101668 -0.02592541 0.00131357
+v -0.00105247 -0.02529299 0.00137678
+v 0.00046423 -0.02616823 0.00057606
+v 0.00046423 -0.02558897 0.00121063
+v -0.00453679 -0.02266184 0.00154230
+v -0.00451662 -0.02389829 0.00142809
+v -0.00407156 -0.02479527 0.00137240
+v -0.00314306 -0.02523622 0.00139587
+v -0.00194844 -0.02524950 0.00141808
+v -0.00541194 -0.02136741 0.00142966
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\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_3.obj b/new_comb/new_comb_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1f8187299c912257e1e6cf7343d60bd3eb44f3
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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+v 0.00046517 -0.02616876 -0.00057713
+v 0.00064162 -0.02616681 -0.00054644
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\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_4.obj b/new_comb/new_comb_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf13e6eff769ae26ba4df01e171dbf9c07423225
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00334917 -0.02537941 -0.00059025
+v 0.00334917 -0.02537941 0.00059031
+v 0.00334917 -0.02537777 -0.00059289
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\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_5.obj b/new_comb/new_comb_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7f746a1835bb3650f749f8d86ba7f576322ce3
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
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+v -0.00655377 0.01874136 0.00026455
+v -0.00650430 0.01959108 -0.00009378
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diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_6.obj b/new_comb/new_comb_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b3e1487e2104db6077a726d3f4dbed533e1c68
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_7.obj b/new_comb/new_comb_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b119de5144727eb60b5f93c2761e72187ef5e69b
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,414 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_8.obj b/new_comb/new_comb_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2eb2016db58f44c1ff889cc5dd5288c245ff774
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,363 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_comb/new_comb_0/collision/model_normalized_collision_9.obj b/new_comb/new_comb_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d879d951dba79492c126ba1461930b827de2d9
--- /dev/null
+++ b/new_comb/new_comb_0/collision/model_normalized_collision_9.obj
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diff --git a/new_comb/new_comb_0/model.xml b/new_comb/new_comb_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e3a485a6ac9479bff0056006c8779bff9b4f745e
--- /dev/null
+++ b/new_comb/new_comb_0/model.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_comb_0">
+  <asset>
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+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
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new file mode 100644
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diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_1.obj b/new_comb/new_comb_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3727c92612c732f0823f18cbf2cb5ea31594f7
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,312 @@
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+f 75 88 89
+f 77 80 90
+f 77 90 82
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+f 78 92 79
+f 79 92 94
+f 79 94 95
+f 79 95 93
+f 80 81 90
+f 81 82 90
+f 83 96 86
+f 83 86 85
+f 83 85 84
+f 86 96 87
+f 87 96 97
+f 87 97 88
+f 88 97 98
+f 88 98 99
+f 88 99 100
+f 88 100 101
+f 88 101 102
+f 88 102 91
+f 88 91 89
+f 91 102 101
+f 91 101 92
+f 92 97 96
+f 92 96 94
+f 92 101 97
+f 93 95 104
+f 93 104 103
+f 94 96 95
+f 95 96 104
+f 96 103 105
+f 96 105 104
+f 97 101 98
+f 98 101 99
+f 99 101 100
+f 103 104 105
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_104.obj b/new_comb/new_comb_1/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4919ba0653f8a2e3373f3cc173e4feb0ac1167d9
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_104.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00378980 0.00020480 0.01017170
+v -0.00378980 0.00275873 0.01017170
+v -0.00245349 0.00020480 0.01017170
+v -0.00378980 0.00020480 0.01306265
+v -0.00245349 0.00275873 0.01017170
+v -0.00378980 0.00275873 0.01280653
+v -0.00245349 0.00020480 0.01291747
+v -0.00378980 0.00129102 0.01295426
+v -0.00245349 0.00275873 0.01154515
+v -0.00245349 0.00074429 0.01284841
+v -0.00245349 0.00129302 0.01277794
+v -0.00370333 0.00275873 0.01277596
+v -0.00362981 0.00275873 0.01274992
+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 12
+f 2 12 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 10
+f 3 10 7
+f 4 7 8
+f 6 8 7
+f 6 7 10
+f 6 10 11
+f 6 11 12
+f 9 13 11
+f 11 13 12
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_106.obj b/new_comb/new_comb_1/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839c23988e858eddc0be999c966a93ff6f867aa3
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_106.obj
@@ -0,0 +1,357 @@
+# https://github.com/mikedh/trimesh
+v -0.01040537 -0.00273512 -0.00705225
+v -0.00909045 -0.00363746 -0.00705040
+v -0.00949853 -0.00363746 -0.00705040
+v -0.01214538 -0.00363746 -0.00704855
+v -0.01305223 -0.00273512 -0.00704947
+v -0.03801879 -0.00273493 -0.00258751
+v 0.01987757 -0.00273493 -0.00258751
+v -0.00776986 -0.00273512 -0.00704947
+v -0.00909045 -0.00404704 -0.00704947
+v -0.00645493 -0.00363746 -0.00704669
+v -0.01439549 -0.00404704 -0.00704021
+v -0.01570475 -0.00273512 -0.00704206
+v -0.01173730 -0.00404704 -0.00704762
+v -0.01704801 -0.00273512 -0.00703651
+v -0.01970620 -0.00273512 -0.00702354
+v -0.02234738 -0.00273512 -0.00700409
+v -0.02366231 -0.00273512 -0.00699298
+v -0.02631483 -0.00273512 -0.00696890
+v -0.02765242 -0.00273512 -0.00695316
+v -0.02896735 -0.00273512 -0.00693278
+v -0.03029361 -0.00273512 -0.00690963
+v -0.03185225 -0.00273512 -0.00687814
+v -0.03207896 -0.00273512 -0.00687166
+v -0.03307082 -0.00273512 -0.00683462
+v -0.03414203 -0.00273512 -0.00678090
+v -0.03560998 -0.00273512 -0.00667625
+v -0.03692491 -0.00273512 -0.00634471
+v -0.03802446 -0.00273512 -0.00588258
+v -0.03802446 -0.00273493 0.00137065
+v 0.01987757 -0.00273493 0.00240881
+v 0.01987757 -0.00273512 -0.00658920
+v 0.01741775 -0.00273512 -0.00677627
+v 0.01550771 -0.00273512 -0.00685129
+v 0.01418145 -0.00273512 -0.00689389
+v 0.01211271 -0.00273512 -0.00693464
+v 0.00946019 -0.00273512 -0.00697075
+v 0.00680767 -0.00273512 -0.00699946
+v 0.00416082 -0.00273512 -0.00702169
+v 0.00150830 -0.00273512 -0.00703373
+v -0.00246482 -0.00273512 -0.00704114
+v -0.00114422 -0.00363746 -0.00703836
+v -0.00909045 -0.00467462 -0.00704484
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+v -0.01704801 -0.00363746 -0.00703188
+v -0.01522299 -0.00363746 -0.00703929
+v -0.01173730 -0.00467462 -0.00704299
+v -0.01746176 -0.00363746 -0.00703002
+v -0.01970620 -0.00363746 -0.00701891
+v -0.02234738 -0.00404704 -0.00699761
+v -0.02765242 -0.00363746 -0.00694575
+v -0.02541365 -0.00363746 -0.00697168
+v -0.02806617 -0.00363746 -0.00693927
+v -0.03028227 -0.00395932 -0.00689667
+v -0.03182391 -0.00301710 -0.00687722
+v -0.03281010 -0.00395932 -0.00682536
+v -0.03560998 -0.00363746 -0.00663828
+v -0.03602373 -0.00363746 -0.00653456
+v -0.03636947 -0.00363746 -0.00639009
+v -0.03802446 -0.00363746 -0.00568996
+v -0.03802446 -0.00273493 0.00240881
+v 0.01987757 -0.00467462 0.00240881
+v 0.01741775 -0.00404704 -0.00674664
+v 0.01741775 -0.00363746 -0.00675590
+v 0.01987757 -0.00404704 -0.00649752
+v 0.01523565 -0.00404704 -0.00684203
+v 0.01390939 -0.00404704 -0.00688833
+v 0.01211271 -0.00404704 -0.00692537
+v 0.00946019 -0.00404704 -0.00696612
+v 0.00680767 -0.00404704 -0.00699669
+v 0.00416082 -0.00363746 -0.00701984
+v 0.00150830 -0.00363746 -0.00703280
+v -0.00114422 -0.00404704 -0.00703743
+v -0.00379674 -0.00467462 -0.00703836
+v -0.01641889 -0.00467462 -0.00702539
+v -0.01970620 -0.00404704 -0.00701613
+v -0.02172959 -0.00467462 -0.00699391
+v -0.02234738 -0.00467462 -0.00698928
+v -0.02499990 -0.00404704 -0.00697261
+v -0.01970620 -0.00467462 -0.00700872
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+v -0.03102475 -0.00467462 -0.00686610
+v -0.02989686 -0.00467462 -0.00688926
+v -0.03117778 -0.00467462 -0.00686240
+v -0.03135915 -0.00467462 -0.00685684
+v -0.03212430 -0.00467462 -0.00682443
+v -0.03284978 -0.00467462 -0.00678090
+v -0.03498086 -0.00467462 -0.00662902
+v -0.03560998 -0.00404704 -0.00662069
+v -0.03182391 -0.00467462 -0.00683740
+v -0.03802446 -0.00422288 -0.00556493
+v -0.03802446 -0.00326130 0.00240881
+v -0.03764472 -0.00467462 0.00240881
+v 0.01987757 -0.00467462 -0.00626784
+v 0.01741775 -0.00467462 -0.00668551
+v 0.01505995 -0.00467462 -0.00682721
+v 0.01373936 -0.00467462 -0.00688185
+v 0.01274183 -0.00467462 -0.00690315
+v 0.01211271 -0.00467462 -0.00691426
+v 0.00949986 -0.00467462 -0.00695408
+v 0.00680767 -0.00467462 -0.00698835
+v 0.00416082 -0.00467462 -0.00701058
+v 0.00416082 -0.00404704 -0.00701799
+v 0.00150830 -0.00404704 -0.00703188
+v -0.00114422 -0.00467462 -0.00703280
+v -0.01907707 -0.00467462 -0.00701243
