diff --git a/.gitattributes b/.gitattributes
index ba518ef92f542de2c7282c30d56b2ceedcb77d8c..0dd1f5f2111b91b7ffbbee03408f4d0addce2f5b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -362,3 +362,4 @@ onion/onion_4/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
 onion/onion_7/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
 fish/fish_4/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
 new_box_of_barley/new_box_of_barley_0/visual/lxpwnw__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+new_drill/new_drill_0/visual/nzgmza__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_0.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9bb0aba774ce409ecc1acb3c7356e4aaeddf9d
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20141927 -0.00397262 0.00757575
+v 0.20141927 -0.00397262 -0.21969697
+v 0.14300830 0.27503990 -0.22395062
+v -0.30398817 0.25788152 0.00968097
+v -0.32332031 -0.01965207 0.01422220
+v 0.14278199 0.27017140 0.01435332
+v 0.22123417 0.19647771 0.01190630
+v -0.30874624 -0.00527047 -0.24139293
+v -0.19719569 0.29089797 -0.25740869
+v 0.22005335 0.17447635 -0.22202159
+v -0.28945921 0.23831925 -0.24732614
+v 0.00444958 -0.00397262 -0.23484849
+f 5 2 1
+f 6 4 5
+f 7 3 6
+f 7 6 5
+f 7 5 1
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 10 9 3
+f 10 2 9
+f 11 9 8
+f 11 8 4
+f 11 4 9
+f 12 9 2
+f 12 2 8
+f 12 8 9
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_1.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f47cea6ee78c64156e3ee8fed2eebd9869616b
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.12204348 -0.07510946 0.43909840
+v 0.03725640 -0.02034843 0.23273605
+v -0.05436076 -0.01170137 0.41890321
+v -0.03681746 0.10722762 0.25894412
+v -0.10045580 -0.02846892 0.21273473
+v 0.02910622 0.06822806 0.24511089
+v -0.25196751 -0.01343297 0.48666270
+v -0.05518681 -0.05378037 0.40391450
+v 0.00475641 -0.06401296 0.21747203
+v -0.03961558 0.00602990 0.39304370
+v -0.02799522 0.10899166 0.25710086
+v -0.15721884 -0.04511899 0.49123877
+v -0.24255459 -0.06642221 0.46654422
+v -0.25323191 -0.00862009 0.42480702
+v -0.05981250 -0.03090880 0.42340262
+v -0.10741401 -0.07733718 0.40751832
+v 0.03526666 -0.00422398 0.23130400
+v -0.18801429 0.01386902 0.47518112
+v -0.09914973 -0.01836750 0.21559295
+v 0.00046513 0.09642190 0.25767688
+v -0.10873472 -0.06768659 0.44805665
+v -0.22747678 -0.04117705 0.49443125
+v -0.18269956 -0.07955041 0.46365380
+v -0.19793782 -0.07880918 0.41833419
+v -0.24223841 0.01331159 0.45457211
+v -0.25082124 -0.03778606 0.43857813
+v -0.07885832 -0.02669504 0.44597019
+v -0.08157163 -0.06266503 0.42413956
+v -0.00824059 -0.06370376 0.21387103
+v -0.07084919 0.01674235 0.41686601
+v -0.21512982 0.00933917 0.48198495
+v -0.08315962 0.08903377 0.25997459
+v -0.11049733 -0.07495394 0.42637003
+v -0.20404125 -0.08002206 0.46236665
+v -0.19234528 -0.06629722 0.47586784
+v -0.14126190 -0.05379549 0.47642677
+v -0.16823235 -0.07995187 0.40344120
+v -0.25144179 -0.00076172 0.45727403
+v -0.24887428 -0.04312682 0.46975683
+v -0.25113376 -0.02687513 0.43079976
+v -0.22707574 -0.06346366 0.42147796
+v -0.08335294 -0.04075296 0.44406408
+v -0.19959665 0.00207502 0.49273459
+v -0.06975340 0.02681388 0.40442477
+v -0.06907957 -0.01240588 0.43381839
+v -0.22814484 -0.00541916 0.49425917
+v -0.10292828 0.06519530 0.26323502
+v -0.24243460 0.01301961 0.44046467
+v -0.16819909 -0.06252657 0.47714212
+v -0.23518845 -0.05360814 0.42545580
+v -0.07024582 -0.03787720 0.43366306
+v -0.23875876 -0.02589298 0.49221909
+v -0.25196262 -0.00106080 0.43748340
+f 9 2 8
+f 10 3 2
+f 10 2 6
+f 15 8 2
+f 15 2 3
+f 17 6 2
+f 17 2 9
+f 19 11 6
+f 19 6 5
+f 19 5 14
+f 20 10 6
+f 20 6 11
+f 23 1 21
+f 23 16 1
+f 26 7 14
+f 27 15 3
+f 28 16 9
+f 28 9 8
+f 29 17 9
+f 29 5 6
+f 29 6 17
+f 29 24 5
+f 30 3 10
+f 30 10 20
+f 31 18 11
+f 31 11 4
+f 31 4 25
+f 32 4 11
+f 32 11 19
+f 32 25 4
+f 33 21 1
+f 33 1 16
+f 33 28 21
+f 33 16 28
+f 34 22 13
+f 34 13 24
+f 35 12 22
+f 35 34 23
+f 35 22 34
+f 36 21 12
+f 37 9 16
+f 37 34 24
+f 37 16 23
+f 37 23 34
+f 37 29 9
+f 37 24 29
+f 38 14 7
+f 38 7 25
+f 39 26 13
+f 39 13 7
+f 39 7 26
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+f 40 14 5
+f 41 24 13
+f 41 5 24
+f 42 27 12
+f 42 12 21
+f 43 12 27
+f 43 18 31
+f 43 30 18
+f 44 30 20
+f 44 20 11
+f 44 11 18
+f 44 18 30
+f 45 27 3
+f 45 3 30
+f 45 43 27
+f 45 30 43
+f 46 31 25
+f 46 25 7
+f 46 43 31
+f 46 22 12
+f 46 12 43
+f 47 32 19
+f 47 19 14
+f 47 14 32
+f 48 32 14
+f 48 25 32
+f 49 36 12
+f 49 23 21
+f 49 21 36
+f 49 35 23
+f 49 12 35
+f 50 40 5
+f 50 5 41
+f 50 26 40
+f 50 41 13
+f 50 13 26
+f 51 8 15
+f 51 15 27
+f 51 27 42
+f 51 28 8
+f 51 42 21
+f 51 21 28
+f 52 46 7
+f 52 22 46
+f 52 7 13
+f 52 13 22
+f 53 38 25
+f 53 25 48
+f 53 48 14
+f 53 14 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_10.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180d47616f24f0b7065194d5ee47b87060840c01
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00013254 -0.31909108 0.06577160
+v 0.09859664 -0.27746774 -0.23196234
+v 0.12654649 -0.19858712 0.13363463
+v -0.26598512 -0.15320226 0.00754508
+v -0.08858010 -0.28807835 -0.22860031
+v 0.11051018 -0.18579080 -0.23484849
+v -0.17127043 -0.21306712 0.14807792
+v 0.09255135 -0.27815900 0.01976655
+v 0.01194002 -0.31773406 -0.20174451
+v -0.16221708 -0.15548777 0.00757575
+v -0.27387592 -0.14770251 -0.23295792
+v 0.00017217 -0.30328867 0.12085680
+v -0.13351331 -0.28903144 0.04933488
+v 0.02872038 -0.30674377 -0.23264305
+v 0.03992077 -0.31966250 -0.01057009
+v -0.27707722 -0.14731699 -0.14523581
+v 0.03940192 -0.28960878 0.12131945
+v -0.09365189 -0.30586272 0.10120863
+v -0.13606737 -0.27584084 0.10278305
+v -0.10319112 -0.30378237 -0.13886599
+v -0.05082595 -0.30535841 -0.23025622
+v 0.03910340 -0.31950680 -0.14310328
+v -0.19390201 -0.20330594 -0.23815839
+v 0.07329418 -0.28934222 -0.23232105
+v 0.08275203 -0.28972456 -0.00925775
+v -0.17661446 -0.24855428 0.00820447
+v 0.07826432 -0.26330701 0.12345375
+v 0.06746466 -0.28809927 0.07646269
+v 0.02759763 -0.30344215 0.10570053
+v -0.06585732 -0.30436429 0.11634643
+v -0.13603921 -0.26421288 0.11996492
+v -0.11933503 -0.29032203 0.09505480
+v -0.26815469 -0.15489876 -0.23223427
+v -0.09069329 -0.31952570 -0.05264050
+v -0.02160626 -0.31822587 -0.20086584
+v -0.06352448 -0.31738948 -0.17042821
+v 0.08450202 -0.28911161 -0.20370501
+v 0.09285022 -0.26286387 0.07782271
+v -0.03945445 -0.31974758 0.09456584
+v 0.03017787 -0.31800376 0.02017318
+v 0.03980460 -0.30430569 0.08030416
+v 0.05197301 -0.28759467 0.10658232
+v -0.10412604 -0.28860741 0.11631785
+v -0.13095852 -0.29267391 -0.05067050
+v -0.09265992 -0.31809811 -0.04002274
+v 0.07936835 -0.27445847 0.09191661
+v -0.02906319 -0.31805176 0.09439430
+v -0.06811779 -0.31842057 0.07905397
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 10 4 3
+f 10 3 6
+f 11 10 6
+f 16 4 10
+f 16 10 11
+f 17 3 7
+f 17 7 12
+f 19 7 4
+f 19 4 13
+f 22 9 14
+f 23 11 6
+f 23 6 14
+f 23 14 21
+f 23 21 5
+f 24 14 6
+f 24 6 2
+f 24 22 14
+f 25 2 8
+f 26 13 4
+f 26 4 16
+f 27 3 17
+f 28 25 8
+f 28 15 25
+f 29 17 12
+f 30 12 7
+f 31 7 19
+f 32 19 13
+f 32 13 18
+f 32 18 19
+f 33 5 20
+f 33 23 5
+f 33 11 23
+f 33 26 16
+f 33 16 11
+f 35 21 14
+f 35 14 9
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+f 35 22 34
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+f 36 5 21
+f 36 21 35
+f 36 35 34
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+f 37 15 22
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+f 37 2 25
+f 37 24 2
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+f 38 8 3
+f 39 12 30
+f 39 30 18
+f 39 15 1
+f 39 34 22
+f 39 22 15
+f 40 1 15
+f 41 15 28
+f 41 28 29
+f 41 40 15
+f 41 29 1
+f 41 1 40
+f 42 29 28
+f 42 27 17
+f 42 17 29
+f 43 31 19
+f 43 19 18
+f 43 18 30
+f 43 30 7
+f 43 7 31
+f 44 33 20
+f 44 13 26
+f 44 26 33
+f 44 20 34
+f 45 18 13
+f 45 44 34
+f 45 13 44
+f 46 38 3
+f 46 3 27
+f 46 28 8
+f 46 8 38
+f 46 42 28
+f 46 27 42
+f 47 29 12
+f 47 12 39
+f 47 39 1
+f 47 1 29
+f 48 39 18
+f 48 18 45
+f 48 45 34
+f 48 34 39
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_11.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d594eb4f9e5d7bc2ffe181508ea12494ff3c2855
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00060198 -0.00653365 0.25463685
+v 0.00444958 -0.01912414 0.00757575
+v 0.00444958 0.22330010 0.00757575
+v -0.30398817 0.25788152 0.00968097
+v -0.31938131 -0.03368153 0.01374657
+v 0.00472134 0.22168230 0.22126496
+v -0.09474129 -0.01033250 0.27244955
+v -0.25831760 0.21594635 0.20706967
+v -0.00174643 0.10644573 0.25099979
+v -0.28138824 0.05837029 0.17123702
+v -0.23281962 0.21745653 0.21811646
+v -0.26009834 -0.01974636 0.16315797
+v -0.26702145 0.10702923 0.20262902
+v -0.08478717 0.08704279 0.26053149
+v -0.22600862 -0.02003442 0.18832937
+v -0.24942137 0.20415424 0.21764731
+v -0.24807782 0.14934236 0.21624585
+v -0.10292828 0.06519530 0.26323502
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 9 7 1
+f 9 1 6
+f 10 8 4
+f 10 4 5
+f 11 6 4
+f 11 4 8
+f 12 10 5
+f 13 8 10
+f 13 10 12
+f 14 9 6
+f 14 6 11
+f 14 7 9
+f 15 12 5
+f 15 5 7
+f 15 13 12
+f 15 7 13
+f 16 11 8
+f 16 8 13
+f 17 16 13
+f 17 13 7
+f 17 7 16
+f 18 14 11
+f 18 11 16
+f 18 16 7
+f 18 7 14
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_12.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f280c7e73b0b3c92a1a3274a5cf640f43c43df3
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.19250812 -0.15546536 -0.41665030
+v -0.14237804 -0.11929376 -0.48194668
+v -0.14706557 -0.12518474 -0.35606061