+v -0.02437645 -0.00467462 -0.00696983
+v -0.02702897 -0.00467462 -0.00693834
+v -0.02760708 -0.00467462 -0.00692908
+v -0.03560998 -0.00467462 -0.00647992
+v -0.03802446 -0.00466930 -0.00546491
+v -0.03802446 -0.00404704 0.00216247
+v -0.03787143 -0.00404704 0.00240881
+v -0.03802446 -0.00467462 0.00160125
+v 0.00150830 -0.00467462 -0.00702539
+v -0.03802446 -0.00467462 -0.00546213
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+f 41 76 108
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+f 73 104 105
+f 73 105 74
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+f 74 106 107
+f 74 107 75
+f 75 108 76
+f 75 107 108
+f 77 108 109
+f 77 109 78
+f 80 110 84
+f 82 111 83
+f 83 111 85
+f 85 112 113
+f 85 113 87
+f 85 111 112
+f 92 114 93
+f 93 114 115
+f 93 115 95
+f 96 116 117
+f 97 117 116
+f 97 116 118
+f 106 119 107
+f 107 119 108
+f 108 119 109
+f 114 120 115
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_107.obj b/new_comb/new_comb_1/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af337730e5e5b3558b85d4008964a49227409d4
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_107.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01198658 0.00296439 0.00850957
+v 0.01198658 0.00232850 0.00850957
+v 0.01198658 0.00296439 0.00677056
+v -0.03089876 0.00296439 0.00850957
+v 0.01198198 0.00147171 0.00850957
+v 0.01198198 0.00075824 0.00677056
+v 0.01198658 0.00232850 0.00677056
+v -0.03362310 0.00296439 0.00677056
+v -0.03201703 0.00295947 0.00850957
+v -0.03203084 0.00296439 0.00850191
+v 0.00961659 0.00068043 0.00850957
+v 0.01000315 0.00068043 0.00677056
+v -0.03502669 0.00204343 0.00677056
+v -0.03502669 0.00176707 0.00779490
+v -0.03300644 0.00296439 0.00793603
+v -0.03502669 0.00121145 0.00850957
+v -0.03502669 0.00068043 0.00850957
+v -0.03502669 0.00068043 0.00677056
+v -0.03502669 0.00131296 0.00837917
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 10
+f 1 10 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 18
+f 3 18 13
+f 3 13 8
+f 4 10 9
+f 5 11 6
+f 6 11 12
+f 8 13 14
+f 8 14 15
+f 9 10 16
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 13 18 17
+f 13 17 16
+f 13 16 19
+f 13 19 14
+f 14 19 15
+f 15 19 16
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_110.obj b/new_comb/new_comb_1/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30f5dfcbb06694f921dc736b4fb03862a3a6e4b
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_110.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03802446 -0.00273467 -0.00285682
+v -0.03802446 -0.00200569 -0.00285682
+v 0.01987757 -0.00273467 -0.00285682
+v -0.03802446 -0.00273467 0.00240874
+v -0.03802446 -0.00200569 0.00240874
+v 0.01987757 -0.00200569 -0.00285682
+v 0.01987757 -0.00273467 0.00240874
+v 0.01987757 -0.00200569 0.00240874
+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_comb/new_comb_1/collision/model_normalized_collision_15.obj b/new_comb/new_comb_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eaeba11b3e2679bcb2c36fdce3eeb1f41f03401
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01625224 -0.00919977 0.00787028
+v 0.01646844 -0.00916650 0.00565496
+v 0.01646844 -0.00918841 0.00761315
+v 0.01625224 -0.00861391 0.00896616
+v 0.01625224 -0.00304498 0.00787028
+v 0.01804528 -0.00841267 0.00565496
+v 0.01887447 -0.00808891 0.00624835
+v 0.01646844 -0.00129551 0.00565496
+v 0.01887447 -0.00808891 0.00654420
+v 0.01718954 -0.00854981 0.00787028
+v 0.01645291 -0.00834695 0.00920351
+v 0.01625224 -0.00845000 0.00924728
+v 0.01625224 -0.00309934 0.00802726
+v 0.01871071 -0.00797125 0.00565496
+v 0.02182489 -0.00580875 0.00575302
+v 0.01625224 -0.00323242 0.00829365
+v 0.01625224 -0.00406172 0.00995220
+v 0.01826212 -0.00238365 0.00941646
+v 0.02011536 -0.00091007 0.00785934
+v 0.01874954 -0.00091007 0.00637923
+v 0.01808865 -0.00091007 0.00565496
+v 0.02182489 -0.00580875 0.00693727
+v 0.01701088 -0.00669728 0.00958101
+v 0.01625224 -0.00752252 0.00958901
+v 0.02155173 -0.00595806 0.00565496
+v 0.02167601 -0.00586393 0.00565496
+v 0.02179252 -0.00577467 0.00565496
+v 0.02187149 -0.00561401 0.00565496
+v 0.02279390 -0.00212074 0.00565496
+v 0.01930493 -0.00238365 0.00941646
+v 0.01625224 -0.00538842 0.00995388
+v 0.02232461 -0.00091007 0.00727016
+v 0.02283727 -0.00091007 0.00565496
+v 0.02208834 -0.00404792 0.00723186
+v 0.02014190 -0.00429460 0.00864632
+v 0.01625224 -0.00669728 0.00987181
+v 0.01930493 -0.00357566 0.00941646
+v 0.02286511 -0.00139612 0.00565496
+v 0.02232849 -0.00139612 0.00727984
+f 1 2 3
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+f 1 17 16
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+f 1 13 5
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+f 32 39 38
+f 32 38 33
+f 34 38 39
+f 34 39 37
+f 34 37 35
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_2.obj b/new_comb/new_comb_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b91966650262337845060ea4fee66e6ddc656ab
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02471800 0.00053396 0.00164058
+v 0.02471800 0.00086740 0.00163820
+v 0.02471800 -0.00085345 0.00163899
+v 0.02804806 0.00130475 0.00101636
+v 0.02804806 0.00148631 0.00100289
+v 0.02471800 0.00150686 0.00158830
+v 0.02804806 -0.00121772 0.00092447
+v 0.02471800 -0.00245212 0.00079773
+v 0.02804806 -0.00138786 0.00089595
+v 0.02804806 0.00390715 0.00014895
+v 0.02471800 0.00390829 0.00035333
+v 0.02471800 -0.00423919 -0.00023841
+v 0.02804806 -0.00388977 -0.00045150
+v 0.02804806 0.00392085 0.00013865
+v 0.02471800 0.00580613 -0.00091095
+v 0.02471800 -0.00477361 -0.00062419
+v 0.02804806 -0.00390462 -0.00046339
+v 0.02804806 0.00554578 -0.00109077
+v 0.02471800 0.00616926 -0.00289451
+v 0.02471800 -0.00527604 -0.00119454
+v 0.02471800 -0.00549186 -0.00156131
+v 0.02804806 -0.00499628 -0.00289530
+v 0.02804806 0.00570336 -0.00289451
+v 0.02471800 0.00588949 -0.00402095
+v 0.02804806 0.00539162 -0.00441782
+v 0.02471800 -0.00549643 -0.00289451
+v 0.02471800 -0.00483527 -0.00461665
+v 0.02804806 -0.00382126 -0.00511650
+v 0.02471800 0.00568395 -0.00453189
+v 0.02804806 0.00390829 -0.00544366
+v 0.02471800 -0.00416040 -0.00514977
+v 0.02804806 -0.00381098 -0.00513314
+v 0.02471800 0.00448952 -0.00531137
+v 0.02804806 0.00125679 -0.00644099
+v 0.02471800 0.00390829 -0.00559655
+v 0.02471800 -0.00139471 -0.00636969
+v 0.02804806 -0.00139471 -0.00632771
+v 0.02804806 -0.00141298 -0.00631899
+v 0.02471800 0.00125679 -0.00645208
+v 0.02471800 0.00191567 -0.00631345
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+f 14 18 15
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+f 30 34 35
+f 30 35 33
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+f 31 37 38
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+f 34 41 39
+f 36 39 41
+f 36 41 37
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_21.obj b/new_comb/new_comb_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b18be17b8c916a29f129f687c5f23bd4c33706
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.01442530 0.01391898 0.00774830
+v -0.01442530 0.01332385 0.00914089
+v -0.01442530 0.00296546 0.00774830
+v -0.01447061 0.01391683 0.00774830
+v -0.02139444 0.01322306 0.00906616
+v -0.01442530 0.01191164 0.01017170
+v -0.01442530 0.00296546 0.01017170
+v -0.03311059 0.00296546 0.00774830
+v -0.01449120 0.01391576 0.00774830
+v -0.01970776 0.01186446 0.01000776
+v -0.01975101 0.01359514 0.00774830
+v -0.02191342 0.01335388 0.00774830
+v -0.02320675 0.01312870 0.00774830
+v -0.02940772 0.01074712 0.00922298
+v -0.02231089 0.01208535 0.00971762
+v -0.01518935 0.01186446 0.01017170
+v -0.02933152 0.00296546 0.01017170
+v -0.03300968 0.00296546 0.00793619
+v -0.03545423 0.00404634 0.00774830
+v -0.01970776 0.01136691 0.01017170
+v -0.01706962 0.01169718 0.01017170
+v -0.02376897 0.01053481 0.01017170
+v -0.02506642 0.01254966 0.00774830
+v -0.02770250 0.01163177 0.00774830
+v -0.02959718 0.01086722 0.00774830
+v -0.03089257 0.01004262 0.00774830
+v -0.03299114 0.00853819 0.00774830
+v -0.03227034 0.00838378 0.00932001
+v -0.02690138 0.00921267 0.01017170
+v -0.02501082 0.01012197 0.01017170
+v -0.02501082 0.01148701 0.00958999
+v -0.02961572 0.00656195 0.01017170
+v -0.03307970 0.00641075 0.00945262
+v -0.03443275 0.00517010 0.00907945
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+v -0.03546247 0.00405277 0.00774830
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+v -0.02766131 0.00849208 0.01017170
+v -0.03517620 0.00622096 0.00774830
+v -0.03499292 0.00652013 0.00774830
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+f 17 34 35
+f 18 35 19
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+f 19 35 34
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+f 28 40 32
+f 28 32 41
+f 28 41 29
+f 32 40 33
+f 33 39 34
+f 34 39 36
+f 36 39 42
+f 37 43 38
+f 38 43 42
+f 38 42 39
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_24.obj b/new_comb/new_comb_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b1098c6237fdebc311c2bd7c5940c85810501d
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00644971 0.01492326 0.00369892
+v -0.00509107 0.01489443 0.00369892
+v -0.00909687 0.01482559 0.00369892
+v -0.00644971 0.01486216 0.00505598
+v -0.00379817 0.01477912 0.00505598
+v -0.00379817 0.01485356 0.00369892
+v -0.01174841 0.01457991 0.00369892
+v -0.00909687 0.01475201 0.00505598