+v -0.18822864 0.26046173 -0.34924534
+v -0.23893334 -0.00608240 -0.43073078
+v -0.15638112 0.24179532 -0.39201282
+v -0.20731967 -0.08529238 -0.46208519
+v -0.26717191 -0.11967664 -0.35166611
+v -0.14706557 -0.00397262 -0.35606061
+v -0.20504572 0.14666930 -0.44482102
+v -0.19627266 -0.14183491 -0.43256141
+v -0.21469529 0.24307705 -0.34645121
+v -0.25028619 -0.07319443 -0.42256328
+v -0.14266162 -0.00358175 -0.49398859
+v -0.16156298 0.26146100 -0.35235806
+v -0.19242867 -0.02017442 -0.47701311
+v -0.18511912 -0.08795151 -0.47625929
+v -0.18600248 -0.14330390 -0.43807429
+v -0.21804449 -0.14655470 -0.41014466
+v -0.27323187 0.14524060 -0.34925783
+v -0.19545076 0.20857153 -0.40403268
+v -0.14253387 -0.01872193 -0.49359445
+v -0.15690759 0.22819146 -0.40823468
+v -0.19531440 -0.04988022 -0.47618334
+v -0.15716417 -0.00294684 -0.48954350
+v -0.19325158 -0.12811588 -0.44465250
+v -0.26456143 -0.11846456 -0.36284270
+v -0.23735904 -0.08512930 -0.43152388
+v -0.21184928 -0.14399157 -0.41819454
+v -0.23709761 0.18652040 -0.38945461
+v -0.25022502 0.12831583 -0.38947197
+v -0.25009848 -0.05194272 -0.42189872
+v -0.25501740 0.19924033 -0.34766331
+v -0.19397579 0.23709693 -0.37220482
+v -0.15444914 -0.11741607 -0.47685951
+v -0.24990410 -0.11584801 -0.38984441
+v -0.26344879 -0.10277494 -0.37608562
+v -0.22300990 -0.13108013 -0.41715839
+v -0.22537229 0.18284385 -0.40289266
+v -0.23615871 0.14371232 -0.40534743
+v -0.26578909 0.07019655 -0.37546069
+v -0.25012272 0.17374728 -0.37425221
+v -0.16997105 0.22415646 -0.40491865
+v -0.24874583 -0.10010790 -0.40426020
+f 1 2 3
+f 8 1 3
+f 9 3 2
+f 12 8 3
+f 12 3 4
+f 14 6 9
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 5 10
+f 18 2 1
+f 18 1 11
+f 19 1 8
+f 22 14 9
+f 22 9 2
+f 22 2 17
+f 23 14 10
+f 23 6 14
+f 24 5 16
+f 24 7 13
+f 24 17 7
+f 24 22 17
+f 25 16 10
+f 25 10 14
+f 25 24 16
+f 25 14 22
+f 25 22 24
+f 26 7 17
+f 26 18 11
+f 27 19 8
+f 28 13 7
+f 29 11 1
+f 29 1 19
+f 29 26 11
+f 29 7 26
+f 30 12 21
+f 32 24 13
+f 32 5 24
+f 32 31 5
+f 33 20 8
+f 33 8 12
+f 33 12 30
+f 34 21 12
+f 34 12 4
+f 35 26 17
+f 35 17 2
+f 35 2 18
+f 35 18 26
+f 36 19 27
+f 37 13 27
+f 37 27 8
+f 37 8 20
+f 38 28 7
+f 38 7 29
+f 38 29 19
+f 38 19 36
+f 38 13 28
+f 39 30 21
+f 39 21 10
+f 39 10 30
+f 40 10 5
+f 40 5 31
+f 40 30 10
+f 40 31 20
+f 41 32 13
+f 41 20 31
+f 41 31 32
+f 41 37 20
+f 41 13 37
+f 42 33 30
+f 42 20 33
+f 42 40 20
+f 42 30 40
+f 43 21 34
+f 43 23 10
+f 43 10 21
+f 43 34 4
+f 43 4 6
+f 43 6 23
+f 44 36 27
+f 44 27 13
+f 44 38 36
+f 44 13 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_13.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94978421b7d44ed2577dcf3ae89adbf21b0a8616
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.20390884 -0.16064782 0.19532660
+v 0.20414799 -0.12021089 0.26111037
+v -0.00943661 -0.11211406 0.21914572
+v 0.00614923 0.16198981 0.21658648
+v 0.20343109 0.17263516 0.17910457
+v 0.00069655 0.06942076 0.27705334
+v -0.01047085 -0.09526173 0.21682921
+v 0.11022370 -0.11071749 0.25118063
+v 0.19921164 0.13844491 0.24452670
+v -0.01062884 -0.11015343 0.21878984
+v 0.00056799 0.15546344 0.21994495
+v 0.18210036 0.14552026 0.23966794
+v -0.00035542 0.07970770 0.27078435
+v 0.19818074 0.14934813 0.22681934
+v 0.09773616 0.15361773 0.23151495
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 10 3 6
+f 11 4 7
+f 13 10 6
+f 13 7 10
+f 13 11 7
+f 13 4 11
+f 14 12 9
+f 14 9 5
+f 14 5 12
+f 15 12 5
+f 15 5 4
+f 15 4 13
+f 15 13 6
+f 15 6 9
+f 15 9 12
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_14.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09dd1213067648d1a0de749766baace60317fee2
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.22792778 -0.13217046 0.24158120
+v 0.28548489 -0.10177424 0.24424902
+v 0.16773722 0.03804896 0.29446214
+v 0.15372091 0.14183797 0.24172500
+v 0.07959773 -0.13736126 0.22921619
+v 0.28529879 0.08996431 0.25493630
+v 0.24179388 -0.05754979 0.29257974
+v 0.27196089 0.10824371 0.24242029
+v 0.06494850 -0.00392024 0.23558722
+v 0.22257224 0.10534316 0.27649391
+v 0.22455106 -0.09460074 0.27954393
+v 0.28012034 -0.04116379 0.27775812
+v 0.28973957 0.09634816 0.24487377
+v 0.10547577 -0.04800070 0.26288788
+v 0.11184132 0.11609949 0.24446012
+v 0.25894452 0.05000096 0.29257198
+v 0.21373522 0.13585721 0.24296990
+v 0.22244594 0.11639240 0.26682285
+v 0.28318798 -0.09996096 0.24791590
+v 0.19859966 -0.12981958 0.25367102
+v 0.27857857 0.05036240 0.27851655
+v 0.06534614 -0.12498654 0.23203664
+v 0.17430800 -0.05600849 0.29208787
+v 0.19421198 0.10867756 0.27562830
+v 0.26394014 -0.03031646 0.29396442
+v 0.28349193 0.07782612 0.26435998
+v 0.25208895 0.10049498 0.26529153
+v 0.21217842 0.12944165 0.25426170
+v 0.20453798 -0.10064955 0.27570392
+v 0.11115181 -0.13756410 0.23203106
+v 0.22474249 -0.12531573 0.24966563
+v 0.16360731 -0.03218720 0.29221404
+v 0.15914777 -0.08548104 0.27565626
+v 0.12687866 0.13134878 0.24493530
+v 0.22858345 0.06502754 0.29223225
+v 0.26717213 0.00985817 0.29202348
+v 0.13367448 -0.04572860 0.27673006
+v 0.07832757 -0.13116071 0.23262878
+v 0.15106818 0.13509384 0.24709353
+v 0.18961782 0.06528269 0.29174547
+v 0.10101466 -0.11565206 0.24608617
+f 5 2 1
+f 8 5 4
+f 8 2 5
+f 9 4 5
+f 13 2 8
+f 13 12 2
+f 14 3 9
+f 15 9 3
+f 15 4 9
+f 17 8 4
+f 18 13 8
+f 19 1 2
+f 19 7 11
+f 19 2 12
+f 22 14 9
+f 22 9 5
+f 23 11 7
+f 24 10 18
+f 25 16 3
+f 25 19 12
+f 25 7 19
+f 25 23 7
+f 25 3 23
+f 26 10 16
+f 26 16 21
+f 26 13 6
+f 26 21 12
+f 26 12 13
+f 27 18 10
+f 27 6 13
+f 27 13 18
+f 27 26 6
+f 27 10 26
+f 28 18 8
+f 28 8 17
+f 28 17 4
+f 28 24 18
+f 28 4 24
+f 29 20 11
+f 29 5 20
+f 29 11 23
+f 30 20 5
+f 30 5 1
+f 30 1 20
+f 31 20 1
+f 31 11 20
+f 31 19 11
+f 31 1 19
+f 32 23 3
+f 32 3 14
+f 32 22 23
+f 33 23 22
+f 33 29 23
+f 34 4 15
+f 34 15 3
+f 35 16 10
+f 35 10 24
+f 35 3 16
+f 36 21 16
+f 36 16 25
+f 36 25 12
+f 36 12 21
+f 37 32 14
+f 37 14 22
+f 37 22 32
+f 38 22 5
+f 38 5 29
+f 38 29 33
+f 39 34 24
+f 39 24 4
+f 39 4 34
+f 40 34 3
+f 40 24 34
+f 40 35 24
+f 40 3 35
+f 41 38 33
+f 41 33 22
+f 41 22 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_15.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c8e54e6ca150d9383ccf3efed8366be0462d64
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.11036286 -0.00438535 -0.45769772
+v 0.11236169 0.00121437 -0.45710869
+v 0.00444958 -0.00397262 -0.40151515
+v -0.15690759 0.22819146 -0.40823468
+v -0.16764128 0.13358090 -0.48985820
+v 0.10378262 0.23030086 -0.39406039
+v -0.09106012 0.11650116 -0.49019000
+v -0.18717075 -0.00371139 -0.48109169
+v -0.24184865 0.10107250 -0.40969629
+v 0.03145981 0.20822236 -0.44747487
+v -0.10587357 -0.00654609 -0.49072099
+v 0.07657261 0.24426219 -0.39260081
+v -0.24795433 -0.00468828 -0.41384465
+v -0.21554893 0.18713652 -0.40871617
+v -0.14503840 0.16297338 -0.47583138
+v -0.12031138 0.14132385 -0.48894418
+v 0.10491334 0.15744060 -0.44420439
+v -0.09079296 0.05899200 -0.48955172
+v -0.15716417 -0.00294684 -0.48954350
+v -0.04024615 0.24434858 -0.40926115
+v 0.10287421 0.19456050 -0.43395734
+v -0.24167630 -0.00555700 -0.42557057
+v -0.18011643 0.18068965 -0.44588689
+v -0.22115619 0.12679820 -0.43320787
+v -0.18493397 0.21357103 -0.40837722
+v 0.04827135 0.14498492 -0.46102441
+v -0.08831758 0.16698879 -0.47371007
+v -0.17144026 0.03016428 -0.48843644
+v 0.03165622 0.23805627 -0.41671806
+v 0.06253348 0.24712107 -0.39532913
+v -0.06930695 0.22377107 -0.43059064
+v 0.10012470 0.22445220 -0.40375619
+v 0.05970980 0.20059308 -0.44441574
+v -0.20657144 0.09795710 -0.46275307
+v -0.20819458 0.16605991 -0.43098112
+v -0.15359156 0.22178350 -0.41812003
+v -0.22942454 0.15985078 -0.40967047
+v -0.18375347 0.20635929 -0.41789592
+v -0.00949224 0.21176714 -0.44395550
+v -0.19217955 0.10036721 -0.47645653
+v -0.20779636 0.07233394 -0.46141273
+v -0.23511200 0.10046590 -0.42068404
+v -0.19254771 0.16566082 -0.44559122
+v -0.20472118 0.14152290 -0.44730915
+v -0.15608764 0.19244162 -0.44500322
+v 0.00607151 0.23204359 -0.42470351
+v -0.19215946 0.07268197 -0.47684196
+v -0.22245996 0.15753479 -0.41912317
+v -0.03964257 0.23698736 -0.41852219
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 11 1 3
+f 11 5 7
+f 12 9 3
+f 12 3 6
+f 13 3 9
+f 14 9 12
+f 16 7 5
+f 16 5 15
+f 17 6 2
+f 18 11 7
+f 18 7 1
+f 18 1 11
+f 19 11 8
+f 19 5 11
+f 21 6 17
+f 22 11 3
+f 22 3 13
+f 22 8 11
+f 22 13 9
+f 23 15 5
+f 25 14 12
+f 25 12 4
+f 26 16 10
+f 26 7 16
+f 26 17 2
+f 26 2 7
+f 27 16 15
+f 27 15 10
+f 27 10 16
+f 28 19 8
+f 28 8 5
+f 28 5 19
+f 29 21 10
+f 30 20 4
+f 30 4 12
+f 30 29 20
+f 30 12 21
+f 30 21 29
+f 32 21 12
+f 32 12 6
+f 32 6 21
+f 33 21 17
+f 33 10 21
+f 33 26 10
+f 33 17 26
+f 36 31 15
+f 36 4 20
+f 36 20 31
+f 36 25 4
+f 37 9 14
+f 37 14 35
+f 37 34 24
+f 38 23 14
+f 38 14 25
+f 38 36 23
+f 38 25 36
+f 39 10 15
+f 39 15 31
+f 40 34 5
+f 40 5 8
+f 41 8 22
+f 41 22 34
+f 42 34 22
+f 42 22 9
+f 42 24 34
+f 42 37 24
+f 42 9 37
+f 43 23 5
+f 43 5 35
+f 43 35 14
+f 43 14 23
+f 44 35 5
+f 44 5 34
+f 44 34 37
+f 45 36 15
+f 45 15 23
+f 45 23 36
+f 46 29 10
+f 46 10 39
+f 46 20 29
+f 46 39 31
+f 47 40 8
+f 47 34 40
+f 47 41 34
+f 47 8 41
+f 48 44 37
+f 48 37 35
+f 48 35 44
+f 49 46 31
+f 49 31 20
+f 49 20 46
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_16.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988a8024526a4f4fdb69c6d49b9c32b5626d9195
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.25087890 -0.16835234 0.00774839
+v -0.22282314 -0.07973020 -0.28030303
+v -0.23797466 -0.00397262 0.00757575
+v -0.33202115 0.00435826 0.00633261
+v -0.29674414 -0.10181969 -0.26229633