+v -0.00243953 0.01475330 0.00369892
+v -0.00114663 0.01450160 0.00505598
+v -0.00114663 0.01461820 0.00369892
+v -0.01705150 0.01400464 0.00369892
+v -0.02024650 0.01349908 0.00505598
+v 0.00150491 0.01403175 0.00505598
+v 0.00150491 0.01421676 0.00369892
+v 0.00021201 0.01444566 0.00369892
+v -0.01847588 0.01383856 0.00369892
+v -0.01979070 0.01365225 0.00369892
+v -0.02147804 0.01330460 0.00505598
+v 0.00946392 0.01252324 0.00505598
+v 0.01057713 0.01241782 0.00369892
+v -0.02504119 0.01253141 0.00369892
+v -0.02242909 0.01309205 0.00505598
+v 0.01211547 0.01178662 0.00505598
+v 0.01199275 0.01202456 0.00369892
+v -0.02790748 0.01140842 0.00369892
+v -0.02837205 0.01110078 0.00505598
+v -0.02501051 0.01238383 0.00505598
+v 0.01467059 0.01086671 0.00505598
+v 0.01467059 0.01094158 0.00369892
+v -0.02894180 0.01053326 0.00369892
+v -0.02895057 0.01052809 0.00370410
+v -0.02956853 0.01052809 0.00505598
+v -0.02926174 0.01070364 0.00505598
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+v 0.01519213 0.01052809 0.00505598
+v 0.01520528 0.01052809 0.00376215
+v 0.01520528 0.01052809 0.00369892
+v -0.02894180 0.01052809 0.00369892
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+f 4 10 5
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+f 5 10 11
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+f 7 12 8
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+f 12 17 13
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+f 13 17 18
+f 14 20 15
+f 15 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 31 39 32
+f 32 39 38
+f 32 38 37
+f 32 37 36
+f 32 36 33
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_26.obj b/new_comb/new_comb_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e6f8bc1fe702f2ee0a9105d8bc1089f72b0bec
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,369 @@
+# https://github.com/mikedh/trimesh
+v -0.00853611 -0.00726504 -0.00702271
+v -0.00645639 -0.00726504 -0.00701978
+v -0.00645639 -0.00935048 -0.00698172
+v -0.00909899 -0.00935048 -0.00698075
+v -0.01174752 -0.00726504 -0.00701490
+v -0.00380194 -0.00726504 -0.00701588
+v -0.00380194 -0.00935048 -0.00697782
+v -0.00598831 -0.00964441 -0.00696904
+v -0.00864868 -0.00964441 -0.00696904
+v -0.00909899 -0.00964441 -0.00696806
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+v -0.01174752 -0.00935048 -0.00697294
+v -0.01439604 -0.00935048 -0.00696221
+v -0.01439604 -0.00726504 -0.00700222
+v -0.00115341 -0.00726504 -0.00700709
+v -0.00115341 -0.00935048 -0.00696416
+v -0.00062608 -0.00964441 -0.00695050
+v -0.00331016 -0.00964441 -0.00696318
+v -0.01439604 -0.00964441 -0.00695050
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+v -0.01704457 -0.00935048 -0.00694172
+v -0.01913613 -0.00726504 -0.00697294
+v -0.01648168 -0.00726504 -0.00699051
+v 0.00150104 -0.00726504 -0.00699246
+v 0.00150104 -0.00935048 -0.00694660
+v 0.00189802 -0.00964441 -0.00693293
+v -0.01936129 -0.00964441 -0.00690854
+v -0.02234754 -0.00881154 -0.00690561
+v -0.02234754 -0.00726504 -0.00694660
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+v 0.00680401 -0.00726504 -0.00694269
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+v -0.03304830 -0.00944667 0.00240822
+v -0.03352231 -0.00878895 0.00294588
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+f 13 19 20
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+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 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 28
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 31 37 32
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 34 41 35
+f 35 42 36
+f 35 41 42
+f 36 42 43
+f 37 44 39
+f 37 39 38
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 40 46 47
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 47
+f 47 53 54
+f 47 54 55
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 50
+f 51 60 52
+f 52 54 53
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+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 55 63 64
+f 56 65 57
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+f 57 65 70
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+f 64 72 75
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+f 66 77 67
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+f 75 79 81
+f 76 82 83
+f 76 83 77
+f 77 83 84
+f 77 84 78
+f 79 80 85
+f 79 85 86
+f 79 86 81
+f 80 87 85
+f 82 88 83
+f 83 88 89
+f 83 89 90
+f 83 90 91
+f 83 91 92
+f 83 92 84
+f 85 87 93
+f 85 93 94
+f 85 94 95
+f 85 95 86
+f 88 96 89
+f 88 97 96
+f 89 96 90
+f 90 96 98
+f 93 99 100
+f 93 100 94
+f 94 100 101
+f 94 101 95
+f 96 97 102
+f 96 102 103
+f 96 103 104
+f 96 104 105
+f 96 105 106
+f 96 106 107
+f 96 107 108
+f 96 108 98
+f 97 109 104
+f 97 104 103
+f 97 103 102
+f 99 110 100
+f 100 111 101
+f 100 110 112
+f 100 112 113
+f 100 113 111
+f 104 109 114
+f 104 114 115
+f 104 115 124
+f 104 124 119
+f 104 119 113
+f 104 113 112
+f 104 112 116
+f 104 116 105
+f 105 116 106
+f 106 116 107
+f 107 117 108
+f 107 116 117
+f 110 118 112
+f 111 113 119
+f 111 119 120
+f 112 118 117
+f 112 117 116
+f 114 121 122
+f 114 122 123
+f 114 123 124
+f 114 124 115
+f 119 124 121
+f 119 121 120
+f 121 124 122
+f 122 124 123
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_29.obj b/new_comb/new_comb_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58b5e6bc3bdd233773eb78d77cb638218c98295
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.03802446 0.00280759 0.00240807
+v -0.03802446 0.00281451 0.00240557
+v -0.03846247 0.00137480 0.00240807
+v -0.03802446 -0.00325964 0.00240807
+v -0.03802446 0.00399144 0.00179565
+v -0.03994358 0.00342579 -0.00095150
+v -0.03849849 0.00125586 0.00240807
+v -0.03838312 -0.00139535 0.00240807
+v -0.03942282 -0.00139397 0.00081894
+v -0.03802446 -0.00404657 0.00216327
+v -0.03802446 0.00496646 0.00081142
+v -0.03911558 0.00414910 -0.00013771
+v -0.03802446 0.00599541 -0.00029479
+v -0.03802446 0.00624297 -0.00077353
+v -0.03947372 0.00499688 -0.00289405
+v -0.04004564 0.00367059 -0.00289405
+v -0.04064028 0.00125586 -0.00289405
+v -0.04018661 0.00125586 -0.00053792
+v -0.04021088 -0.00139397 -0.00050701
+v -0.03993523 -0.00404657 -0.00096319
+v -0.03913229 -0.00404657 0.00036276
+v -0.03966897 -0.00548904 -0.00142021
+v -0.03802446 -0.00643224 0.00013466
+v -0.03802446 0.00686394 -0.00247797
+v -0.03804534 0.00686394 -0.00256820
+v -0.03828158 0.00655968 -0.00289405
+v -0.03802446 0.00655968 -0.00349728
+v -0.03984856 0.00319068 -0.00455921
+v -0.04005060 0.00125586 -0.00481822
+v -0.04069118 -0.00139397 -0.00289405
+v -0.03966897 -0.00548904 -0.00217718
+v -0.03818552 -0.00726481 -0.00295420
+v -0.03802446 -0.00726481 -0.00217802
+v -0.03802446 -0.00689140 -0.00049698
+v -0.04003964 -0.00425816 -0.00299431
+v -0.03802446 0.00686394 -0.00291243
+v -0.03803203 0.00686394 -0.00289405
+v -0.03802446 0.00515870 -0.00502793
+v -0.03827113 0.00125586 -0.00602218
+v -0.03844968 0.00400804 -0.00528694
+v -0.04007697 -0.00139397 -0.00485164
+v -0.03988380 -0.00351549 -0.00460349
+v -0.03879268 -0.00650278 -0.00299431
+v -0.03955595 -0.00528297 -0.00394511
+v -0.03802446 -0.00726343 -0.00362679
+v -0.03802446 0.00399283 -0.00547910
+v -0.03802446 0.00125586 -0.00608735
+v -0.03827113 -0.00139397 -0.00606396
+v -0.03851181 -0.00425816 -0.00535127
+v -0.03802446 -0.00571032 -0.00506386
+v -0.03802446 -0.00644607 -0.00470375
+v -0.03802446 -0.00139397 -0.00612662
+v -0.03802446 -0.00164152 -0.00611576
+v -0.03802446 -0.00466892 -0.00546490
+v -0.03802446 -0.00422221 -0.00556516
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 23
+f 1 23 34
+f 1 34 33
+f 1 33 45
+f 1 45 51
+f 1 51 50
+f 1 50 54
+f 1 54 55
+f 1 55 53
+f 1 53 52
+f 1 52 47
+f 1 47 46
+f 1 46 38
+f 1 38 27
+f 1 27 36
+f 1 36 24
+f 1 24 14
+f 1 14 13
+f 1 13 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 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
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+f 11 13 12
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+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 20
+f 20 30 22
+f 20 22 21
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 22 30 35
+f 22 35 31
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 36
+f 26 36 27
+f 27 38 28
+f 28 39 29
+f 28 38 40
+f 28 40 39
+f 29 39 41
+f 29 41 30
+f 30 41 42
+f 30 42 35
+f 31 43 32
+f 31 35 44
+f 31 44 43
+f 32 45 33
+f 32 43 44
+f 32 44 45
+f 35 42 44
+f 38 46 40
+f 39 40 46
+f 39 46 47
+f 39 47 48
+f 39 48 41
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 44
+f 44 51 45
+f 47 52 48
+f 48 52 53
+f 48 53 49
+f 49 54 50
+f 49 53 55
+f 49 55 54
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_33.obj b/new_comb/new_comb_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8939a06560bc72007a8d4122a28c7f7751de66c
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02316889 -0.01084185 0.01017170
+v -0.02230066 -0.01127975 0.01017170
+v -0.02316889 -0.00935053 0.01085360
+v -0.02316889 -0.00329461 0.01017170
+v -0.02032699 -0.01202497 0.01017170
+v -0.01977957 -0.01200543 0.01027067
+v -0.02235871 -0.00935053 0.01100397
+v -0.02316889 -0.00587490 0.01195565
+v -0.02316889 -0.00329994 0.01019443
+v -0.02307035 -0.00308854 0.01017170
+v -0.01986683 -0.01214399 0.01017170
+v -0.01977957 -0.01206672 0.01023284
+v -0.01977957 -0.00913113 0.01131272
+v -0.02293665 -0.00587490 0.01195565
+v -0.01977957 -0.00421836 0.01212359
+v -0.02316889 -0.00497691 0.01198144
+v -0.02316889 -0.00334524 0.01038263
+v -0.02303485 -0.00308854 0.01036524
+v -0.01977957 -0.00308854 0.01017170
+v -0.01977957 -0.01216176 0.01017170
+v -0.01977957 -0.00443776 0.01208978
+v -0.01977957 -0.00308854 0.01207545
+v -0.02224658 -0.00308854 0.01203475
+v -0.02316889 -0.00455145 0.01198144
+v -0.02295390 -0.00308854 0.01056471
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 20
+f 6 20 19
+f 6 19 22
+f 6 22 15
+f 6 15 21
+f 6 21 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 10 18 25
+f 10 25 23
+f 10 23 22
+f 10 22 19
+f 11 20 12
+f 13 21 14
+f 14 21 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 17 24 25
+f 17 25 18
+f 23 25 24
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_34.obj b/new_comb/new_comb_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06dbe610832120eeff46fe3af8d93fc1026525c
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.01113520 -0.00200569 -0.00705271
+v -0.01054140 -0.00200569 -0.00705271
+v -0.01041118 -0.00273467 -0.00705189
+v -0.01174982 -0.00273467 -0.00705107
+v -0.01174982 -0.00200569 -0.00705230
+v -0.00909858 -0.00273467 -0.00705107
+v -0.00848395 -0.00200569 -0.00705107
+v -0.01306243 -0.00273467 -0.00704984
+v -0.01379165 -0.00200569 -0.00705066
+v -0.00775473 -0.00273467 -0.00704942
+v -0.00789016 -0.00200569 -0.00705025
+v -0.00644734 -0.00273467 -0.00704778
+v -0.01440107 -0.00273467 -0.00704614
+v -0.01440107 -0.00200569 -0.00704901
+v -0.00523892 -0.00200569 -0.00704655
+v -0.00379610 -0.00273467 -0.00704409
+v -0.01571367 -0.00273467 -0.00704244
+v -0.01644289 -0.00200569 -0.00704326
+v -0.00379610 -0.00200569 -0.00704450
+v -0.00114486 -0.00200569 -0.00704039
+v -0.00114486 -0.00273467 -0.00703957
+v -0.01705231 -0.00273467 -0.00703710
+v -0.01705231 -0.00200569 -0.00704080
+v 0.00150639 -0.00200569 -0.00703587
+v 0.00150639 -0.00273467 -0.00703464
+v -0.01836491 -0.00273467 -0.00703094
+v -0.01849513 -0.00200569 -0.00703423
+v 0.00415763 -0.00200569 -0.00702478
+v 0.00415763 -0.00273467 -0.00702273
+v -0.01970355 -0.00273467 -0.00702437
+v -0.01909413 -0.00200569 -0.00703135
+v 0.00476705 -0.00200569 -0.00701985
+v 0.00680887 -0.00273467 -0.00700096
+v -0.01970355 -0.00200569 -0.00702807
+v -0.02235479 -0.00273467 -0.00700465
+v -0.02235479 -0.00200569 -0.00700876
+v -0.02174537 -0.00200569 -0.00701328
+v 0.00536605 -0.00200569 -0.00701492
+v 0.00680887 -0.00200569 -0.00700301
+v 0.00946011 -0.00200569 -0.00697426
+v 0.00946011 -0.00273467 -0.00697138
+v -0.02366739 -0.00273467 -0.00699356
+v -0.02439662 -0.00200569 -0.00699110
+v 0.01211656 -0.00200569 -0.00694098
+v 0.01211656 -0.00273467 -0.00693565
+v -0.02631864 -0.00273467 -0.00696974
+v -0.02704786 -0.00200569 -0.00696809
+v 0.01433027 -0.00200569 -0.00689786
+v 0.01417922 -0.00273467 -0.00689457
+v -0.02766249 -0.00273467 -0.00695454
+v -0.02766249 -0.00200569 -0.00696111
+v 0.01565329 -0.00200569 -0.00685801
+v 0.01550745 -0.00273467 -0.00685267
+v -0.02897509 -0.00273467 -0.00693359
+v -0.02970431 -0.00200569 -0.00692866
+v 0.01741905 -0.00200569 -0.00679311
+v 0.01741905 -0.00273467 -0.00677668
+v -0.03029810 -0.00273467 -0.00691018
+v -0.03030331 -0.00200569 -0.00691798
+v 0.01987757 -0.00200569 -0.00664729
+v 0.01987757 -0.00273467 -0.00659020
+v -0.03186072 -0.00273467 -0.00687896
+v -0.03194927 -0.00200569 -0.00688143
+v 0.01987757 -0.00200569 -0.00285682
+v 0.01987757 -0.00273467 -0.00285682
+v -0.03208991 -0.00273467 -0.00687239
+v -0.03277746 -0.00200569 -0.00685801
+v -0.03333479 -0.00200569 -0.00285682
+v -0.03333479 -0.00273467 -0.00285682
+v -0.03306915 -0.00273467 -0.00683542
+v -0.03322020 -0.00200569 -0.00684117
+v -0.03333479 -0.00200569 -0.00683583
+v -0.03333479 -0.00273467 -0.00682228
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 27
+f 1 27 31
+f 1 31 34
+f 1 34 37
+f 1 37 36
+f 1 36 43
+f 1 43 47
+f 1 47 51
+f 1 51 55
+f 1 55 59
+f 1 59 63
+f 1 63 67
+f 1 67 71
+f 1 71 72
+f 1 72 68
+f 1 68 64
+f 1 64 60
+f 1 60 56
+f 1 56 52
+f 1 52 48
+f 1 48 44
+f 1 44 40
+f 1 40 39
+f 1 39 38
+f 1 38 32
+f 1 32 28
+f 1 28 24
+f 1 24 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 12
+f 3 12 16
+f 3 16 21
+f 3 21 25
+f 3 25 29
+f 3 29 33
+f 3 33 41
+f 3 41 45
+f 3 45 49
+f 3 49 53
+f 3 53 57
+f 3 57 61
+f 3 61 65
+f 3 65 69
+f 3 69 73
+f 3 73 70
+f 3 70 66
+f 3 66 62
+f 3 62 58
+f 3 58 54
+f 3 54 50
+f 3 50 46
+f 3 46 42
+f 3 42 35
+f 3 35 30
+f 3 30 26
+f 3 26 22
+f 3 22 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 7 10
+f 7 11 12
+f 7 12 10
+f 8 13 14
+f 8 14 9
+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 16 20 24
+f 16 24 21
+f 17 22 18
+f 18 22 23
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 30 35 36
+f 30 36 37
+f 30 37 34
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 35 42 36
+f 36 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 46 50 47
+f 47 50 51
+f 48 52 49
+f 49 52 53
+f 50 54 55
+f 50 55 51
+f 52 56 53
+f 53 56 57
+f 54 58 55
+f 55 58 59
+f 56 60 57
+f 57 60 61
+f 58 62 59
+f 59 62 63
+f 60 64 65
+f 60 65 61
+f 62 66 67
+f 62 67 63
+f 64 68 69
+f 64 69 65
+f 66 70 67
+f 67 70 71
+f 68 72 73
+f 68 73 69
+f 70 73 72
+f 70 72 71
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_35.obj b/new_comb/new_comb_1/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2261faab70d0522a1acc98fbf9f9697cbec916f7
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_35.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00963074 -0.01044369 0.01017189
+v 0.01125875 -0.01008876 0.01017189
+v 0.01211796 -0.00935108 0.01041195
+v 0.00963074 -0.00935108 0.01064785
+v 0.00963074 -0.00155669 0.01017189
+v 0.01211796 -0.00973906 0.01017189
+v 0.01286867 -0.00932846 0.01017189
+v 0.01472592 -0.00753384 0.01017189
+v 0.01476791 -0.00669873 0.01044183
+v 0.01108026 -0.00588884 0.01187761
+v 0.00963074 -0.00595060 0.01192451
+v 0.00963074 -0.00178113 0.01033299
+v 0.00963133 -0.00400201 0.01219326
+v 0.01288850 -0.00246488 0.01187543
+v 0.01380838 -0.00246488 0.01187543
+v 0.01414144 -0.00211343 0.01036524
+v 0.01416653 -0.00208299 0.01017189
+v 0.01547138 -0.00669873 0.01017189
+v 0.01380838 -0.00304424 0.01187543
+v 0.00963074 -0.00582447 0.01192629
+v 0.01558979 -0.00597496 0.01017189
+v 0.01558337 -0.00399853 0.01017189
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 12
+f 1 12 5
+f 1 5 17
+f 1 17 22
+f 1 22 21
+f 1 21 18
+f 1 18 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 13
+f 10 13 11
+f 11 13 20
+f 12 20 13
+f 13 19 15
+f 13 15 14
+f 15 19 21
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 18 21 19
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_36.obj b/new_comb/new_comb_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c26d876378f770dde3cecfaaab9e5035ef257da
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01476388 -0.00371047 0.01017170
+v 0.01558412 -0.00399799 0.01017170
+v 0.01625174 -0.00406063 0.00995252
+v 0.01476388 -0.00317319 0.00941551
+v 0.01476388 -0.00749154 0.01017170
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+v 0.01625174 -0.00538898 0.00995387
+v 0.01625174 -0.00309850 0.00802726
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+v 0.01547242 -0.00669887 0.01017170
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+v 0.01625174 -0.00304469 0.00787048
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+v 0.01476388 -0.00914114 0.00960585
+v 0.01625174 -0.00752367 0.00958941
+v 0.01625174 -0.00669887 0.00987233
+v 0.01625174 -0.00920057 0.00787048
+v 0.01502443 -0.01010649 0.00787048
+v 0.01476388 -0.01023820 0.00811241
+v 0.01476388 -0.00921423 0.00957882
+v 0.01625174 -0.00845127 0.00924815
+v 0.01625174 -0.00861430 0.00896658
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 12 18
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+f 3 17 23
+f 3 23 24
+f 3 24 19
+f 3 19 14
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+f 3 13 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 9 14 19
+f 9 19 20
+f 9 20 15
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 15 20 21
+f 16 22 23
+f 16 23 17
+f 19 24 21
+f 19 21 20
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_44.obj b/new_comb/new_comb_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0444acba44a4fefbd00001405de4342dba093845
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01973740 -0.00964441 -0.00249639
+v 0.01875666 -0.01068476 -0.00155549
+v 0.01973740 -0.00964441 -0.00250955
+v 0.01933686 -0.00964441 -0.00095220
+v 0.01742047 -0.01111894 -0.00095220
+v 0.01626862 -0.01156440 -0.00058741
+v 0.01669016 -0.01156440 -0.00149674
+v 0.01694138 -0.01156440 -0.00272438
+v 0.01875666 -0.01068476 -0.00161074
+v 0.01610218 -0.00964441 0.00240891
+v 0.01510121 -0.01034098 0.00240891
+v 0.01960130 -0.00964441 -0.00295763
+v 0.01846733 -0.01048157 -0.00337766
+v 0.01477689 -0.01053796 0.00240891
+v 0.01448445 -0.01156440 0.00104535
+v 0.01751847 -0.01125126 -0.00265423
+v 0.01476522 -0.01156440 -0.00505690
+v 0.01476911 -0.01156346 -0.00505690
+v 0.01669949 -0.01104488 -0.00461933
+v 0.01179264 -0.00964441 0.00240891
+v 0.01765847 -0.00964441 -0.00499990
+v 0.01744147 -0.00964441 -0.00521912
+v 0.01280917 -0.01153451 0.00240891
+v 0.01422701 -0.01119224 0.00185559