+v -0.22282314 -0.00397262 -0.28030303
+v -0.27353823 -0.14562722 0.00744342
+v -0.22282314 -0.07973020 -0.23484849
+v -0.24663107 -0.16872230 -0.23579477
+v -0.22282314 -0.00397262 -0.23484849
+v -0.30178906 -0.00291393 -0.27785037
+v -0.30976884 -0.10291879 -0.11823430
+v -0.26339988 -0.14812926 -0.28255716
+v -0.29531304 -0.13004254 -0.17119006
+v -0.33073714 0.00257140 -0.09637774
+v -0.30028377 -0.10317459 0.00621791
+v -0.29539355 -0.07810458 -0.27653698
+v -0.28189231 -0.14188788 -0.21639439
+v -0.29606292 -0.12912953 -0.10181107
+v -0.31227828 -0.09077075 -0.18815964
+v -0.31058978 -0.07451898 -0.00978478
+v -0.28512150 -0.11731370 -0.27751513
+v -0.28546235 -0.13872683 -0.12957305
+v -0.27387592 -0.14770251 -0.23295792
+v -0.29453751 -0.11501451 -0.23183370
+v -0.31022865 -0.10375499 -0.15767129
+v -0.28353153 -0.13092714 0.00690257
+v -0.31131621 -0.04886377 -0.21685601
+v -0.28098962 -0.13004886 -0.26150774
+v -0.31273538 -0.00345474 -0.21708551
+v -0.27503790 -0.13397113 -0.27846192
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 2 6
+f 9 8 1
+f 9 2 8
+f 10 6 4
+f 10 4 3
+f 10 8 6
+f 10 3 8
+f 13 2 9
+f 13 11 6
+f 13 6 2
+f 15 4 6
+f 15 6 11
+f 16 7 4
+f 17 5 11
+f 17 11 13
+f 18 9 1
+f 19 1 7
+f 19 16 12
+f 21 16 4
+f 21 4 12
+f 21 12 16
+f 22 17 13
+f 22 5 17
+f 23 18 1
+f 23 14 18
+f 23 19 14
+f 23 1 19
+f 24 18 13
+f 24 13 9
+f 24 9 18
+f 25 18 14
+f 26 19 12
+f 26 14 19
+f 26 12 4
+f 26 4 15
+f 26 15 20
+f 26 25 14
+f 26 20 5
+f 26 5 25
+f 27 19 7
+f 27 7 16
+f 27 16 19
+f 28 20 15
+f 28 11 5
+f 28 5 20
+f 29 5 22
+f 29 25 5
+f 29 18 25
+f 30 28 15
+f 30 15 11
+f 30 11 28
+f 31 29 22
+f 31 22 13
+f 31 13 18
+f 31 18 29
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_17.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b87ff388f3ee6e9165dbd6d50c4f9a0e27870b
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.20206653 -0.18990200 0.00790972
+v 0.20179043 -0.18615271 -0.23481391
+v 0.20141927 -0.00397262 0.00757575
+v -0.23797466 -0.00397262 0.00757575
+v -0.20155102 -0.21792460 0.00602095
+v -0.23797466 -0.00397262 -0.23484849
+v 0.20141927 -0.00397262 -0.23484849
+v -0.25087890 -0.16835234 0.00774839
+v -0.17999529 -0.21262126 -0.23670565
+v -0.24663107 -0.16872230 -0.23579477
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 8 4 6
+f 9 2 5
+f 9 7 2
+f 9 6 7
+f 10 8 6
+f 10 6 9
+f 10 9 5
+f 10 5 8
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_18.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce0243e4cfa0f8ddda6b1c453e19e947e2637162
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02591604 0.17787149 0.21813768
+v 0.10969660 0.22245348 0.18876231
+v 0.05902836 0.22836750 0.21818193
+v -0.23147976 0.27716741 0.18254610
+v -0.27050443 0.22494415 0.19221696
+v 0.04712953 0.27422517 0.18229444
+v 0.10106545 0.21337254 0.21205237
+v -0.07300566 0.17607912 0.20671483
+v -0.26213965 0.24723464 0.18292235
+v -0.19661161 0.24580560 0.21920990
+v 0.06395518 0.22038011 0.21968404
+v 0.06868448 0.25676410 0.19560002
+v -0.22086145 0.22144545 0.21917590
+v -0.23316328 0.25396136 0.20378576
+v 0.10382565 0.23149565 0.18420451
+v 0.04516370 0.26736609 0.19241589
+v -0.25831760 0.21594635 0.20706967
+v -0.25712893 0.24203579 0.19279087
+v -0.23183365 0.26977262 0.18948745
+v -0.21751025 0.23242910 0.21760410
+v 0.07306444 0.26132191 0.18384881
+v 0.04688557 0.25506236 0.20348589
+v -0.25476898 0.22847785 0.20257077
+v -0.20239714 0.24662606 0.21730215
+f 7 1 2
+f 8 2 1
+f 9 8 5
+f 9 4 6
+f 11 7 3
+f 11 1 7
+f 11 3 10
+f 12 3 7
+f 13 11 10
+f 13 1 11
+f 15 2 8
+f 15 8 9
+f 15 9 6
+f 16 6 4
+f 16 4 10
+f 16 12 6
+f 17 8 1
+f 17 1 13
+f 17 5 8
+f 18 9 5
+f 19 4 9
+f 19 18 14
+f 19 9 18
+f 20 13 10
+f 20 17 13
+f 20 14 17
+f 21 15 6
+f 21 6 12
+f 21 2 15
+f 21 12 7
+f 21 7 2
+f 22 16 10
+f 22 10 3
+f 22 3 12
+f 22 12 16
+f 23 17 14
+f 23 14 18
+f 23 18 5
+f 23 5 17
+f 24 19 14
+f 24 10 4
+f 24 4 19
+f 24 20 10
+f 24 14 20
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_19.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec7ea534b141a105e23b580408c885685387104
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20191116 -0.18589294 -0.23339107
+v 0.18004443 -0.16506814 -0.35185738
+v 0.18626776 -0.00397262 -0.23484849
+v -0.29700980 -0.00201908 -0.29474282
+v -0.17640452 -0.21491696 -0.23791332
+v 0.18626776 -0.00397262 -0.35606061
+v -0.16349735 -0.19589165 -0.36603614
+v -0.22282314 -0.00397262 -0.23484849
+v -0.26861316 -0.15295707 -0.23791332
+v -0.27352452 -0.00292454 -0.36520857
+v -0.25209189 -0.13926940 -0.35562354
+v -0.30213137 -0.08402571 -0.24769031
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 5 8
+f 10 4 6
+f 10 6 7
+f 11 7 5
+f 11 5 9
+f 11 10 7
+f 12 9 8
+f 12 8 4
+f 12 11 9
+f 12 4 10
+f 12 10 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_2.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700cc2b835d4950f7d4ddff659596cae8710fd1a
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.11051018 -0.00397262 -0.34090909
+v 0.20264640 0.16007075 -0.35102272
+v 0.17317711 0.21328690 -0.33282577
+v 0.00547605 0.29286715 -0.33747898
+v 0.11236169 0.00121437 -0.45710869
+v 0.00444958 -0.00397262 -0.34090909
+v 0.10558964 0.18888899 -0.43477206
+v 0.00444958 -0.00397262 -0.40151515
+v 0.17885681 0.14187380 -0.41209049
+v 0.09159306 0.27988502 -0.34596424
+v 0.00555873 0.22448917 -0.43252401
+v 0.14949866 0.14230780 -0.43208028
+v 0.08763692 0.28508451 -0.33662502
+v 0.11358981 0.26872840 -0.34319466
+v 0.11008488 0.14714332 -0.44560820
+v 0.00530230 0.25279271 -0.40337588
+v 0.03175443 0.25297323 -0.40133965
+v 0.14773573 0.15603210 -0.42802078
+v 0.04628011 0.28060597 -0.36149540
+v 0.09881557 0.23943458 -0.38855645
+v 0.16841919 0.20964751 -0.34503932
+v 0.11731035 0.26879368 -0.33627571
+v 0.11587569 0.18376080 -0.43210805
+v 0.07358317 0.26688220 -0.37011716
+v 0.00838639 0.28023159 -0.36027395
+v 0.09796730 0.26870989 -0.35731346
+v 0.17523027 0.15153641 -0.40599400
+v 0.07371373 0.25206624 -0.38558891
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 5 1
+f 8 1 6
+f 9 2 5
+f 11 5 8
+f 12 9 5
+f 13 4 3
+f 14 10 13
+f 15 11 7
+f 15 5 11
+f 15 12 5
+f 15 7 12
+f 16 11 8
+f 16 8 6
+f 16 6 4
+f 17 7 11
+f 17 11 16
+f 18 12 7
+f 18 9 12
+f 19 13 10
+f 19 4 13
+f 19 17 16
+f 20 7 17
+f 21 14 3
+f 22 14 13
+f 22 13 3
+f 22 3 14
+f 23 9 18
+f 23 20 14
+f 23 18 7
+f 23 7 20
+f 24 19 10
+f 24 17 19
+f 25 19 16
+f 25 16 4
+f 25 4 19
+f 26 10 14
+f 26 14 20
+f 26 24 10
+f 26 20 24
+f 27 14 21
+f 27 23 14
+f 27 9 23
+f 27 21 3
+f 27 3 2
+f 27 2 9
+f 28 24 20
+f 28 20 17
+f 28 17 24
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_20.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de520895cf5ff9727aebb59f052388a052b9f53c
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.33485135 -0.00413675 -0.21885913
+v 0.32285652 -0.00459822 -0.25904215
+v 0.17317711 0.21328690 -0.33282577
+v -0.00329096 0.27531213 -0.36548380
+v 0.00444958 -0.00397262 -0.21969697
+v 0.18626776 -0.00397262 -0.34090909
+v 0.00444958 0.22330010 -0.21969697
+v 0.31978483 0.05015892 -0.26093984
+v 0.29167553 0.06178073 -0.32022534
+v 0.00444958 -0.00397262 -0.34090909
+v 0.19122535 0.21615433 -0.21874679
+v 0.27603296 0.12019659 -0.25927628
+v 0.29529760 -0.00356406 -0.32003909
+v 0.30729494 0.09239491 -0.21495920
+v 0.27423208 0.08958045 -0.31877372
+v 0.18497689 0.21080869 -0.29164227
+v 0.32250786 0.06625056 -0.21674098
+v 0.25959551 0.11810847 -0.30337676
+v 0.32095583 0.06317609 -0.23051725
+f 5 2 1
+f 7 4 5
+f 8 1 2
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 3 4
+f 11 4 7
+f 12 8 9
+f 13 9 8
+f 13 8 2
+f 13 2 6
+f 13 6 9
+f 14 11 7
+f 14 7 5
+f 14 5 1
+f 14 12 11
+f 14 8 12
+f 15 12 9
+f 15 9 3
+f 16 12 3
+f 16 3 11
+f 16 11 12
+f 17 14 1
+f 17 1 8
+f 18 15 3
+f 18 3 12
+f 18 12 15
+f 19 17 8
+f 19 8 14
+f 19 14 17
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_21.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd591df0342502c4c7446ae1fec3deed0456369d
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.25261696 -0.15446469 0.19378503
+v 0.33642112 -0.09431423 0.17367624
+v 0.20262500 -0.10640539 0.27266720
+v 0.00084992 -0.10411355 0.21891443
+v 0.16996046 -0.17101668 0.17051276
+v 0.29806054 -0.08733995 0.24322536
+v 0.27051743 -0.15395257 0.17059671
+v 0.20141927 -0.09488171 0.17424241
+v 0.00879429 -0.19523599 0.22137866
+v 0.15812539 -0.10365202 0.26686389
+v 0.22307163 -0.13800089 0.23719392
+v 0.29557021 -0.14286197 0.17247981
+v 0.31124103 -0.08576182 0.22665624
+v 0.19789017 -0.10550021 0.27234961
+v 0.00346717 -0.18365511 0.22419026
+v 0.28213241 -0.10765616 0.23833882
+v 0.23082253 -0.15234648 0.21207684
+v 0.19843519 -0.11405463 0.26815287
+v 0.26895417 -0.15173451 0.18360445
+v 0.32672242 -0.11345918 0.17260548
+v 0.32758988 -0.08968505 0.19955754
+v 0.29371736 -0.14052456 0.17880307
+v 0.29243990 -0.09799120 0.23918286
+v 0.29274636 -0.10952493 0.22372301
+v 0.32453843 -0.11110759 0.17939286
+v 0.32384980 -0.09887743 0.19452440
+f 8 5 4
+f 8 7 5
+f 9 4 5
+f 9 7 1
+f 9 5 7
+f 10 6 4
+f 13 8 4
+f 13 4 6
+f 14 3 6
+f 14 6 10
+f 14 9 3
+f 15 10 4
+f 15 4 9
+f 15 14 10
+f 15 9 14
+f 16 6 3
+f 17 11 9
+f 17 9 1
+f 17 16 11
+f 17 1 16
+f 18 3 9
+f 18 9 11
+f 18 16 3
+f 18 11 16
+f 19 1 7
+f 19 7 12
+f 19 16 1
+f 20 12 7
+f 20 8 2
+f 20 7 8
+f 21 2 8
+f 21 8 13
+f 21 20 2
+f 22 19 12
+f 22 16 19
+f 22 12 20
+f 23 6 16
+f 23 13 6
+f 24 23 16
+f 24 16 22
+f 25 20 21
+f 25 23 24
+f 25 24 22
+f 25 22 20
+f 26 25 21
+f 26 23 25
+f 26 21 13
+f 26 13 23