+v 0.01274617 -0.01156440 0.00240891
+v 0.01223518 -0.01156440 -0.00563126
+v 0.01476911 -0.00964441 -0.00612933
+v 0.01179264 -0.01156440 0.00240891
+v 0.01179264 -0.00964441 -0.00654936
+v 0.01179264 -0.01156440 -0.00564880
+v 0.01213330 -0.00964441 -0.00653533
+f 1 2 9
+f 1 9 3
+f 1 3 12
+f 1 12 21
+f 1 21 22
+f 1 22 27
+f 1 27 31
+f 1 31 29
+f 1 29 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
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+f 2 7 8
+f 2 8 9
+f 2 4 10
+f 2 10 11
+f 2 11 5
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+f 5 11 14
+f 5 14 6
+f 6 14 15
+f 6 15 25
+f 6 25 28
+f 6 28 30
+f 6 30 26
+f 6 26 17
+f 6 17 8
+f 6 8 7
+f 8 16 9
+f 8 17 18
+f 8 18 19
+f 8 19 13
+f 8 13 16
+f 9 16 13
+f 10 20 28
+f 10 28 25
+f 10 25 23
+f 10 23 14
+f 10 14 11
+f 12 13 21
+f 13 19 22
+f 13 22 21
+f 14 23 24
+f 14 24 15
+f 15 24 23
+f 15 23 25
+f 17 26 18
+f 18 26 27
+f 18 27 22
+f 18 22 19
+f 20 29 30
+f 20 30 28
+f 26 30 29
+f 26 29 31
+f 26 31 27
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_48.obj b/new_comb/new_comb_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92c9c3306a05ec441a0af91ada067d6f50835b0
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
+v -0.01174864 0.00247441 -0.00704914
+v -0.01439549 0.00247441 -0.00704636
+v -0.01174864 0.00390886 -0.00704451
+v -0.00644926 0.00390886 -0.00704451
+v -0.00644926 0.00247441 -0.00704636
+v -0.01439549 0.00390886 -0.00704081
+v -0.01704801 0.00247441 -0.00703803
+v -0.01174864 0.00442106 -0.00703988
+v -0.00909045 0.00442106 -0.00704173
+v -0.00644926 0.00442106 -0.00704173
+v -0.00380241 0.00390886 -0.00704266
+v -0.00380241 0.00247441 -0.00704358
+v -0.01704801 0.00390886 -0.00703155
+v -0.01704801 0.00442106 -0.00702692
+v -0.01439549 0.00442106 -0.00703525
+v -0.01970053 0.00247441 -0.00702322
+v -0.00380241 0.00442106 -0.00703988
+v -0.00114989 0.00390886 -0.00703896
+v -0.00114989 0.00247441 -0.00703988
+v -0.01970053 0.00390886 -0.00701674
+v -0.01970053 0.00442106 -0.00701118
+v -0.02235305 0.00247441 -0.00700285
+v -0.00165999 0.00442106 -0.00703618
+v -0.00114989 0.00442106 -0.00703525
+v 0.00150263 0.00390886 -0.00703155
+v 0.00028973 0.00247441 -0.00703710
+v -0.02235305 0.00390886 -0.00699545
+v -0.02235305 0.00442106 -0.00698712
+v -0.02500557 0.00247441 -0.00697878
+v 0.00099253 0.00442106 -0.00702877
+v 0.00293658 0.00247441 -0.00702970
+v 0.00364505 0.00442106 -0.00701766
+v 0.00415515 0.00390886 -0.00701952
+v 0.00415515 0.00247441 -0.00702507
+v -0.02500557 0.00390886 -0.00697045
+v -0.02502824 0.00442106 -0.00695934
+v -0.02765809 0.00247441 -0.00695194
+v 0.00415515 0.00442106 -0.00701396
+v 0.00680767 0.00390886 -0.00699915
+v 0.00680767 0.00247441 -0.00700470
+v -0.02765809 0.00390886 -0.00693990
+v -0.02765809 0.00442106 -0.00692880
+v -0.03028227 0.00247441 -0.00691028
+v 0.00629190 0.00442106 -0.00699730
+v 0.00680767 0.00442106 -0.00699174
+v 0.00894442 0.00442106 -0.00696675
+v 0.00946019 0.00390886 -0.00696768
+v 0.00946019 0.00247441 -0.00697416
+v -0.03024826 0.00379586 -0.00689547
+v -0.02990253 0.00442106 -0.00689084
+v -0.02820787 0.00442106 -0.00692046
+v -0.03146684 0.00247441 -0.00688899
+v -0.03181257 0.00283683 -0.00687881
+v 0.01211271 0.00442106 -0.00691954
+v 0.01211271 0.00390886 -0.00692880
+v 0.01211271 0.00247441 -0.00693805
+v 0.01089414 0.00247441 -0.00695564
+v -0.03090006 0.00442106 -0.00686584
+v -0.03185791 0.00247441 -0.00687973
+v -0.03148384 0.00442106 -0.00684733
+v -0.03308215 0.00247441 -0.00682882
+v -0.03280443 0.00379586 -0.00681308
+v 0.01381304 0.00442106 -0.00688529
+v 0.01393773 0.00390886 -0.00688899
+v 0.01337662 0.00247441 -0.00691306
+v -0.03283844 0.00442106 -0.00676216
+v -0.03560998 0.00247441 -0.00664923
+v -0.03560998 0.00390886 -0.00656313
+v 0.01468588 0.00442106 -0.00685474
+v 0.01526966 0.00390886 -0.00684363
+v 0.01492960 0.00247441 -0.00687510
+v 0.01421546 0.00247441 -0.00689454
+v -0.03560998 0.00442106 -0.00641872
+v -0.03802446 0.00247441 -0.00578090
+v -0.03616543 0.00392792 -0.00631411
+v 0.01682830 0.00442106 -0.00675846
+v 0.01741208 0.00390886 -0.00674920
+v 0.01642589 0.00247441 -0.00682234
+v 0.01554172 0.00247441 -0.00685381
+v 0.01885170 0.00247441 -0.00671958
+v 0.01874401 0.00247441 -0.00672421
+v -0.03802446 0.00399365 -0.00547726
+v -0.03802446 0.00442106 -0.00531248
+v -0.03802446 0.00247441 0.00240806
+v 0.01955450 0.00442106 -0.00653073
+v 0.01987757 0.00390886 -0.00654462
+v 0.01987757 0.00247441 -0.00663534
+v -0.03802446 0.00442106 0.00136291
+v -0.03802446 0.00280882 0.00240806
+v 0.01986623 0.00247441 0.00240806
+v 0.01987757 0.00442106 -0.00644649
+v 0.01987757 0.00410398 -0.00652888
+v 0.01987757 0.00247441 -0.00631504
+v -0.03802446 0.00399232 0.00179430
+v -0.03754269 0.00442106 0.00214330
+v -0.03767305 0.00394773 0.00240806
+v -0.03767872 0.00394297 0.00240250
+v 0.01987757 0.00340467 0.00240806
+v 0.01987757 0.00442106 0.00240806
+v -0.03731598 0.00442106 0.00240250
+v -0.03680022 0.00442106 0.00240806
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 26
+f 1 26 31
+f 1 31 34
+f 1 34 40
+f 1 40 48
+f 1 48 57
+f 1 57 56
+f 1 56 65
+f 1 65 72
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+f 8 23 17
+f 8 17 10
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+f 11 17 18
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+f 11 19 12
+f 13 20 14
+f 14 20 21
+f 16 22 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
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+f 18 26 19
+f 20 22 27
+f 20 27 21
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+f 22 29 27
+f 24 30 25
+f 25 31 26
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+f 25 33 34
+f 25 34 31
+f 27 29 35
+f 27 35 28
+f 28 35 36
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+f 33 39 40
+f 33 40 34
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+f 36 41 42
+f 37 43 41
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 41 43 49
+f 41 49 50
+f 41 50 51
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+f 43 52 53
+f 43 53 49
+f 46 54 55
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+f 47 57 48
+f 49 53 50
+f 50 53 58
+f 52 59 53
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+f 53 62 60
+f 54 63 55
+f 55 63 64
+f 55 64 65
+f 55 65 56
+f 60 62 66
+f 61 67 62
+f 62 67 68
+f 62 68 66
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+f 63 70 64
+f 64 70 71
+f 64 71 72
+f 64 72 65
+f 66 68 73
+f 67 74 68
+f 68 75 73
+f 68 74 75
+f 69 76 77
+f 69 77 70
+f 70 78 79
+f 70 79 71
+f 70 77 80
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+f 70 81 78
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+f 74 84 89
+f 74 89 94
+f 74 94 88
+f 74 88 83
+f 74 83 82
+f 74 82 75
+f 76 85 86
+f 76 86 77
+f 77 86 87
+f 77 87 80
+f 84 90 98
+f 84 98 99
+f 84 99 101
+f 84 101 96
+f 84 96 89
+f 85 91 92
+f 85 92 86
+f 86 92 91
+f 86 91 99
+f 86 99 98
+f 86 98 93
+f 86 93 87
+f 88 94 95
+f 89 96 97
+f 89 97 94
+f 90 93 98
+f 94 97 96
+f 94 96 95
+f 95 96 100
+f 96 101 100
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_49.obj b/new_comb/new_comb_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9738bb638ae988d9d25aee4655b060c82b4173d6
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01520059 0.01052737 0.00376215
+v 0.01715615 0.00962943 0.00505598
+v 0.01520059 0.01052737 0.00369892
+v 0.01518281 0.01052737 0.00505598
+v 0.01717986 0.00959019 0.00369892
+v 0.01926579 0.00829621 0.00505598
+v -0.02893588 0.01052737 0.00369892
+v -0.02956403 0.01052737 0.00505598
+v 0.01916505 0.00823847 0.00369892
+v 0.02026728 0.00748192 0.00505598
+v -0.02894181 0.01052737 0.00370410
+v -0.02896551 0.01052218 0.00369892
+v -0.03042330 0.01013355 0.00369892
+v -0.03153738 0.00952505 0.00369892
+v -0.03287664 0.00874777 0.00369892
+v -0.03299516 0.00851903 0.00505598
+v 0.01981098 0.00770770 0.00369892
+v 0.02017246 0.00748192 0.00431103
+v 0.02059913 0.00720654 0.00505598
+v -0.03301294 0.00866560 0.00369892
+v -0.03301294 0.00850570 0.00505598
+v 0.02005987 0.00748192 0.00369892
+v 0.02049839 0.00707107 0.00369892
+v 0.02195025 0.00587925 0.00505598
+v -0.03404998 0.00771362 0.00505598
+v -0.03562036 0.00657066 0.00369892
+v -0.03554332 0.00654623 0.00505598
+v 0.02184358 0.00574526 0.00369892
+v 0.02249543 0.00390941 0.00505598
+v 0.02254877 0.00390941 0.00369892
+v -0.03754036 0.00394568 0.00369892
+v -0.03692406 0.00513158 0.00505598
+v 0.02263766 0.00296705 0.00505598
+v 0.02269692 0.00296483 0.00369892
+v -0.03784259 0.00296483 0.00369892
+v -0.03740407 0.00393014 0.00505598
+v 0.02190284 0.00296483 0.00505598
+v -0.03780111 0.00296483 0.00407046
+v -0.03779518 0.00296483 0.00411550
+v -0.03740999 0.00390645 0.00505598
+v -0.03761147 0.00296483 0.00505598
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 8
+f 2 8 16
+f 2 16 21
+f 2 21 25
+f 2 25 27
+f 2 27 32
+f 2 32 36
+f 2 36 40
+f 2 40 41
+f 2 41 37
+f 2 37 33
+f 2 33 29
+f 2 29 24
+f 2 24 19
+f 2 19 10
+f 2 10 6
+f 2 6 5
+f 3 5 9
+f 3 9 17
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+f 3 22 23
+f 3 23 28
+f 3 28 30
+f 3 30 34
+f 3 34 35
+f 3 35 31
+f 3 31 26
+f 3 26 20
+f 3 20 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 7
+f 5 6 9
+f 6 10 9
+f 7 12 11
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 11 12
+f 9 10 18
+f 9 18 17
+f 10 19 18
+f 15 20 16