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_22.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ac8ca94ee588cc1cef80ff57384f539b0ccc96
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.14403752 -0.24323326 -0.23432817
+v -0.13998978 -0.15741201 -0.45246402
+v -0.14706557 -0.14033626 -0.23484849
+v -0.28112515 -0.13845861 -0.23439252
+v -0.23561229 -0.13988732 -0.39311267
+v -0.27387592 -0.14770251 -0.23295792
+v -0.13924029 -0.23800696 -0.29402275
+v -0.17212894 -0.11994459 -0.46677395
+v -0.15204566 -0.23577012 -0.23310071
+v -0.25351789 -0.14026314 -0.34982339
+v -0.13864371 -0.21777673 -0.35065898
+v -0.24144874 -0.16793751 -0.29417803
+v -0.14687681 -0.12463414 -0.47656815
+v -0.18069603 -0.13967826 -0.44692828
+v -0.25569585 -0.11879114 -0.37837176
+v -0.24342675 -0.17096164 -0.23378820
+v -0.25096551 -0.15750733 -0.30680764
+v -0.21321323 -0.15169253 -0.40595495
+v -0.14706557 -0.12518474 -0.35606061
+v -0.15761116 -0.14205273 -0.46008045
+v -0.26477572 -0.12399825 -0.35511399
+v -0.23815360 -0.15519518 -0.34973347
+v -0.16564030 -0.21322129 -0.31863747
+v -0.16757646 -0.16748566 -0.41845366
+v -0.14310601 -0.14393813 -0.46249311
+v -0.16799843 -0.13181535 -0.46291044
+v -0.27299028 -0.13241793 -0.29316417
+v -0.25106238 -0.13158811 -0.37542862
+v -0.21139378 -0.18337768 -0.31881896
+v -0.14006799 -0.18714600 -0.40886680
+v -0.15274765 -0.18227252 -0.40611153
+f 6 3 4
+f 7 3 1
+f 9 1 3
+f 9 3 6
+f 11 2 3
+f 11 3 7
+f 12 7 1
+f 14 5 8
+f 15 4 3
+f 15 8 5
+f 16 9 6
+f 16 1 9
+f 16 12 1
+f 16 6 12
+f 17 6 4
+f 17 12 6
+f 18 5 14
+f 19 13 8
+f 19 3 2
+f 19 2 13
+f 19 15 3
+f 19 8 15
+f 20 2 14
+f 21 4 15
+f 21 10 17
+f 22 17 10
+f 22 10 5
+f 22 5 18
+f 23 18 11
+f 23 11 7
+f 23 22 18
+f 24 18 14
+f 24 14 2
+f 25 20 13
+f 25 13 2
+f 25 2 20
+f 26 20 14
+f 26 14 8
+f 26 8 13
+f 26 13 20
+f 27 21 17
+f 27 17 4
+f 27 4 21
+f 28 21 15
+f 28 15 5
+f 28 5 10
+f 28 10 21
+f 29 7 12
+f 29 12 17
+f 29 17 22
+f 29 23 7
+f 29 22 23
+f 30 24 2
+f 30 2 11
+f 30 18 24
+f 31 30 11
+f 31 11 18
+f 31 18 30
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_23.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf5ecc91a403542a1db61c4814b4a8ca28f0ba8
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.10301615 -0.27083527 -0.00877043
+v 0.20179043 -0.18615271 -0.23481391
+v 0.20095554 -0.18288107 0.09826205
+v 0.15390391 -0.17775003 0.15644837
+v 0.11051018 -0.18579080 -0.23484849
+v 0.18586437 -0.18063436 0.12748615
+v 0.18753435 -0.20074478 -0.23451814
+v 0.10555745 -0.22729327 0.12729097
+v 0.10586628 -0.27109314 -0.23372347
+v 0.10119862 -0.23910155 0.11073077
+v 0.13384128 -0.18838650 0.15566735
+v 0.11499658 -0.26382349 -0.23226478
+v 0.10227086 -0.25525428 0.06673834
+v 0.13992604 -0.18419308 0.15865525
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 8 6 4
+f 9 5 2
+f 9 2 7
+f 10 8 5
+f 10 3 6
+f 10 6 8
+f 10 9 1
+f 10 5 9
+f 11 5 8
+f 12 9 7
+f 12 7 1
+f 12 1 9
+f 13 10 1
+f 13 1 3
+f 13 3 10
+f 14 11 8
+f 14 8 4
+f 14 4 5
+f 14 5 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_24.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0e42e8e9beda30faf4eae1452803065a3d3752
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13784422 -0.19510883 -0.37452200
+v 0.10131183 -0.16421255 -0.44701104
+v 0.11051018 -0.00397262 -0.35606061
+v -0.14706557 -0.00397262 -0.35606061
+v -0.16349735 -0.19589165 -0.36603614
+v -0.14266162 -0.00358175 -0.49398859
+v 0.11186198 -0.00018556 -0.45725594
+v 0.05514997 -0.16161621 -0.47498682
+v 0.10042395 -0.13328917 -0.46070403
+v -0.14257874 -0.12724862 -0.47567652
+v 0.07518780 -0.12683678 -0.47365555
+v 0.10855778 -0.04887549 -0.46009107
+v 0.06888543 -0.14757747 -0.47382600
+v -0.11221033 -0.15736091 -0.46028093
+v -0.14145109 -0.09202761 -0.48850571
+v -0.10174118 -0.09164058 -0.49023541
+v -0.10587357 -0.00654609 -0.49072099
+v 0.08453884 -0.16124694 -0.45848298
+v -0.03508698 -0.15921140 -0.47373107
+v -0.13998978 -0.15741201 -0.45246402
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 1 2
+f 12 7 1
+f 12 1 9
+f 12 11 7
+f 12 9 11
+f 13 9 2
+f 13 11 9
+f 13 8 11
+f 15 10 5
+f 15 5 6
+f 16 11 8
+f 16 15 6
+f 17 6 7
+f 17 7 11
+f 17 16 6
+f 17 11 16
+f 18 13 2
+f 18 2 8
+f 18 8 13
+f 19 14 10
+f 19 8 5
+f 19 5 14
+f 19 10 15
+f 19 16 8
+f 19 15 16
+f 20 14 5
+f 20 5 10
+f 20 10 14
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_25.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f2d892bf65eaea1c6ce6a0a16c251fc0fc2f3d
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11113884 0.16029406 0.22996062
+v 0.14278199 0.27017140 0.01435332
+v 0.12177466 0.25058314 0.13344147
+v 0.00472134 0.22168230 0.22126496
+v 0.00444958 0.16269404 0.00757575
+v 0.00444958 0.23845161 0.12878786
+v 0.10106545 0.21337254 0.21205237
+v 0.11051018 0.16269404 0.00757575
+v 0.00056799 0.15546344 0.21994495
+v 0.00444958 0.23845161 0.00757575
+v 0.10494114 0.19883115 0.21944905
+v 0.08889861 0.21249191 0.21698521
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 1
+f 9 1 4
+f 9 4 6
+f 9 8 1
+f 9 5 8
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 10 2 8
+f 11 1 3
+f 11 3 7
+f 12 11 7
+f 12 7 4
+f 12 4 1
+f 12 1 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_26.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff10545a4c25fa77febe73ecd1c5f9502145538
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00346717 -0.18365511 0.22419026
+v 0.00444958 -0.18579080 0.00757575
+v 0.00444958 -0.01912414 0.00757575
+v -0.12163219 -0.01596332 0.20255279
+v -0.14706557 -0.18579080 0.00757575
+v 0.00569740 -0.02639146 0.22536304
+v -0.06803978 -0.18537547 0.21984903
+v -0.14706557 -0.01912414 0.00757575
+v 0.00561883 -0.11195608 0.22033795
+v -0.13877093 -0.17648361 0.20347221
+v -0.14618639 -0.08323792 0.20234637
+v -0.06982150 -0.14164232 0.21779825
+v -0.14676967 -0.02026531 0.19269578
+f 5 3 2
+f 6 3 4
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 5 7
+f 11 6 4
+f 11 10 7
+f 11 5 10
+f 12 11 7
+f 12 7 6
+f 12 6 11
+f 13 11 4
+f 13 4 8
+f 13 8 5
+f 13 5 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_27.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120d64e1c6f6fb5b7f27f7c620f322435ffbcc39
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.14060586 -0.28328527 0.05126887
+v -0.14329157 -0.28849401 0.00812867
+v -0.14706557 -0.01912414 0.00757575
+v -0.28090098 -0.01926171 0.13294579
+v -0.28007672 -0.13089933 0.06631354
+v -0.14676967 -0.02026531 0.19269578
+v -0.26650198 -0.14290624 0.10366976
+v -0.32467605 -0.01792553 0.00706766
+v -0.13772650 -0.25102423 0.13649661
+v -0.15008534 -0.28105887 0.00935315
+v -0.14706210 -0.27734737 0.04975033
+v -0.31285905 -0.06001389 0.00564075
+v -0.31548785 -0.01728368 0.06318382
+v -0.14725099 -0.26275996 0.10795099
+v -0.19779895 -0.12925838 0.20038547
+v -0.17670199 -0.24640968 0.04960681
+v -0.28353153 -0.13092714 0.00690257
+v -0.22600862 -0.02003442 0.18832937
+v -0.26754422 -0.10197255 0.15262131
+v -0.29466936 -0.09226267 0.09137251
+v -0.20893005 -0.17233661 0.15747629
+v -0.14016222 -0.26892055 0.10813473
+v -0.14238771 -0.16558714 0.20787386
+v -0.30028377 -0.10317459 0.00621791
+v -0.29871452 -0.01924100 0.10429805
+v -0.22364949 -0.11418035 0.19063508
+v -0.27965547 -0.11558131 0.10592854
+v -0.31094799 -0.04519158 0.06507501
+v -0.19290455 -0.18504114 0.16056077
+v -0.24993369 -0.14185319 0.13313861
+v -0.14084746 -0.19396514 0.19238248
+v -0.20699097 -0.09810240 0.20230722
+v -0.29667093 -0.10133206 0.05130769
+v -0.28115604 -0.06471427 0.13310439
+v -0.29498727 -0.04683477 0.10590148
+v -0.25360611 -0.11391424 0.15999567
+v -0.28072169 -0.10097084 0.12151430
+v -0.15350907 -0.19117129 0.18751211
+v -0.14618639 -0.08323792 0.20234637
+f 1 2 3
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 11 2 1
+f 12 8 3
+f 12 3 2
+f 13 6 3
+f 13 3 8
+f 14 11 1
+f 14 7 11
+f 16 11 7
+f 16 7 2
+f 16 2 11
+f 17 2 10
+f 17 10 5
+f 18 13 4
+f 18 6 13
+f 19 18 4
+f 20 5 7
+f 21 7 14
+f 22 14 1
+f 22 1 9
+f 24 12 2
+f 24 2 17
+f 24 17 5
+f 25 4 13
+f 26 18 19
+f 26 21 15
+f 27 20 7
+f 27 7 19
+f 28 20 13
+f 28 13 8
+f 29 21 14
+f 29 15 21
+f 29 22 9
+f 29 14 22
+f 30 19 7
+f 30 7 21
+f 31 9 6
+f 31 6 23
+f 31 23 15
+f 32 15 23
+f 32 26 15
+f 32 18 26
+f 32 6 18
+f 33 12 24
+f 33 20 28
+f 33 28 8
+f 33 8 12
+f 33 24 5
+f 33 5 20
+f 34 19 4
+f 34 4 25
+f 34 20 19
+f 35 25 13
+f 35 13 20
+f 35 34 25
+f 35 20 34
+f 36 26 19
+f 36 21 26
+f 36 30 21
+f 36 19 30
+f 37 27 19
+f 37 19 20
+f 37 20 27
+f 38 29 9
+f 38 9 31
+f 38 31 15
+f 38 15 29
+f 39 32 23
+f 39 23 6
+f 39 6 32
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_28.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533ccc0eb0499fdf40c6b2d04435dcc221bd0f93
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.02872038 -0.30674377 -0.23264305
+v 0.20191116 -0.18589294 -0.23339107
+v -0.17640452 -0.21491696 -0.23791332
+v -0.14324260 -0.16349274 -0.44175203
+v 0.03912208 -0.20349201 -0.46028449
+v -0.05979020 -0.27265150 -0.33391696
+v -0.10578394 -0.27590738 -0.22958437
+v 0.06782163 -0.24470627 -0.40883969
+v 0.13065914 -0.16159949 -0.42420002
+v -0.02084139 -0.24282729 -0.41815244
+v 0.09859664 -0.27746774 -0.23196234
+v -0.05082595 -0.30535841 -0.23025622
+v -0.13498706 -0.22708037 -0.33316216
+v 0.07263897 -0.16374542 -0.46395008
+v 0.17551151 -0.16101025 -0.36394736
+v 0.09940494 -0.17567503 -0.44257212
+v -0.04589447 -0.24515956 -0.40488088
+v 0.00915096 -0.20505476 -0.46023869
+v 0.03039218 -0.25798379 -0.40594878
+v 0.15547174 -0.21434430 -0.30470836
+v 0.06830079 -0.27398018 -0.33385601
+v -0.07361474 -0.28834869 -0.25899260
+v -0.13485372 -0.24505686 -0.27668658