+f 16 20 21
+f 17 18 22
+f 18 19 23
+f 18 23 22
+f 19 24 23
+f 20 25 21
+f 20 26 27
+f 20 27 25
+f 23 24 28
+f 24 29 30
+f 24 30 28
+f 26 31 32
+f 26 32 27
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 41
+f 34 41 39
+f 34 39 38
+f 34 38 35
+f 35 38 36
+f 36 38 39
+f 36 39 40
+f 39 41 40
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_5.obj b/new_comb/new_comb_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c2000dfb805e909147cde6eb45957b524aa4ff
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03502096 0.00001890 0.00677056
+v -0.03502096 0.00001890 0.00850957
+v -0.03502096 0.00068005 0.00677056
+v 0.00998807 0.00001890 0.00677056
+v -0.03502096 0.00068005 0.00850957
+v 0.00961781 0.00001890 0.00850957
+v 0.01000130 0.00068005 0.00677056
+v 0.00961781 0.00068005 0.00850957
+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_comb/new_comb_1/collision/model_normalized_collision_51.obj b/new_comb/new_comb_1/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5222b1534e9e288c741d447a5976d731827ef340
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_51.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00568295 -0.01129504 0.01017193
+v 0.00821759 -0.01083337 0.01017193
+v 0.00946462 -0.00935102 0.01066352
+v 0.00568295 -0.00932211 0.01092211
+v 0.00568295 -0.00144868 0.01017193
+v 0.00963040 -0.01044303 0.01017193
+v 0.00963040 -0.00935102 0.01064788
+v 0.00963040 -0.00595067 0.01192449
+v 0.00568295 -0.00620030 0.01204655
+v 0.00568295 -0.00144868 0.01233501
+v 0.00932937 -0.00144868 0.01017193
+v 0.00963040 -0.00155760 0.01017193
+v 0.00963079 -0.00400087 0.01219327
+v 0.00681328 -0.00404714 0.01255876
+v 0.00568295 -0.00512276 0.01238194
+v 0.00568295 -0.00149013 0.01237151
+v 0.00885714 -0.00208866 0.01220963
+v 0.00649331 -0.00144868 0.01211316
+v 0.00681328 -0.00144868 0.01202546
+v 0.00568295 -0.00404714 0.01259289
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 18
+f 5 18 19
+f 5 19 11
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 18
+f 11 19 17
+f 11 17 12
+f 12 17 13
+f 13 17 14
+f 14 20 15
+f 14 17 16
+f 14 16 20
+f 17 19 18
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_53.obj b/new_comb/new_comb_1/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f200332a23ce44d6147f40fcba2393fbe249b9b8
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_53.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00644957 -0.01070970 -0.00692466
+v -0.00379889 -0.01070970 -0.00691918
+v -0.00644957 -0.01107359 -0.00691004
+v -0.00910437 -0.01070970 -0.00692374
+v -0.00152335 -0.01070970 -0.00691095
+v -0.00379889 -0.01101896 -0.00690638
+v -0.00644957 -0.01156442 -0.00686070
+v -0.00910437 -0.01156442 -0.00686161
+v -0.00910437 -0.01107493 -0.00690821
+v -0.01174680 -0.01103711 -0.00690638
+v -0.01174680 -0.01070970 -0.00691918
+v 0.00127573 -0.01070970 -0.00689816
+v -0.00114822 -0.01093428 -0.00689999
+v -0.00379889 -0.01156442 -0.00684791
+v -0.01058017 -0.01156442 -0.00685887
+v -0.01315252 -0.01156442 -0.00684791
+v -0.01439748 -0.01096582 -0.00690182
+v -0.01439748 -0.01070970 -0.00691095
+v 0.00150246 -0.01083839 -0.00689177
+v 0.00334928 -0.01070970 -0.00688445
+v -0.00114822 -0.01156442 -0.00682506
+v -0.01326383 -0.01156442 -0.00684699
+v -0.01705227 -0.01083178 -0.00688994
+v -0.01705227 -0.01070970 -0.00689359
+v 0.00339874 -0.01074894 -0.00688263
+v 0.00342760 -0.01070970 -0.00688354
+v 0.00150246 -0.01156442 -0.00678577
+v -0.01567129 -0.01156442 -0.00682232
+v -0.01873420 -0.01072041 -0.00687806
+v -0.01874244 -0.01070970 -0.00687806
+v 0.00503120 -0.01070970 -0.00683420
+v 0.00439635 -0.01156442 -0.00669075
+v -0.01572075 -0.01156442 -0.00682141
+v -0.02035428 -0.01070970 -0.00683146
+v -0.01881252 -0.01070970 -0.00687715
+v -0.01774895 -0.01156442 -0.00678212
+v 0.00680793 -0.01070970 -0.00671268
+v 0.00680793 -0.01156442 -0.00651897
+v -0.02140548 -0.01070970 -0.00678851
+v -0.01978540 -0.01156442 -0.00670994
+v -0.01998739 -0.01156442 -0.00670171
+v 0.00954930 -0.01070970 -0.00643765
+v 0.00949159 -0.01156442 -0.00621379
+v -0.02380882 -0.01070970 -0.00666334
+v -0.02284831 -0.01156442 -0.00654181
+v 0.01179187 -0.01070970 -0.00604932
+v 0.01179187 -0.01140427 -0.00572404
+v 0.01178774 -0.01156442 -0.00564820
+v -0.02609261 -0.01070970 -0.00645318
+v -0.02537119 -0.01156442 -0.00629054
+v 0.01179187 -0.01070970 -0.00572404
+v 0.01178774 -0.01156442 0.00240800
+v -0.02895352 -0.01070970 -0.00608770
+v -0.02809607 -0.01156442 -0.00584739
+v 0.01178774 -0.01070970 0.00240800
+v -0.02929568 -0.01156442 0.00240800
+v -0.02910193 -0.01070970 -0.00604658
+v -0.02853304 -0.01156442 -0.00572404
+v -0.03032215 -0.01070970 0.00240800
+v -0.03014076 -0.01120496 0.00240800
+v -0.03019847 -0.01156442 0.00166058
+v -0.03012015 -0.01156442 -0.00527541
+v -0.03019023 -0.01073480 -0.00572404
+v -0.03023970 -0.01070970 -0.00572404
+v -0.03032215 -0.01070970 -0.00570028
+v -0.03032215 -0.01105770 0.00240800
+v -0.03019435 -0.01117760 0.00240800
+v -0.03032215 -0.01156442 0.00154911
+v -0.03032215 -0.01156442 -0.00521693
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 24
+f 1 24 30
+f 1 30 35
+f 1 35 34
+f 1 34 39
+f 1 39 44
+f 1 44 49
+f 1 49 53
+f 1 53 57
+f 1 57 64
+f 1 64 65
+f 1 65 59
+f 1 59 55
+f 1 55 51
+f 1 51 46
+f 1 46 42
+f 1 42 37
+f 1 37 31
+f 1 31 26
+f 1 26 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 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 21
+f 7 21 27
+f 7 27 32
+f 7 32 38
+f 7 38 43
+f 7 43 48
+f 7 48 52
+f 7 52 56
+f 7 56 61
+f 7 61 68
+f 7 68 69
+f 7 69 62
+f 7 62 58
+f 7 58 54
+f 7 54 50
+f 7 50 45
+f 7 45 41
+f 7 41 40
+f 7 40 36
+f 7 36 33
+f 7 33 28
+f 7 28 22
+f 7 22 16
+f 7 16 15
+f 7 15 8
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 13
+f 12 20 19
+f 13 19 14
+f 14 19 21
+f 16 22 17
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 19 20 25
+f 19 25 21
+f 20 26 25
+f 21 25 27
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 25 26 31
+f 25 31 32
+f 25 32 27
+f 28 33 29
+f 29 34 35
+f 29 35 30
+f 29 33 36
+f 29 36 34
+f 31 37 32
+f 32 37 38
+f 34 36 40
+f 34 40 41
+f 34 41 39
+f 37 42 38
+f 38 42 43
+f 39 41 44
+f 41 45 44
+f 42 46 43
+f 43 46 47
+f 43 47 48
+f 44 45 49
+f 45 50 49
+f 46 51 47
+f 47 51 55
+f 47 55 52
+f 47 52 48
+f 49 50 53
+f 50 54 53
+f 52 55 59
+f 52 59 66
+f 52 66 67
+f 52 67 60
+f 52 60 56
+f 53 54 57
+f 54 58 57
+f 56 60 61
+f 57 58 62
+f 57 62 63
+f 57 63 64
+f 59 65 69
+f 59 69 68
+f 59 68 66
+f 60 67 68
+f 60 68 61
+f 62 69 65
+f 62 65 64
+f 62 64 63
+f 66 68 67
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_55.obj b/new_comb/new_comb_1/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebaa5270f184fc11ca96b85c7148184c1728e3a
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_55.obj
@@ -0,0 +1,9 @@
+# https://github.com/mikedh/trimesh
+v 0.01751595 0.00129498 0.00580359
+v 0.01917859 0.00028514 0.00580359
+v 0.01917859 0.00129498 0.00711903
+v 0.01917859 0.00129498 0.00580359
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_58.obj b/new_comb/new_comb_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd943695f1943cfe98d77c104586ee0f5e2101e
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01040929 0.00160693 0.01017179
+v 0.01411886 0.00195766 0.01017179
+v 0.01427637 0.00201528 0.01036512
+v 0.01040929 0.00161277 0.01019748
+v 0.01040929 0.01013804 0.01017179
+v 0.01428766 0.00198187 0.01017179
+v 0.01438412 0.00207874 0.01017179
+v 0.01553803 0.00371966 0.01017179
+v 0.01403830 0.00220985 0.01117321
+v 0.01258783 0.00224242 0.01117321
+v 0.01040929 0.00271340 0.01117321
+v 0.01040929 0.00921277 0.01062157
+v 0.01211733 0.00921277 0.01054452
+v 0.01211733 0.00993929 0.01017179
+v 0.01565091 0.00456893 0.01017179
+v 0.01431742 0.00297979 0.01117321
+v 0.01040929 0.00733469 0.01117321
+v 0.01040929 0.00795599 0.01101302
+v 0.01404036 0.00850213 0.01017179
+v 0.01333590 0.00929545 0.01017179
+v 0.01273457 0.00967874 0.01017179
+v 0.01209065 0.00678438 0.01117321
+v 0.01548826 0.00656058 0.01017179
+v 0.01431742 0.00324534 0.01117321
+v 0.01215376 0.00671256 0.01117321
+v 0.01217993 0.00667332 0.01117321
+v 0.01219635 0.00664743 0.01117321
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 18
+f 1 18 12
+f 1 12 5
+f 1 5 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 23
+f 1 23 15
+f 1 15 8
+f 1 8 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 4 10 11
+f 5 12 13
+f 5 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 24
+f 9 24 27
+f 9 27 26
+f 9 26 25
+f 9 25 22
+f 9 22 17
+f 9 17 11
+f 9 11 10
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 13 18 22
+f 13 22 19
+f 15 23 24
+f 15 24 16
+f 17 22 18
+f 19 22 25
+f 19 25 23
+f 23 25 26
+f 23 26 27
+f 23 27 24
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_59.obj b/new_comb/new_comb_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84049b532797ef944c257cf6f1d51ed36addb871
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00378956 0.00275873 0.01280668
+v -0.00378956 0.00275873 0.01017195
+v -0.00130375 0.00275873 0.01239632
+v -0.00130327 0.00639787 0.01250388
+v -0.00130327 0.00655784 0.01250388
+v -0.00325238 0.00656079 0.01260421
+v -0.00378956 0.00656177 0.01263181
+v -0.00325214 0.00371071 0.01017170
+v -0.00325238 0.00275873 0.01017195
+v -0.00378956 0.01278501 0.01017195
+v -0.00130375 0.00275873 0.01017221
+v -0.00130327 0.00371071 0.01231636
+v -0.00130327 0.00401103 0.01243088
+v -0.00325238 0.00697789 0.01249253
+v -0.00325214 0.00656177 0.01260395
+v -0.00130327 0.00848537 0.01198647
+v -0.00325238 0.00869245 0.01201949
+v -0.00378956 0.00871306 0.01203806
+v -0.00130327 0.00371071 0.01017170
+v -0.00325214 0.01272318 0.01017170
+v -0.00378956 0.01186443 0.01069555
+v -0.00325238 0.01186443 0.01067207
+v -0.00130327 0.01186345 0.01058541
+v -0.00130327 0.01250236 0.01020394
+v -0.00130327 0.01255536 0.01017170
+v -0.00130327 0.00861590 0.01195036
+v -0.00130327 0.00986133 0.01153123
+v -0.00325238 0.00896136 0.01192896
+v -0.00378956 0.01003701 0.01151524
+v -0.00325238 0.01001640 0.01151214
+v -0.00130327 0.00994181 0.01149976
+v -0.00325238 0.00999971 0.01151885
+f 1 2 9
+f 1 9 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 29
+f 1 29 21
+f 1 21 10
+f 1 10 2
+f 2 8 19
+f 2 19 9
+f 2 10 20
+f 2 20 8
+f 3 11 19
+f 3 19 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 19
+f 4 19 25
+f 4 25 24
+f 4 24 23
+f 4 23 31
+f 4 31 27
+f 4 27 26
+f 4 26 16
+f 4 16 5
+f 5 14 15
+f 5 15 6
+f 5 16 14
+f 6 15 7
+f 7 15 14
+f 7 14 17
+f 7 17 18
+f 8 20 25
+f 8 25 19
+f 9 19 11
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 20
+f 14 16 17
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 23
+f 27 31 28
+f 28 31 32
+f 28 32 29
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_63.obj b/new_comb/new_comb_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fbf94b9ddd4e90e1ecc369f47022733a897c355
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01813058 -0.00411534 0.01237943
+v -0.01813058 -0.00166957 0.01225106
+v -0.01977941 -0.00213164 0.01204728
+v -0.01977941 -0.00421891 0.01212356
+v -0.01813058 -0.00669882 0.01209374
+v -0.01813058 -0.00066577 0.01040055
+v -0.01977941 -0.00135432 0.01036511
+v -0.01977941 -0.00443743 0.01208963
+v -0.01977941 -0.00913094 0.01131273
+v -0.01813058 -0.00870643 0.01166499
+v -0.01813058 -0.00064984 0.01036511
+v -0.01977941 -0.00130652 0.01017170
+v -0.01977941 -0.01200463 0.01027067
+v -0.01970694 -0.01200235 0.01028385
+v -0.01813058 -0.01063891 0.01095400
+v -0.01813058 -0.00064301 0.01017645
+v -0.01958410 -0.00131221 0.01017170
+v -0.01977941 -0.01216169 0.01017170
+v -0.01977941 -0.01206723 0.01023285
+v -0.01970694 -0.01217762 0.01017170
+v -0.01813058 -0.01226981 0.01017170
+v -0.01813058 -0.01200235 0.01034242
+v -0.01813058 -0.00765710 0.01017170
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 22
+f 1 22 21
+f 1 21 23
+f 1 23 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 18
+f 3 18 19
+f 3 19 13
+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 9 10
+f 5 8 9
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 23
+f 12 23 21
+f 12 21 20
+f 12 20 18
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 23 17
+f 18 20 19
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_64.obj b/new_comb/new_comb_1/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb4a006f22c9e57509f07c2d941bde68b04fe3b4
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_64.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02642145 -0.00936996 0.01017179
+v -0.02568759 -0.00977749 0.01017179
+v -0.02642145 -0.00935023 0.01018029
+v -0.02642145 -0.00308854 0.01017179
+v -0.02316889 -0.01084146 0.01017179
+v -0.02501039 -0.00935023 0.01051190
+v -0.02431696 -0.00587522 0.01195561
+v -0.02642145 -0.00671760 0.01105201
+v -0.02642145 -0.00308854 0.01078895
+v -0.02479071 -0.00308854 0.01017179
+v -0.02316889 -0.00935023 0.01085361
+v -0.02316889 -0.00329572 0.01017179
+v -0.02316889 -0.00587522 0.01195561
+v -0.02316889 -0.00497745 0.01198148
+v -0.02431696 -0.00495468 0.01195561
+v -0.02506038 -0.00308854 0.01063378
+v -0.02316889 -0.00455170 0.01198148
+v -0.02485470 -0.00308854 0.01028233
+v -0.02316889 -0.00330104 0.01019447
+v -0.02316889 -0.00334581 0.01038259
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 16
+f 4 16 18
+f 4 18 10
+f 5 11 6
+f 5 12 19
+f 5 19 20
+f 5 20 17
+f 5 17 14
+f 5 14 13
+f 5 13 11
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 17
+f 7 17 15
+f 7 15 8
+f 8 15 9
+f 9 15 17
+f 9 17 16
+f 10 18 12
+f 12 18 16
+f 12 16 19
+f 16 17 20
+f 16 20 19
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_68.obj b/new_comb/new_comb_1/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0d35dd8ece202b62f58375f64b96f5f2dd966c
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_68.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v -0.00910015 -0.00536481 -0.00704213
+v -0.00910015 -0.00650854 -0.00703380
+v -0.00929243 -0.00650854 -0.00703380
+v -0.01042962 -0.00536481 -0.00704028
+v -0.00513919 -0.00536481 -0.00703751
+v -0.00645218 -0.00650854 -0.00703288
+v -0.01194039 -0.00650854 -0.00702733
+v -0.01174811 -0.00536481 -0.00703751
+v -0.00379873 -0.00536481 -0.00703473
+v -0.00379873 -0.00650854 -0.00702825
+v -0.01458835 -0.00650854 -0.00701438
+v -0.01573653 -0.00536481 -0.00702178
+v -0.01308308 -0.00536481 -0.00703288
+v -0.00114527 -0.00536481 -0.00702825
+v -0.00114527 -0.00650854 -0.00702085
+v -0.01742310 -0.00650854 -0.00699865
+v -0.01838450 -0.00536481 -0.00700790
+v 0.00150818 -0.00536481 -0.00701808
+v 0.00150818 -0.00650854 -0.00700698
+v -0.01969748 -0.00650854 -0.00698477
+v -0.01969748 -0.00536481 -0.00699958
+v 0.00415065 -0.00536481 -0.00700235
+v 0.00415065 -0.00650854 -0.00698847
+v -0.02008205 -0.00650854 -0.00698200
+v -0.02103246 -0.00536481 -0.00698940
+v 0.00680960 -0.00536481 -0.00697922
+v 0.00680960 -0.00650854 -0.00696350
+v -0.02235094 -0.00650854 -0.00696350
+v -0.02235094 -0.00536481 -0.00697922
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diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_69.obj b/new_comb/new_comb_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46d70633cb8e3f1eaf697ed194e03b11f20271b
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_70.obj b/new_comb/new_comb_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041ad37c91676f5bb289aee48412717137671395
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01207996 0.00298738 0.01117321
+v 0.01258795 0.00224234 0.01117321
+v 0.01296231 0.00236958 0.01183900
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\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_71.obj b/new_comb/new_comb_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4c9ee66aa7f3bf416de72945b10c088a57414a
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,375 @@
+# https://github.com/mikedh/trimesh
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+f 89 97 94
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+f 91 99 100
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+f 91 98 101
+f 91 101 99
+f 92 100 102
+f 92 102 103
+f 92 103 93
+f 94 97 104
+f 95 105 96
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+f 96 107 97
+f 97 107 108
+f 97 108 104
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+f 100 109 110
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+f 102 111 112
+f 102 112 113
+f 102 113 103
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+f 105 115 106
+f 106 115 116
+f 106 116 117
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+f 106 121 114
+f 106 114 108
+f 106 108 107
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+f 110 119 111
+f 111 119 124
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+f 111 126 125
+f 111 125 120
+f 111 120 112
+f 112 120 113
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+f 119 123 124
+f 121 122 125
+f 121 125 126
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_75.obj b/new_comb/new_comb_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44add79976c3ae654f51244b8248e47eb895eb14
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00245336 0.00020480 0.01017170
+v -0.00245336 0.00275873 0.01017170
+v -0.00130327 0.00020480 0.01017170
+v -0.00245336 0.00020480 0.01291757
+v -0.00130327 0.00275873 0.01017170
+v -0.00245336 0.00275873 0.01154490
+v -0.00130327 0.00020480 0.01280092
+v -0.00245336 0.00070829 0.01285306
+v -0.00130327 0.00275873 0.01239640
+v -0.00245336 0.00129302 0.01277807
+v -0.00130327 0.00129302 0.01266142
+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 9
+f 7 11 8
+f 8 11 10
+f 9 10 11
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_94.obj b/new_comb/new_comb_1/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4668aa5625678afe848d9c30082f2a7f7e9dd621
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_94.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.00909746 -0.01156458 -0.00686172
+v -0.00644889 -0.01156458 -0.00686056
+v -0.00909746 -0.01223780 -0.00679753
+v -0.01058085 -0.01156458 -0.00685825
+v -0.00379542 -0.01156458 -0.00684784
+v -0.00644889 -0.01223780 -0.00679406
+v -0.00941078 -0.01223780 -0.00679637
+v -0.01071793 -0.01156458 -0.00685767
+v -0.00114685 -0.01156458 -0.00682529
+v -0.00379542 -0.01223780 -0.00677613
+v -0.01198592 -0.01223780 -0.00678538
+v -0.01315109 -0.01156458 -0.00684726
+v 0.00150172 -0.01156458 -0.00678538
+v -0.00114685 -0.01223780 -0.00674606
+v -0.01439950 -0.01223780 -0.00675994
+v -0.01566748 -0.01156458 -0.00682182
+v -0.01325880 -0.01156458 -0.00684668
+v 0.00150172 -0.01216426 -0.00669806
+v -0.00053000 -0.01223780 -0.00673276