+v -0.05436413 -0.16259357 -0.46591911
+v 0.10868568 -0.21613223 -0.38877878
+v 0.06055987 -0.24507191 -0.41515946
+v 0.10131183 -0.16421255 -0.44701104
+v 0.06983865 -0.17634613 -0.45902056
+v -0.06186640 -0.21604972 -0.43145284
+v -0.10497361 -0.22754347 -0.37880243
+v -0.02093706 -0.27287155 -0.37720354
+v -0.02306072 -0.23158132 -0.43064814
+v 0.17921671 -0.20797927 -0.23439364
+v 0.17115025 -0.19976211 -0.30490703
+v 0.05805102 -0.28798483 -0.29337148
+v 0.09700634 -0.25824996 -0.31918259
+v -0.12018081 -0.24198933 -0.31863465
+v -0.13657437 -0.25058755 -0.23304576
+v -0.12912814 -0.16251303 -0.45172237
+v 0.08377784 -0.18740689 -0.44387440
+v 0.02797925 -0.27210300 -0.37845700
+v -0.13731273 -0.18171376 -0.42094715
+v -0.00568403 -0.25795697 -0.40298499
+v -0.03473577 -0.30240075 -0.25975058
+v 0.16950337 -0.17078326 -0.35988947
+v 0.12559853 -0.23018433 -0.33372201
+v 0.07329418 -0.28934222 -0.23232105
+v 0.09812975 -0.27472444 -0.24598658
+v 0.08198275 -0.25842473 -0.34954790
+v -0.12404656 -0.16944071 -0.44767008
+v 0.02727407 -0.30304887 -0.26241730
+v -0.04970748 -0.30183420 -0.24444417
+v 0.09433430 -0.23184265 -0.38920688
+v 0.07300939 -0.28746044 -0.24785950
+f 3 2 4
+f 11 2 7
+f 12 11 7
+f 13 3 4
+f 15 4 2
+f 16 9 8
+f 19 18 5
+f 22 12 7
+f 23 3 13
+f 23 22 7
+f 24 9 14
+f 24 14 5
+f 24 5 18
+f 25 9 15
+f 26 16 8
+f 26 19 5
+f 26 8 21
+f 27 16 14
+f 27 14 9
+f 27 9 16
+f 28 16 5
+f 28 5 14
+f 28 14 16
+f 29 17 4
+f 31 17 10
+f 31 30 17
+f 31 6 30
+f 32 18 19
+f 32 29 18
+f 32 10 17
+f 32 17 29
+f 33 2 11
+f 33 11 20
+f 34 15 2
+f 34 33 20
+f 34 2 33
+f 35 21 11
+f 37 6 22
+f 37 30 6
+f 37 13 30
+f 37 23 13
+f 37 22 23
+f 38 23 7
+f 38 3 23
+f 38 7 2
+f 38 2 3
+f 39 15 9
+f 39 9 24
+f 39 4 15
+f 39 24 18
+f 39 18 29
+f 40 26 5
+f 40 5 16
+f 40 16 26
+f 41 26 21
+f 41 19 26
+f 41 21 35
+f 41 31 19
+f 42 30 13
+f 42 13 4
+f 42 4 17
+f 42 17 30
+f 43 31 10
+f 43 19 31
+f 43 32 19
+f 43 10 32
+f 44 6 31
+f 44 1 12
+f 45 15 34
+f 46 34 20
+f 46 20 36
+f 47 1 35
+f 47 12 1
+f 47 11 12
+f 48 36 20
+f 48 20 11
+f 48 11 21
+f 48 21 36
+f 49 36 21
+f 49 21 8
+f 49 46 36
+f 50 39 29
+f 50 29 4
+f 50 4 39
+f 51 41 35
+f 51 35 1
+f 51 1 44
+f 51 44 31
+f 51 31 41
+f 52 44 12
+f 52 6 44
+f 52 22 6
+f 52 12 22
+f 53 25 15
+f 53 15 45
+f 53 45 34
+f 53 34 46
+f 53 8 9
+f 53 9 25
+f 53 49 8
+f 53 46 49
+f 54 47 35
+f 54 35 11
+f 54 11 47
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_29.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53e8f3b6e779fb6d9ad67787274cdf52e9f8acd
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02781645 -0.29551500 0.12385537
+v 0.14324425 -0.19016889 0.12998162
+v 0.01796221 -0.21253098 0.21706805
+v -0.12610932 -0.17927746 0.20834258
+v -0.17127043 -0.21306712 0.14807792
+v 0.10370647 -0.17827414 0.19784016
+v -0.07812028 -0.24508863 0.19082546
+v -0.14188310 -0.25570827 0.12465769
+v -0.14364131 -0.18194853 0.19784740
+v 0.13935197 -0.18116506 0.17059738
+v 0.04136771 -0.18205731 0.21944457
+v 0.03696698 -0.26235334 0.17430945
+v -0.06518825 -0.20661169 0.21568395
+v 0.12532122 -0.20373185 0.12410562
+v -0.12105766 -0.24527921 0.16307704
+v -0.08304295 -0.29585180 0.12098940
+v -0.12390503 -0.22017225 0.18594453
+v 0.06838784 -0.26060777 0.14810312
+v 0.03987772 -0.19655716 0.21675590
+v 0.03648542 -0.23151628 0.20405099
+v -0.02335404 -0.25927231 0.19172959
+v -0.06522578 -0.23697287 0.20064998
+v -0.06803978 -0.18537547 0.21984903
+v 0.05677708 -0.27834957 0.12310921
+v -0.13356990 -0.24634018 0.14833553
+v -0.10951491 -0.28130072 0.12163572
+v -0.08000851 -0.28954044 0.13134349
+v -0.10886312 -0.20517228 0.20135061
+v -0.13805361 -0.20598175 0.18691756
+v 0.02685544 -0.29049419 0.13690038
+v 0.05209682 -0.21687475 0.20458721
+v 0.01402891 -0.26149657 0.18704187
+v -0.10773021 -0.27553605 0.13194816
+v -0.06556983 -0.27312293 0.16114476
+v -0.12331547 -0.19129407 0.20287766
+v -0.05043512 -0.28832930 0.14603161
+v 0.01513483 -0.28730419 0.15080966
+f 9 2 5
+f 10 4 6
+f 10 9 4
+f 10 2 9
+f 11 6 4
+f 14 8 5
+f 14 5 2
+f 17 15 7
+f 17 5 15
+f 18 2 10
+f 18 10 12
+f 19 11 3
+f 19 6 11
+f 20 19 3
+f 20 12 10
+f 21 20 3
+f 22 13 4
+f 22 7 21
+f 22 21 3
+f 22 3 13
+f 23 11 4
+f 23 4 13
+f 23 13 3
+f 23 3 11
+f 24 14 2
+f 24 16 14
+f 24 1 16
+f 24 2 18
+f 25 15 5
+f 25 5 8
+f 26 8 14
+f 26 14 16
+f 26 25 8
+f 26 15 25
+f 28 17 7
+f 28 22 4
+f 28 7 22
+f 29 9 5
+f 29 5 17
+f 30 18 12
+f 30 24 18
+f 30 1 24
+f 31 6 19
+f 31 19 20
+f 31 20 10
+f 31 10 6
+f 32 12 20
+f 32 20 21
+f 33 26 16
+f 33 15 26
+f 33 16 27
+f 33 27 7
+f 33 7 15
+f 34 21 7
+f 34 7 27
+f 34 27 16
+f 35 28 4
+f 35 17 28
+f 35 29 17
+f 35 4 9
+f 35 9 29
+f 36 34 16
+f 36 21 34
+f 37 30 12
+f 37 12 32
+f 37 32 21
+f 37 21 36
+f 37 1 30
+f 37 36 16
+f 37 16 1
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_3.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc31c66cb1710fde837f460e5d4516cfd3c64b0
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.16337725 0.21496542 0.12559072
+v 0.17696158 0.21623013 -0.30844836
+v 0.05979485 0.32819585 -0.17178779
+v -0.18995290 0.31318534 0.09786410
+v -0.27050443 0.22494415 0.19221696
+v -0.28945921 0.23831925 -0.24732614
+v 0.04204554 0.29922452 0.14995492
+v 0.12497779 0.29845621 -0.04058812
+v 0.17739913 0.21374883 0.09482101
+v -0.00329096 0.27531213 -0.36548380
+v -0.18746576 0.31007891 -0.18705839
+v -0.24472714 0.29458633 0.10921868
+v 0.02213894 0.32735808 0.02103450
+v 0.10969660 0.22245348 0.18876231
+v -0.23050401 0.28558389 0.17518914
+v 0.12704430 0.28107020 -0.26170535
+v 0.09585743 0.28269359 0.10834380
+v 0.18495082 0.23888624 -0.10022664
+v 0.16573087 0.21918076 -0.33758368
+v -0.00660604 0.32805886 -0.17097016
+v -0.21619143 0.29666708 -0.22730262
+v -0.25470646 0.28260699 0.12344962
+v -0.21969236 0.31153047 0.02177338
+v 0.05519784 0.32476413 0.01899501
+v -0.20326029 0.29488102 0.16724723
+v 0.03006565 0.28270416 0.17740118
+v -0.22945876 0.29431330 0.13946024
+v 0.12729668 0.29750659 -0.11288999
+v 0.07494076 0.29771223 -0.31832177
+v 0.11464746 0.29468780 0.01807358
+v 0.12507168 0.25180146 0.12228469
+v 0.19270942 0.21473923 0.03604958
+v 0.15642409 0.26736487 -0.18747091
+v 0.14060305 0.25700430 -0.33142343
+v -0.00816441 0.32736030 -0.02441983
+v -0.25781406 0.28023320 -0.18717536
+v -0.25720874 0.25727012 0.17772351
+v -0.20491244 0.31197576 0.06751465
+v -0.21405530 0.31074085 -0.11181771
+v 0.10268018 0.31114705 -0.03958885
+v 0.05486058 0.31040265 0.09365490
+v 0.00236194 0.29620246 0.16385674
+v 0.07105414 0.26645328 0.17875311
+v 0.11468942 0.29529239 -0.23056252
+v 0.14009022 0.28326582 -0.04059481
+v 0.04814785 0.31213342 -0.27749172
+v 0.14081993 0.26699257 0.03240850
+v 0.17052130 0.22086609 0.09279724
+v 0.19122535 0.21615433 -0.21874679
+v 0.15346461 0.24012140 -0.33150826
+v 0.16903577 0.24093120 -0.26169628
+v 0.15423475 0.25592964 -0.27638895
+v 0.08455870 0.29558946 -0.30638740
+v 0.09948198 0.27910120 -0.33479058
+v -0.24283620 0.29569713 -0.12660613
+v -0.25820748 0.26894252 -0.22997091
+v -0.25306085 0.26828594 0.16628789
+v -0.15884551 0.31214535 -0.21554638
+v 0.10313222 0.31089719 -0.11327554
+v 0.07093338 0.29419643 0.12276719
+v 0.09683532 0.26777837 0.14607704
+v 0.07286171 0.30993160 -0.26229112
+v 0.14130594 0.28255394 -0.17232376
+v 0.00547605 0.29286715 -0.33747898
+f 6 2 5
+f 9 5 2
+f 9 1 5
+f 13 4 7
+f 14 5 1
+f 19 2 6
+f 19 6 10
+f 20 13 3
+f 21 10 6
+f 22 6 5
+f 22 15 12
+f 24 3 13
+f 26 25 15
+f 26 15 5
+f 26 5 14
+f 27 4 12
+f 27 12 15
+f 27 25 4
+f 27 15 25
+f 31 1 9
+f 33 28 18
+f 34 19 10
+f 35 4 13
+f 35 13 20
+f 35 23 4
+f 35 20 23
+f 36 22 12
+f 36 6 22
+f 37 22 5
+f 37 5 15
+f 38 23 12
+f 38 12 4
+f 38 4 23
+f 39 11 21
+f 39 23 20
+f 40 3 24
+f 40 8 28
+f 40 30 8
+f 40 24 30
+f 41 24 13
+f 41 13 7
+f 41 30 24
+f 42 7 4
+f 42 4 25
+f 42 26 7
+f 42 25 26
+f 43 26 14
+f 43 7 26
+f 45 28 8
+f 45 18 28
+f 45 32 18
+f 45 8 32
+f 46 20 3
+f 47 30 17
+f 47 9 32
+f 47 32 8
+f 47 8 30
+f 48 31 9
+f 48 17 31
+f 48 47 17
+f 48 9 47
+f 49 32 9
+f 49 9 2
+f 49 18 32
+f 49 33 18
+f 50 2 19
+f 50 19 34
+f 51 49 2
+f 51 33 49
+f 52 34 16
+f 52 33 51
+f 52 50 34
+f 52 51 2
+f 52 2 50
+f 53 34 29
+f 53 16 34
+f 53 44 16
+f 54 34 10
+f 54 10 29
+f 54 29 34
+f 55 36 12
+f 55 12 23
+f 55 23 39
+f 55 39 21
+f 55 21 36
+f 56 36 21
+f 56 21 6
+f 56 6 36
+f 57 37 15
+f 57 15 22
+f 57 22 37
+f 58 39 20
+f 58 11 39
+f 58 20 46
+f 58 21 11
+f 59 40 28
+f 59 3 40
+f 59 44 3
+f 59 28 44
+f 60 41 7
+f 60 17 30
+f 60 30 41
+f 61 43 14
+f 61 14 1
+f 61 1 31
+f 61 31 17
+f 61 17 60
+f 61 60 7
+f 61 7 43
+f 62 3 44
+f 62 46 3
+f 62 29 46
+f 62 53 29
+f 62 44 53
+f 63 16 44
+f 63 52 16
+f 63 33 52
+f 63 44 28
+f 63 28 33
+f 64 46 29
+f 64 29 10
+f 64 58 46
+f 64 10 21
+f 64 21 58
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_30.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d621cf6a12e88af67a90f8bf8e6b7b63bb71e68
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.17921671 -0.20797927 -0.23439364
+v 0.32432988 -0.04407171 -0.23098654
+v 0.29673482 -0.09975524 -0.23099334
+v 0.18626776 -0.00397262 -0.23484849
+v 0.18626776 -0.00397262 -0.34090909
+v 0.17856922 -0.17889904 -0.33570951
+v 0.33085960 -0.00436023 -0.23286980
+v 0.17767896 -0.20572426 -0.26307082
+v 0.27799571 -0.05534953 -0.33105826
+v 0.28947489 -0.00336878 -0.33245736
+v 0.21604447 -0.16885375 -0.27439277
+v 0.29025463 -0.09602930 -0.25898846
+v 0.32209099 -0.02740115 -0.25878669
+v 0.28905887 -0.01850634 -0.33226208
+v 0.17823861 -0.19226828 -0.30757922
+v 0.18680925 -0.19845461 -0.26161213
+v 0.26065156 -0.11161690 -0.29999049
+v 0.32285652 -0.00459822 -0.25904215
+v 0.29111172 -0.04225641 -0.31911845
+v 0.32094156 -0.04158139 -0.24401468
+v 0.18753435 -0.20074478 -0.23451814
+v 0.22958032 -0.12613768 -0.32980003
+v 0.18682877 -0.18517992 -0.30510570
+v 0.30415461 -0.04133264 -0.28796014
+v 0.30255157 -0.07037573 -0.25801526
+v 0.18700926 -0.17289090 -0.33117658
+v 0.26033396 -0.08448483 -0.32947537
+f 1 3 4
+f 3 2 4
+f 6 4 5
+f 7 4 2
+f 8 1 4
+f 8 4 6
+f 10 5 4
+f 10 4 7
+f 12 2 3
+f 12 3 11
+f 13 7 2
+f 14 9 6
+f 14 6 5
+f 14 5 10
+f 15 8 6
+f 16 11 3
+f 16 1 8
+f 16 15 11
+f 16 8 15
+f 17 9 12
+f 17 12 11
+f 18 10 7
+f 18 7 13
+f 18 14 10
+f 18 13 14
+f 19 12 9
+f 19 14 13
+f 19 9 14
+f 20 13 2
+f 20 2 12
+f 21 16 3
+f 21 3 1
+f 21 1 16
+f 22 6 9
+f 23 15 6
+f 23 17 11
+f 23 11 15
+f 24 19 13
+f 24 12 19
+f 25 20 12
+f 25 13 20
+f 25 24 13
+f 25 12 24
+f 26 22 17
+f 26 6 22
+f 26 23 6
+f 26 17 23
+f 27 22 9
+f 27 9 17
+f 27 17 22
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_31.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c9fa4816044911bb7191ed49eec3794c078018
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20009015 -0.16880085 0.16995339
+v 0.20206653 -0.18990200 0.00790972
+v 0.22123417 0.19647771 0.01190630
+v 0.00614923 0.16198981 0.21658648
+v 0.00879429 -0.19523599 0.22137866
+v 0.00444958 0.16269404 0.00757575
+v 0.20343109 0.17263516 0.17910457
+v 0.00444958 -0.18579080 0.00757575
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_4.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421a20035d9478cebcaae225b30a122d9a3aa6ed
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.26339988 -0.14812926 -0.28255716
+v -0.25209189 -0.13926940 -0.35562354
+v -0.23797466 -0.00397262 -0.23484849
+v -0.23658019 0.28180920 -0.23407406
+v -0.33259541 0.17210624 -0.22909603
+v -0.23094390 0.22934634 -0.34774828
+v -0.34357619 0.05680086 -0.15898252
+v -0.23051970 0.27067608 -0.27513223
+v -0.26848081 0.05657471 -0.37198080
+v -0.28129434 -0.06469185 -0.35098223
+v -0.31923894 -0.00340385 -0.15831259
+v -0.30174368 0.23227055 -0.22876530
+v -0.23052456 0.24395478 -0.33210099
+v -0.26942052 0.00037871 -0.37321901
+v -0.26478876 0.18549084 -0.34469986
+v -0.32494722 0.06061290 -0.24293923
+v -0.28058914 -0.11466314 -0.30687933
+v -0.26827769 0.05663343 -0.15909092
+v -0.25820748 0.26894252 -0.22997091
+v -0.26717191 -0.11967664 -0.35166611
+v -0.31229938 0.15619616 -0.28610102
+v -0.23962585 0.24018656 -0.32853060
+v -0.28165920 -0.08914857 -0.33633504
+v -0.28512150 -0.11731370 -0.27751513
+v -0.32904288 0.01855667 -0.15671534
+v -0.25905729 -0.13320749 -0.35393729
+v -0.28057025 0.11561775 -0.34492875
+v -0.29665260 0.19667449 -0.28463858
+v -0.31035774 0.08761326 -0.28766987
+v -0.23896058 0.22606510 -0.34456185
+v -0.28211434 0.24192734 -0.25545148
+v -0.27503790 -0.13397113 -0.27846192
+v -0.31863947 -0.00694258 -0.16315506
+v -0.26593398 -0.12898136 -0.33720582
+v -0.29679194 0.14371845 -0.31445648
+v -0.29586566 0.21063147 -0.26977817
+v -0.24952231 0.21070024 -0.34418345
+v -0.25534829 0.24931177 -0.28827404
+v -0.28006034 0.17038767 -0.32962152
+v -0.29446524 0.23167734 -0.24682288
+v -0.26550350 0.24089258 -0.28489485
+v -0.27096977 0.25001849 -0.25823201
+f 1 2 3
+f 6 3 2
+f 8 4 3
+f 12 5 7
+f 13 8 3
+f 13 3 6
+f 14 9 6
+f 14 6 2
+f 15 6 9
+f 16 7 5
+f 18 11 1
+f 18 1 3
+f 18 3 4
+f 18 4 7
+f 19 12 7
+f 19 7 4
+f 20 10 14
+f 21 14 10
+f 21 9 14
+f 22 13 6
+f 22 8 13
+f 23 16 10
+f 23 7 16
+f 23 20 17
+f 23 10 20
+f 24 23 17
+f 24 7 23
+f 25 18 7
+f 25 11 18
+f 25 7 24
+f 26 20 14
+f 26 14 2
+f 26 2 1
+f 27 15 9
+f 28 21 5
+f 28 15 21
+f 29 16 5
+f 29 5 21
+f 29 21 10
+f 29 10 16
+f 30 22 6
+f 30 6 15
+f 31 12 19
+f 32 1 11
+f 33 25 24
+f 33 11 25
+f 33 32 11
+f 33 24 32
+f 34 17 20
+f 34 20 26
+f 34 26 1
+f 34 1 32
+f 34 32 24
+f 34 24 17
+f 35 27 9
+f 35 9 21
+f 36 28 5
+f 36 5 12
+f 36 22 28
+f 37 30 15
+f 37 15 28
+f 37 28 22
+f 37 22 30
+f 38 8 22
+f 38 4 8
+f 39 35 21
+f 39 21 15
+f 39 15 27
+f 39 27 35
+f 40 36 12
+f 40 12 31
+f 41 22 36
+f 41 38 22
+f 41 31 38
+f 41 40 31
+f 41 36 40
+f 42 38 31
+f 42 31 19
+f 42 19 4
+f 42 4 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_5.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed21639224247789e50b82519f137cb07ec9c4f
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00444958 -0.00397262 -0.23484849
+v 0.01128965 0.00317707 -0.46341147
+v 0.00699291 0.31914406 -0.23281659
+v -0.20432087 0.29862929 -0.23110853
+v -0.26942052 0.00037871 -0.37321901
+v -0.14525468 0.23510210 -0.40716338
+v -0.02160529 0.31229570 -0.23145457
+v 0.00846651 0.31366438 -0.26146414
+v -0.16221708 -0.00397262 -0.41666667
+v -0.23797466 -0.00397262 -0.23484849
+v -0.22612862 0.23826176 -0.34205527
+v -0.23019757 0.28736270 -0.23052939
+v 0.00530230 0.25279271 -0.40337588
+v 0.00501897 0.29873766 -0.32114601
+v -0.17006255 0.29488332 -0.27198987
+v -0.15690759 0.22819146 -0.40823468
+v -0.22575256 0.25256932 -0.32670093
+v -0.03812839 0.26457719 -0.37723106
+v -0.18888630 0.26755913 -0.33453113
+v -0.00931253 0.25180947 -0.40310708
+v -0.20081514 0.29607249 -0.24219837
+v -0.22680261 0.27962203 -0.25760208
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 12 7 4
+f 12 1 7
+f 12 10 1
+f 12 5 10
+f 13 8 2
+f 13 2 6
+f 14 8 13
+f 15 4 3
+f 15 3 8
+f 15 8 14
+f 16 6 2
+f 16 2 9
+f 16 9 5
+f 16 5 11
+f 17 11 5
+f 17 5 12
+f 17 16 11
+f 18 14 13
+f 19 15 14
+f 19 6 16
+f 19 16 17
+f 19 18 6
+f 19 14 18
+f 20 18 13
+f 20 13 6
+f 20 6 18
+f 21 4 15
+f 21 15 19
+f 22 19 17
+f 22 17 12
+f 22 12 4
+f 22 21 19
+f 22 4 21
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_6.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b4f827584538c94d4693cf0b78130c075cfd56
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.13784422 -0.19510883 -0.37452200
+v 0.29529760 -0.00356406 -0.32003909
+v 0.19301740 -0.16311789 -0.33523447
+v 0.18186542 0.20480410 -0.32473687
+v 0.19743493 0.05414625 -0.44464855
+v 0.18626776 -0.00397262 -0.32575758
+v 0.20437873 -0.07300437 -0.41518188
+v 0.10608589 0.14338969 -0.44795802
+v 0.24442618 0.09062067 -0.39414263
+v 0.18772673 0.19774626 -0.32258287
+v 0.11051018 -0.00397262 -0.34090909
+v 0.28316600 -0.04352730 -0.33461180
+v 0.20018551 -0.12574905 -0.37407048
+v 0.10384038 -0.15082769 -0.45116469
+v 0.16247256 0.14054487 -0.42706588
+v 0.26195722 0.10672021 -0.31988391
+v 0.18457735 -0.16912603 -0.33976740
+v 0.11051018 0.14754252 -0.34090909
+v 0.23554169 -0.11588067 -0.33362952
+v 0.25958559 0.00213908 -0.38774797
+v 0.22922396 -0.06883519 -0.38953362
+v 0.19109492 -0.01458343 -0.44287184
+v 0.10725681 -0.16836621 -0.44162536
+v 0.17907097 0.20264367 -0.33646516
+v 0.21810463 0.07516994 -0.43245906
+v 0.20064588 0.18089880 -0.32206528
+v 0.28819363 0.05957667 -0.33415803
+v 0.26570324 -0.07234206 -0.33302328
+v 0.27651245 -0.01382951 -0.35903041
+v 0.20000265 -0.11410075 -0.38557415
+v 0.23087748 -0.11205118 -0.34578482
+v 0.24406442 -0.04318704 -0.38745867
+v 0.12943392 -0.13238573 -0.44342840
+v 0.21777257 0.00181152 -0.43034136
+v 0.13937814 -0.15587285 -0.41937398
+v 0.11998821 0.14221714 -0.44395903
+v 0.18403118 0.16454518 -0.37562668
+v 0.18636294 0.19663833 -0.33209518
+v 0.18099534 0.07921726 -0.44436902
+v 0.26060434 0.05134982 -0.39055168
+v 0.29167553 0.06178073 -0.32022534
+v 0.27552788 0.06367572 -0.36180940
+v 0.27764744 -0.03997376 -0.34597041
+v 0.21789263 -0.04501427 -0.41502938
+v 0.17118745 -0.15718983 -0.37541333
+v 0.12492544 -0.16001046 -0.43168330
+v 0.23012872 0.07923634 -0.41761122
+v 0.27348049 0.07390947 -0.34878670
+v 0.28947489 -0.00336878 -0.33245736
+f 6 3 2
+f 11 3 6
+f 11 6 10
+f 14 8 5
+f 16 6 2
+f 16 4 10
+f 17 11 1
+f 17 3 11
+f 18 14 11
+f 18 8 14
+f 18 11 10
+f 18 10 4
+f 19 2 3
+f 19 3 13
+f 22 14 5
+f 23 1 11
+f 23 11 14
+f 24 18 4
+f 24 8 18
+f 26 16 10
+f 26 10 6
+f 26 6 16
+f 28 12 2
+f 28 2 19
+f 28 21 12
+f 29 2 12
+f 30 7 21
+f 31 19 13
+f 31 30 21
+f 31 13 30
+f 31 28 19
+f 31 21 28
+f 32 21 7
+f 32 20 29
+f 33 22 7
+f 33 14 22
+f 33 23 14
+f 33 7 23
+f 34 7 22
+f 34 22 5
+f 34 5 25
+f 35 30 13
+f 35 7 30
+f 36 24 15
+f 36 8 24
+f 36 15 25
+f 37 24 9
+f 37 9 15
+f 37 15 24
+f 38 16 9
+f 38 9 24
+f 38 24 4
+f 38 4 16
+f 39 25 5
+f 39 5 8
+f 39 36 25
+f 39 8 36
+f 40 34 25
+f 40 20 34
+f 40 29 20
+f 41 27 16
+f 41 16 2
+f 41 2 27
+f 42 40 9
+f 42 29 40
+f 42 27 2
+f 43 32 29
+f 43 29 12
+f 43 12 21
+f 43 21 32
+f 44 32 7
+f 44 7 34
+f 44 34 20
+f 44 20 32
+f 45 35 13
+f 45 1 35
+f 45 13 3
+f 45 17 1
+f 45 3 17
+f 46 35 1
+f 46 1 23
+f 46 23 7
+f 46 7 35
+f 47 40 25
+f 47 9 40
+f 47 25 15
+f 47 15 9
+f 48 16 27
+f 48 27 42
+f 48 42 9
+f 48 9 16
+f 49 42 2
+f 49 2 29
+f 49 29 42
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_7.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1317413cafe83d1424d43815afdd1eef6136de
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.19991664 0.15526901 0.21606540
+v 0.22005335 0.17447635 -0.22202159
+v 0.18604934 0.20674712 0.09213518
+v 0.10778897 0.26571561 0.12780497
+v 0.11051018 0.16269404 -0.21969697
+v 0.15047472 0.26829453 -0.22492789
+v 0.19028647 0.18937076 0.15300034
+v 0.11113884 0.16029406 0.22996062
+v 0.19122535 0.21615433 -0.21874679
+v 0.10225587 0.25901972 0.15123557
+v 0.16851625 0.15655549 0.22756727
+v 0.10106545 0.21337254 0.21205237
+v 0.11281126 0.25359917 0.14686162
+v 0.10494114 0.19883115 0.21944905
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 4 6
+f 11 8 5
+f 11 5 1
+f 12 10 5
+f 12 5 8
+f 12 11 1
+f 12 1 10
+f 13 10 1
+f 13 1 4
+f 13 4 10
+f 14 12 8
+f 14 8 11
+f 14 11 12