+v 0.00405727 -0.01156458 -0.00670153
+v -0.01449741 -0.01223780 -0.00675878
+v -0.01572133 -0.01156458 -0.00682124
+v 0.00439507 -0.01156458 -0.00668996
+v 0.00423351 -0.01178099 -0.00665353
+v 0.00680865 -0.01200307 -0.00641874
+v 0.00159473 -0.01223780 -0.00665064
+v 0.00150172 -0.01223780 -0.00665700
+v -0.01546675 -0.01223780 -0.00673796
+v -0.01774325 -0.01156458 -0.00678134
+v 0.00680865 -0.01156458 -0.00651821
+v 0.00949149 -0.01156458 -0.00621345
+v 0.00946211 -0.01200307 -0.00609895
+v 0.00680865 -0.01223780 -0.00627590
+v -0.01696484 -0.01223780 -0.00667493
+v -0.01704806 -0.01215760 -0.00671367
+v -0.01978965 -0.01156458 -0.00670963
+v 0.01222818 -0.01156458 -0.00563052
+v 0.01475925 -0.01156458 -0.00505685
+v 0.01226245 -0.01222627 -0.00531882
+v 0.00946211 -0.01223780 -0.00593876
+v -0.02210042 -0.01223780 -0.00636727
+v -0.02235500 -0.01200307 -0.00647946
+v -0.01967705 -0.01176584 -0.00667955
+v -0.01965257 -0.01176393 -0.00668129
+v -0.01967705 -0.01175048 -0.00668302
+v -0.01967705 -0.01173012 -0.00668649
+v -0.01998548 -0.01156458 -0.00670153
+v 0.01662451 -0.01156458 -0.00306115
+v 0.01471519 -0.01223780 -0.00393149
+v 0.01227714 -0.01223780 -0.00530379
+v 0.01225755 -0.01223780 -0.00531188
+v -0.02235500 -0.01223780 -0.00634183
+v -0.02472941 -0.01223780 -0.00609837
+v -0.02500846 -0.01200307 -0.00620709
+v -0.02537564 -0.01156458 -0.00629036
+v -0.02284946 -0.01156458 -0.00654192
+v 0.01693784 -0.01156458 -0.00272574
+v 0.01569922 -0.01223780 -0.00287668
+v -0.02500846 -0.01223780 -0.00605326
+v -0.02766193 -0.01200307 -0.00572363
+v -0.02809764 -0.01156458 -0.00584739
+v 0.01668815 -0.01156458 -0.00149744
+v 0.01558173 -0.01223780 -0.00231978
+v -0.02733881 -0.01223780 -0.00562821
+v -0.02766193 -0.01223780 -0.00554378
+v -0.03007550 -0.01203918 -0.00502042
+v -0.03011957 -0.01156458 -0.00527603
+v 0.01643358 -0.01156458 -0.00095500
+v 0.01495018 -0.01223780 -0.00095500
+v -0.02976218 -0.01223780 -0.00495565
+v -0.02991884 -0.01223780 -0.00490361
+v -0.03142182 -0.01156458 -0.00487643
+v -0.03069236 -0.01156458 -0.00510717
+v -0.01967705 -0.01223780 -0.00095442
+v -0.01967705 -0.01156458 -0.00095442
+v -0.03138755 -0.01223780 -0.00360822
+v -0.03210232 -0.01156458 -0.00434035
+v -0.03123578 -0.01223780 -0.00095442
+v -0.03248418 -0.01156458 -0.00095442
+v -0.03186733 -0.01223780 -0.00301142
+v -0.03307656 -0.01156458 -0.00313055
+v -0.03179389 -0.01193829 -0.00095442
+f 1 2 3
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+f 1 22 29
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+f 1 36 47
+f 1 47 56
+f 1 56 55
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+f 1 61 67
+f 1 67 73
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+f 1 77 81
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+f 1 75 68
+f 1 68 62
+f 1 62 57
+f 1 57 48
+f 1 48 38
+f 1 38 37
+f 1 37 31
+f 1 31 30
+f 1 30 23
+f 1 23 20
+f 1 20 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 14
+f 3 14 19
+f 3 19 27
+f 3 27 26
+f 3 26 33
+f 3 33 40
+f 3 40 51
+f 3 51 50
+f 3 50 49
+f 3 49 58
+f 3 58 63
+f 3 63 69
+f 3 69 74
+f 3 74 78
+f 3 78 80
+f 3 80 76
+f 3 76 71
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+f 3 70 65
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+f 3 52 41
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+f 3 34 28
+f 3 28 21
+f 3 21 15
+f 3 15 11
+f 3 11 7
+f 3 7 4
+f 4 7 8
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+f 7 11 8
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+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 13 20 18
+f 15 21 22
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+f 18 20 23
+f 18 23 24
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+f 18 26 27
+f 18 27 19
+f 21 28 29
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+f 24 30 25
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+f 25 33 26
+f 28 34 35
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+f 29 35 36
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+f 32 39 40
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+f 36 46 47
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+f 42 53 54
+f 42 54 55
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+f 42 56 45
+f 42 45 43
+f 43 45 44
+f 45 56 47
+f 45 47 46
+f 48 57 49
+f 49 57 58
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+f 54 61 55
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+f 58 62 63
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+f 60 67 61
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+f 62 69 63
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+f 66 72 73
+f 66 73 67
+f 68 74 69
+f 68 75 74
+f 71 76 77
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+f 76 80 81
+f 76 81 77
+f 78 82 80
+f 79 81 80
+f 79 80 82
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_97.obj b/new_comb/new_comb_1/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abca8d0fc9bdb7dc0202d6a242587672896e00b
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_97.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.03263959 0.00900476 -0.00556279
+v -0.03306624 0.00900476 -0.00551564
+v -0.03250106 0.00930390 -0.00556279
+v 0.01506833 0.00900476 -0.00556279
+v -0.03307732 0.00938277 -0.00534931
+v -0.03247890 0.00934599 -0.00556279
+v -0.03409132 0.00900476 -0.00509326
+v 0.01753407 0.00900871 -0.00556279
+v 0.01758948 0.00900476 -0.00554642
+v -0.03299421 0.00954223 -0.00527531
+v -0.03226834 0.00945284 -0.00556279
+v -0.03519952 0.00900476 -0.00391385
+v -0.03323247 0.00954223 -0.00504152
+v 0.01709079 0.00939308 -0.00556279
+v 0.01798289 0.00900476 -0.00544164
+v -0.03208548 0.00954223 -0.00556279
+v -0.03547103 0.00900476 -0.00361720
+v -0.03423539 0.00954223 -0.00391385
+v 0.01697997 0.00945831 -0.00556279
+v 0.01761719 0.00943411 -0.00537223
+v 0.01813804 0.00900476 -0.00537419
+v 0.01682482 0.00954223 -0.00556279
+v -0.03591985 0.00900476 -0.00275344
+v -0.03527710 0.00954223 -0.00272659
+v 0.01748420 0.00954223 -0.00535520
+v 0.01756732 0.00954223 -0.00532704
+v 0.01881404 0.00900476 -0.00506968
+v -0.03595310 0.00900476 -0.00221581
+v -0.03594755 0.00901150 -0.00221581
+v -0.03529926 0.00954223 -0.00263360
+v -0.03535467 0.00949035 -0.00268337
+v 0.01932935 0.00954223 -0.00433100
+v 0.01973384 0.00900476 -0.00456151
+v 0.01900243 0.00900476 -0.00496687
+v -0.03595310 0.00900476 -0.00220926
+v -0.03529926 0.00954223 -0.00262771
+v -0.03500005 0.00954223 -0.00087269
+v -0.03513303 0.00954223 -0.00161530
+v -0.03523277 0.00954223 -0.00221581
+v 0.01998873 0.00954223 -0.00306581
+v 0.02049850 0.00900476 -0.00348820
+v -0.03538237 0.00900476 -0.00053347
+v -0.03385860 0.00900476 0.00112725
+v -0.03312165 0.00954223 0.00112725
+v -0.03536575 0.00901392 -0.00052627
+v 0.02001089 0.00954223 -0.00298264
+v 0.02065365 0.00900476 -0.00294859
+v 0.01877525 0.00900476 0.00112725
+v 0.01798289 0.00954223 0.00112725
+v 0.01954545 0.00954223 -0.00071094
+v 0.01990007 0.00900476 -0.00044114
+v 0.01981142 0.00900476 -0.00031737
+v 0.01832089 0.00931469 0.00112725
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 16
+f 1 16 22
+f 1 22 19
+f 1 19 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 27
+f 1 27 34
+f 1 34 33
+f 1 33 41
+f 1 41 47
+f 1 47 51
+f 1 51 52
+f 1 52 48
+f 1 48 43
+f 1 43 42
+f 1 42 35
+f 1 35 28
+f 1 28 23
+f 1 23 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 5 7 10
+f 7 12 13
+f 7 13 10
+f 8 14 15
+f 8 15 9
+f 10 13 18
+f 10 18 24
+f 10 24 30
+f 10 30 36
+f 10 36 39
+f 10 39 38
+f 10 38 37
+f 10 37 44
+f 10 44 49
+f 10 49 50
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+f 10 46 40
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+f 10 32 26
+f 10 26 25
+f 10 25 22
+f 10 22 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 19 22 25
+f 20 26 27
+f 20 27 21
+f 20 25 26
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 30
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 28 35 29
+f 29 36 30
+f 29 35 37
+f 29 37 38
+f 29 38 39
+f 29 39 36
+f 32 40 41
+f 32 41 33
+f 35 42 37
+f 37 43 44
+f 37 42 45
+f 37 45 43
+f 40 46 47
+f 40 47 41
+f 42 43 45
+f 43 48 53
+f 43 53 49
+f 43 49 44
+f 46 50 47
+f 47 50 51
+f 48 52 50
+f 48 50 53
+f 49 53 50
+f 50 52 51
\ No newline at end of file
diff --git a/new_comb/new_comb_1/collision/model_normalized_collision_99.obj b/new_comb/new_comb_1/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6df8b500ab5209e7cee731d1a674e7981774a41
--- /dev/null
+++ b/new_comb/new_comb_1/collision/model_normalized_collision_99.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02372807 -0.00078051 0.01017170
+v -0.02372807 -0.00078051 0.01209899
+v -0.02372807 0.00001413 0.01017170
+v -0.02160317 -0.00078051 0.01017170
+v -0.02361220 -0.00078051 0.01209766
+v -0.02372807 -0.00040213 0.01210031
+v -0.02372807 0.00001413 0.01210144
+v -0.02161087 0.00001413 0.01017170
+v -0.02162377 0.00001413 0.01027295
+v -0.02163563 0.00001413 0.01036514
+v -0.02163563 -0.00078051 0.01036514
+v -0.02233644 -0.00078051 0.01208161
+v -0.02233415 0.00001413 0.01208406
+v -0.02370186 0.00001413 0.01210125
+v -0.02372807 -0.00001069 0.01210144
+f 1 2 6
+f 1 6 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 13
+f 3 13 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 15 14
+f 10 13 11
+f 11 13 12
\ No newline at end of file