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_8.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562bd1aa25aa9a6fd8eb4b8676d170bbc53ab607
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21515499 -0.16769293 0.16967370
+v 0.35169370 -0.02743620 -0.15584116
+v 0.33852179 0.07642735 0.20747443
+v 0.19270942 0.21473923 0.03604958
+v 0.19425063 -0.19395227 -0.23551636
+v 0.32369645 0.12990002 -0.07866798
+v 0.19921164 0.13844491 0.24452670
+v 0.33472075 -0.10128559 0.17077850
+v 0.36481320 0.07683334 -0.03375322
+v 0.30007826 0.15952442 0.11297162
+v 0.19849840 0.20596925 -0.21933456
+v 0.19789017 -0.10550021 0.27234961
+v 0.32118535 -0.10951205 -0.09547146
+v 0.26988579 -0.16752136 0.10964486
+v 0.31871687 0.07488619 -0.21380705
+v 0.36508416 -0.04360647 0.12763685
+v 0.33700700 0.13337003 0.05123757
+v 0.30696482 0.12096592 0.20638741
+v 0.22481952 0.17281580 0.16936548
+v 0.19369911 0.21753990 -0.18843604
+v 0.20009015 -0.16880085 0.16995339
+v 0.29557021 -0.14286197 0.17247981
+v 0.30833681 -0.01484853 0.26233139
+v 0.19818074 0.14934813 0.22681934
+v 0.30616749 -0.09634135 -0.21380421
+v 0.28113130 -0.15149960 -0.08066127
+v 0.36450798 0.05230232 -0.07997086
+v 0.34815314 0.07532037 -0.10680875
+v 0.28946708 0.12100642 -0.21413242
+v 0.33085960 -0.00436023 -0.23286980
+v 0.36509541 -0.04695888 -0.03586722
+v 0.36698492 0.05081244 0.15351898
+v 0.33739241 0.13206484 0.02507430
+v 0.33706158 0.11606366 0.15243954
+v 0.25530292 0.17304626 0.12434421
+v 0.28078833 0.14293577 0.19687759
+v 0.29855738 0.15962642 0.06857311
+v 0.19897256 -0.18559020 0.06700637
+v 0.27051743 -0.15395257 0.17059671
+v 0.33732391 -0.11029525 0.03919023
+v 0.28542671 0.05348571 0.27180106
+v 0.34809774 -0.01370516 0.21125813
+v 0.29471210 -0.08623945 0.24664368
+v 0.19864069 0.17926708 0.16752713
+v 0.26901188 -0.16743829 0.02369182
+v 0.30734990 -0.10905419 -0.17034723
+v 0.31828560 0.12006817 -0.12276473
+v 0.36430297 0.06521818 -0.06447622
+v 0.20141927 -0.00397262 -0.23484849
+v 0.30531409 -0.08681421 -0.22869402
+v 0.33525403 0.01018903 -0.21464390
+v 0.36544800 -0.00157529 -0.08100021
+v 0.32075197 -0.09827400 -0.15630769
+v 0.36524394 0.07944758 0.09583117
+v 0.33477779 0.12057846 -0.05061032
+v 0.30899044 0.14560950 -0.06366402
+v 0.30801867 0.14450929 0.15184166
+v 0.34905392 0.09348205 0.14905980
+v 0.22722791 0.14417273 0.22370573
+v 0.23804976 0.13232398 0.23717709
+v 0.22655569 -0.18335656 0.03816393
+v 0.21378954 -0.18327675 0.06674675
+v 0.28381731 -0.08912074 0.25281412
+v 0.28476416 -0.15168542 0.15494987
+f 12 4 5
+f 20 11 5
+f 20 5 4
+f 20 4 10
+f 20 6 11
+f 21 1 12
+f 24 12 7
+f 24 4 12
+f 29 11 6
+f 30 29 15
+f 30 11 29
+f 32 16 31
+f 34 17 10
+f 34 18 3
+f 35 19 10
+f 35 10 4
+f 35 4 19
+f 36 10 19
+f 37 20 10
+f 37 10 17
+f 37 33 20
+f 37 17 33
+f 38 21 12
+f 38 12 5
+f 38 1 21
+f 39 12 1
+f 39 1 14
+f 40 8 22
+f 40 31 16
+f 40 16 8
+f 40 26 13
+f 40 22 14
+f 41 7 12
+f 41 12 23
+f 41 23 3
+f 41 3 18
+f 42 8 16
+f 42 16 32
+f 42 32 3
+f 42 3 23
+f 43 22 8
+f 43 42 23
+f 43 8 42
+f 44 24 19
+f 44 19 4
+f 44 4 24
+f 45 5 26
+f 45 40 14
+f 45 26 40
+f 46 13 26
+f 46 26 5
+f 46 5 25
+f 47 28 15
+f 47 6 28
+f 47 29 6
+f 47 15 29
+f 48 28 6
+f 48 6 9
+f 48 9 27
+f 48 27 15
+f 48 15 28
+f 49 30 5
+f 49 5 11
+f 49 11 30
+f 50 25 5
+f 50 5 30
+f 50 30 2
+f 50 2 25
+f 51 27 2
+f 51 2 30
+f 51 30 15
+f 51 15 27
+f 52 31 2
+f 52 2 27
+f 52 32 31
+f 52 27 9
+f 52 9 32
+f 53 25 2
+f 53 2 31
+f 53 46 25
+f 53 13 46
+f 53 40 13
+f 53 31 40
+f 54 32 9
+f 54 17 34
+f 54 33 17
+f 54 9 33
+f 55 33 9
+f 55 9 6
+f 55 6 33
+f 56 33 6
+f 56 6 20
+f 56 20 33
+f 57 34 10
+f 57 18 34
+f 57 36 18
+f 57 10 36
+f 58 34 3
+f 58 3 32
+f 58 54 34
+f 58 32 54
+f 59 36 19
+f 59 19 24
+f 59 24 7
+f 60 18 36
+f 60 41 18
+f 60 7 41
+f 60 59 7
+f 60 36 59
+f 61 38 5
+f 61 45 14
+f 61 5 45
+f 62 14 1
+f 62 1 38
+f 62 61 14
+f 62 38 61
+f 63 39 22
+f 63 12 39
+f 63 22 43
+f 63 43 23
+f 63 23 12
+f 64 39 14
+f 64 14 22
+f 64 22 39
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/collision/model_normalized_collision_9.obj b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621cd0ad570e8425886501af67ba044cb9c4bd41
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.26009834 -0.01974636 0.16315797
+v -0.26477703 0.26349045 -0.23290436
+v -0.26013884 0.27188230 -0.21603309
+v -0.26083819 0.29040659 0.06699080
+v -0.37253339 0.14425801 0.06530928
+v -0.25943435 0.27318650 0.14046085
+v -0.31812349 0.04624160 -0.25328674
+v -0.35719856 0.19622955 -0.12824525
+v -0.28877676 0.16307015 0.20147092
+v -0.35543044 0.19438305 0.07785173
+v -0.31938131 -0.03368153 0.01374657
+v -0.29683865 0.25230602 -0.19875316
+v -0.37287469 0.13394268 -0.12768176
+v -0.34119157 0.09115705 0.14782583
+v -0.26186622 0.20341486 0.21156856
+v -0.31481288 0.23842695 0.10679125
+v -0.37184285 0.17442728 0.03488926
+v -0.31863947 -0.00694258 -0.16315506
+v -0.28608766 0.25029813 -0.22922446
+v -0.32769793 0.23999638 -0.09871306
+v -0.27317839 0.28061607 -0.11146292
+v -0.37133616 0.06905708 0.04521223
+v -0.28189038 0.10743012 0.20165069
+v -0.31060648 -0.01661303 0.07651410
+v -0.35615165 0.15630847 0.13142605
+v -0.25974468 0.25999544 0.16978183
+v -0.29910838 0.25102800 0.10788405
+v -0.37066119 0.15679744 -0.12765443
+v -0.35606224 0.06139598 -0.11001431
+v -0.29725832 0.24022147 -0.22952606
+v -0.34203864 0.20907090 -0.16888847
+v -0.26961782 0.28299699 0.06597071
+v -0.32836459 0.23842792 -0.08425717
+v -0.26156572 0.28698258 -0.11221325
+v -0.28815625 0.26515213 -0.17203215
+v -0.37290568 0.12192424 -0.11035685
+v -0.31643972 0.09830362 0.17162184
+v -0.26702145 0.10702923 0.20262902
+v -0.32801220 0.05490124 0.13012977
+v -0.35583391 0.08444862 0.10566724
+v -0.37199988 0.11617564 0.08052985
+v -0.35572637 0.12306548 0.13648056
+v -0.34150175 0.19527331 0.12366078
+v -0.31181097 0.18389606 0.17608076
+v -0.26086239 0.23297674 0.19514441
+v -0.26881185 0.26618739 0.13818964
+v -0.37096445 0.17067589 -0.03716911
+v -0.33952175 0.17338950 -0.21158984
+v -0.34191320 0.08820712 -0.21262567
+v -0.32951172 0.06049357 -0.23053231
+v -0.37121339 0.06727796 -0.02205426
+v -0.35479965 0.18856965 -0.16618740
+v -0.29965370 0.10637517 0.18818749
+v -0.26535782 -0.01485186 0.16008395
+v -0.37060066 0.09284923 0.07576340
+v -0.29683551 0.22455908 0.16581430
+v -0.28354151 0.18430117 0.20265721
+v -0.32717474 0.19916072 0.14594324
+v -0.32753835 0.18449158 -0.22647769
+v -0.35538678 0.09238035 -0.15528054
+v -0.35530748 0.15838170 -0.18154827
+v -0.34001641 0.03576417 -0.14090181
+v -0.33973380 0.02066648 -0.09561748
+v -0.26838496 0.25331160 0.16637812
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 17 13 5
+f 18 7 1
+f 18 1 11
+f 19 12 3
+f 19 3 2
+f 20 8 17
+f 21 20 4
+f 23 15 9
+f 24 11 1
+f 24 22 11
+f 25 17 5
+f 25 10 17
+f 26 1 6
+f 27 6 4
+f 27 4 16
+f 30 19 2
+f 30 2 7
+f 30 12 19
+f 31 20 12
+f 31 8 20
+f 31 12 30
+f 32 20 16
+f 32 16 4
+f 32 4 20
+f 33 10 16
+f 33 16 20
+f 33 20 17
+f 33 17 10
+f 34 21 4
+f 34 4 3
+f 35 3 12
+f 35 12 20
+f 35 20 21
+f 35 34 3
+f 35 21 34
+f 36 5 13
+f 36 13 29
+f 37 14 1
+f 38 23 1
+f 38 1 15
+f 38 15 23
+f 39 14 24
+f 40 24 14
+f 40 22 24
+f 41 25 5
+f 41 36 22
+f 41 5 36
+f 42 25 41
+f 43 16 10
+f 43 10 25
+f 44 42 9
+f 44 25 42
+f 45 15 1
+f 45 1 26
+f 46 26 6
+f 46 16 26
+f 46 27 16
+f 46 6 27
+f 47 17 8
+f 47 8 28
+f 47 28 13
+f 47 13 17
+f 49 48 7
+f 50 7 18
+f 50 49 7
+f 50 29 49
+f 51 29 18
+f 51 11 22
+f 51 36 29
+f 51 22 36
+f 52 28 8
+f 52 8 31
+f 52 31 30
+f 53 37 1
+f 53 1 23
+f 53 23 9
+f 53 9 42
+f 53 42 14
+f 53 14 37
+f 54 39 24
+f 54 24 1
+f 54 1 14
+f 54 14 39
+f 55 41 22
+f 55 22 40
+f 55 42 41
+f 55 40 14
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+f 56 16 43
+f 56 45 26
+f 56 44 45
+f 57 44 9
+f 57 9 15
+f 57 45 44
+f 57 15 45
+f 58 43 25
+f 58 25 44
+f 58 56 43
+f 58 44 56
+f 59 30 7
+f 59 7 48
+f 59 52 30
+f 59 48 52
+f 60 49 29
+f 60 29 13
+f 60 13 49
+f 61 49 13
+f 61 48 49
+f 61 52 48
+f 61 13 28
+f 61 28 52
+f 62 50 18
+f 62 18 29
+f 62 29 50
+f 63 51 18
+f 63 18 11
+f 63 11 51
+f 64 56 26
+f 64 26 16
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\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/model.xml b/bell_pepper/bell_pepper_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b03c041a046f7b8a862ceb3d47aedef9533a04b8
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bell_pepper_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="0.7071067811865475 0.7071067811865475 5.551115123125783e-17 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Layer_1_mtl_001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Layer_1_mtl_001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00032564180000000124 2.434629999999909e-05 -0.036101543499999986" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00032564180000000124 2.434629999999909e-05 0.03517223379999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04036834119999999 0.054387437499999976 -0.00046465485000000175" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bell_pepper/bell_pepper_0/visual/image0.png b/bell_pepper/bell_pepper_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11a1db8df7f38a519f0677aad1f14d7f8506d585
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744e3763bf184445ebdf43122440995acb0922b8c9ac7818d1fadbf08418d519
+size 457010
diff --git a/bell_pepper/bell_pepper_0/visual/material.mtl b/bell_pepper/bell_pepper_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_0/visual/material_0.png b/bell_pepper/bell_pepper_0/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11a1db8df7f38a519f0677aad1f14d7f8506d585
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744e3763bf184445ebdf43122440995acb0922b8c9ac7818d1fadbf08418d519
+size 457010
diff --git a/bell_pepper/bell_pepper_0/visual/model_normalized_0.obj b/bell_pepper/bell_pepper_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c4ab474ea2c81274819152c6d8491da4488fdb
--- /dev/null
+++ b/bell_pepper/bell_pepper_0/visual/model_normalized_0.obj
@@ -0,0 +1,2001 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.16454333 -0.13744184 -0.46182649
+v -0.13788448 -0.11561460 -0.48602565
+v -0.22370818 -0.14563349 -0.40725666
+v -0.05932600 -0.27850122 -0.31861875
+v -0.26182821 -0.12723280 -0.36196398
+v -0.24443210 -0.16474253 -0.31157157
+v -0.30469412 0.01085534 -0.26964785
+v -0.29409695 -0.10404165 -0.27165496
+v -0.07841036 -0.20550053 -0.43171708
+v -0.04194636 -0.14602366 -0.47962169
+v -0.16101597 -0.19001622 -0.38499673
+v -0.27675434 -0.07934945 -0.36676267
+v -0.04488056 -0.22688068 -0.43118153
+v -0.04235710 -0.26741445 -0.37701423
+v -0.14274008 -0.23238224 -0.30785427
+v -0.12264017 -0.26468596 -0.22841739
+v -0.24705088 -0.06900532 -0.43181103
+v -0.04142315 -0.33079582 -0.14552652
+v -0.07926888 -0.30783918 -0.18816751
+v -0.31051042 -0.09026479 -0.21362840
+v -0.19786260 -0.20765575 -0.13740276
+v -0.04213973 -0.33372934 0.03086062
+v -0.28288813 -0.14878507 -0.18296013
+v -0.30566716 -0.12304166 -0.13231881
+v -0.08629274 -0.32226817 -0.05079938
+v -0.28263921 -0.13609577 -0.23647189
+v -0.10971498 -0.30655825 -0.11136243
+v -0.31639735 -0.09194961 -0.12881819
+v -0.28188492 -0.13811659 -0.05677477
+v -0.20759918 -0.20830033 -0.03987924
+v -0.32458214 -0.01374703 -0.08454243
+v -0.30309432 -0.10083178 -0.00978492
+v -0.02667531 -0.30761495 -0.25003617
+v -0.11706181 0.08002421 -0.49861964
+v -0.13930255 0.01650706 -0.49565526
+v -0.16961288 0.08506564 -0.50000000
+v -0.18205189 0.02530900 -0.48417694
+v -0.13126656 -0.06197324 -0.49600224
+v -0.20044641 -0.07897505 -0.47309018
+v -0.04404055 0.18104765 -0.46115791
+v -0.27448322 0.00935772 -0.36166363
+v -0.23779636 0.00273089 -0.43057947
+v -0.29582772 0.05692152 -0.31958013
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\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_0.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa49a279775d11bcd4c894f3534ec097438506e
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.20389574 0.22670534 0.14393941
+v 0.18874422 0.22670534 -0.23484848
+v 0.23851213 0.38338964 0.00600612
+v -0.28707283 0.34227637 0.14211491
+v -0.34213658 0.23903482 0.15589128
+v -0.18769276 0.38511400 -0.23885672
+v 0.23203484 0.37299339 0.15468521
+v 0.20389574 0.22670534 0.00757577
+v -0.15974064 0.22670534 -0.23484848
+v 0.20230750 0.36032470 -0.23984175
+v -0.33654688 0.24937475 0.00436561
+v -0.34710005 0.24419218 0.08122797
+v -0.28427940 0.34084974 0.00926320
+v -0.29377491 0.33699882 0.12525646
+v -0.30158000 0.31183121 0.00895652
+v -0.29902439 0.32390568 0.14261497
+v -0.29271203 0.33790571 0.08389285
+f 7 1 3
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+f 16 14 12
+f 16 12 5
+f 16 5 4
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+f 17 12 14
+f 17 15 12
+f 17 13 15
+f 17 14 4
+f 17 4 13
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_1.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..866e72d0213faea764f9352ab1dd7bedbdcc94ea
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24366715 -0.25550499 0.21363452
+v 0.42627120 -0.05431381 -0.23014314
+v 0.42977491 -0.02881212 0.14819351
+v 0.28591430 0.24566161 0.19854583
+v 0.27372239 0.23675235 -0.24669797
+v 0.36936753 0.07076358 0.23700738
+v 0.32423907 -0.24395184 0.00714130
+v 0.20389574 -0.09147649 0.15909093
+v 0.44366884 0.09479872 -0.11260386
+v 0.37282466 -0.05428652 0.21581346
+v 0.24226289 0.08513011 0.25883338
+v 0.41298458 -0.13046402 0.05187508
+v 0.26849935 -0.26816742 -0.24034462
+v 0.44312387 -0.05439248 -0.06757560
+v 0.43093181 0.07948941 -0.22975246
+v 0.37045472 0.21166994 0.02430845
+v 0.24041967 -0.20777169 0.23884018
+v 0.36701798 -0.11317054 0.19423084
+v 0.37540923 0.03274471 0.23217973
+v 0.34721122 0.13357578 0.24348266
+v 0.40003503 -0.13833607 -0.20194982
+v 0.30736342 -0.24544730 0.12117847
+v 0.40048975 -0.13001178 -0.23139723
+v 0.20389574 -0.15208255 0.15909093
+v 0.44333191 0.06092021 0.10934263
+v 0.44416501 0.03011700 -0.17166748
+v 0.44265693 -0.03855694 0.07916845
+v 0.38160319 0.16814944 -0.19741967
+v 0.30478215 -0.01342533 0.25058397
+v 0.41236093 -0.05422117 0.16114209
+v 0.35915729 -0.11568558 0.20285374
+v 0.39878255 -0.02859647 0.19247107
+v 0.43019315 0.06968261 0.16585755
+v 0.32935691 -0.08565113 0.23389911
+v 0.38375857 -0.16846599 -0.12684092
+v 0.41294890 -0.13051383 -0.12817945
+v 0.36800877 -0.18282545 0.06426660
+v 0.26903177 -0.25117298 0.19190773
+v 0.39776115 -0.12700650 0.12409617
+v 0.36834619 -0.16737683 -0.23077350
+v 0.20321738 -0.15274936 0.24675640
+v 0.39928570 0.18031998 0.10849660
+v 0.44257660 -0.03940995 -0.15693103
+v 0.44357880 0.00040108 0.09442749
+v 0.44501729 0.07965711 -0.17145310
+v 0.44286970 -0.05455782 0.00639398
+v 0.37153392 0.16588467 -0.22880270
+v 0.35539334 0.20949479 -0.12228376
+v 0.39815690 0.17061076 -0.11245320
+v 0.23978801 -0.23855273 0.22464796
+v 0.42969747 0.04708037 0.16259673
+v 0.38361436 0.03134607 0.22144845
+v 0.31432417 -0.11289178 0.23301038
+v 0.38414592 -0.16878420 0.02153781
+v 0.32455217 -0.24311154 -0.06714628
+v 0.27940002 -0.24765007 0.18239081
+v 0.39768707 -0.13758582 0.09351435
+v 0.41188606 -0.08344809 0.13771204
+v 0.20934187 -0.09227134 0.23792714
+v 0.44337644 0.09640234 0.03636945
+v 0.36956500 0.21118275 0.10867549
+v 0.38889866 0.16878161 0.17674468
+v 0.41295420 -0.11557920 -0.18758091
+v 0.42740496 0.09215367 -0.21343297
+f 11 4 5
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+f 24 13 1
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+f 57 39 22
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+f 58 30 18
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+f 58 3 30
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+f 59 41 11
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+f 60 42 33
+f 60 33 25
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+f 62 4 20
+f 62 20 33
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+f 62 61 4
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+f 63 43 36
+f 63 36 23
+f 63 23 2
+f 63 2 43
+f 64 45 15
+f 64 15 28
+f 64 28 45
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_10.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb7ac1a4c0352580980224b9b96a26bb17dc1a7
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20586789 0.33442129 0.22227454
+v 0.20230750 0.36032470 -0.23984175
+v 0.10782029 0.46723086 0.06691376
+v -0.10962785 0.45128727 0.12176050
+v -0.17489215 0.34791747 0.00757577
+v -0.05093300 0.43506087 -0.23149220
+v 0.12014153 0.43401010 0.18191268
+v 0.23851213 0.38338964 0.00600612
+v 0.00692603 0.33276595 0.14393941
+v 0.09145209 0.43712217 -0.21502575
+v -0.05179135 0.46707402 -0.00600165
+v -0.18769276 0.38511400 -0.23885672
+v 0.05087050 0.46538221 0.12218150
+v 0.04261139 0.33034228 0.23627848
+v 0.23895417 0.36406279 0.15740622
+v 0.06549045 0.43615955 -0.23023600
+v 0.18059093 0.42009368 -0.10980339
+v 0.00551112 0.46746003 -0.08113673
+v -0.16916245 0.42715230 0.14071856
+v -0.15357699 0.41133040 -0.23347996
+v 0.10700458 0.45040547 0.15219440
+v -0.03718099 0.43997216 0.17276121
+v -0.05219416 0.46704452 0.09736730
+v 0.08374460 0.38714357 0.23245401
+v -0.17489215 0.34791747 0.14393941
+v 0.19371905 0.40403784 0.18257551
+v 0.17510110 0.39428016 -0.22937058
+v 0.17954534 0.40393379 -0.18457509
+v 0.12051514 0.45058188 -0.08034167
+v 0.19706924 0.42512472 0.00841011
+v 0.03563157 0.45068453 -0.17094904
+v -0.09289658 0.44961199 -0.09566402
+v -0.17014580 0.43037837 0.00818121
+v -0.06758266 0.45013921 0.15205178
+v -0.06740180 0.46769556 0.06710648
+v 0.11318299 0.33227495 0.24787872
+v -0.06778255 0.43025361 0.18091765
+v 0.01221779 0.33369365 0.22341565
+v 0.16863063 0.39398172 0.20431712
+v 0.15020378 0.43340886 0.15138438
+v 0.11954576 0.42011391 -0.22955852
+v 0.16427091 0.40367000 -0.21481373
+v 0.10426202 0.43525460 -0.19997504
+v 0.05084157 0.46698110 -0.05161101
+v 0.19513957 0.41867473 0.13716943
+v 0.10616192 0.46784640 0.03902865
+v 0.16577956 0.43550505 -0.03655239
+v -0.02062857 0.45018613 -0.17090849
+v -0.02087661 0.46601485 -0.06557405
+v -0.12493616 0.42002906 -0.23151206
+v -0.15322898 0.43557728 -0.03629550
+v -0.16585040 0.43572140 0.11416084
+v -0.15113576 0.43644567 0.13910234
+v -0.02178072 0.46529361 0.12120591
+v -0.06703590 0.46768774 0.03853927
+v 0.10952257 0.37919651 0.23390520
+v 0.01477098 0.38983942 0.21484884
+v 0.19096172 0.38251575 0.20279263
+v 0.16876394 0.40952392 0.18957881
+v 0.09541742 0.45091736 -0.14064508
+v 0.13490772 0.44983899 0.12230724
+v 0.13506812 0.45041184 -0.02083040
+v -0.09333007 0.43487313 -0.18723005
+v -0.00554604 0.46617494 -0.08104453
+f 9 5 2
+f 9 2 1
+f 12 6 2
+f 12 2 5
+f 14 9 1
+f 15 1 2
+f 15 2 8
+f 16 2 6
+f 20 6 12
+f 21 3 13
+f 22 21 13
+f 22 7 21
+f 23 13 3
+f 24 7 22
+f 25 5 9
+f 25 9 14
+f 25 19 12
+f 25 12 5
+f 26 1 15
+f 28 17 8
+f 28 8 2
+f 28 2 27
+f 30 8 17
+f 31 10 16
+f 31 16 6
+f 33 20 12
+f 33 12 19
+f 34 23 4
+f 34 22 13
+f 35 4 23
+f 36 24 14
+f 36 14 1
+f 37 24 22
+f 37 19 14
+f 37 22 34
+f 38 25 14
+f 38 14 19
+f 38 19 25
+f 40 21 7
+f 40 7 26
+f 41 16 10
+f 41 27 2
+f 41 2 16
+f 42 28 27
+f 42 41 10
+f 42 27 41
+f 43 17 28
+f 43 42 10
+f 43 28 42
+f 45 26 15
+f 45 15 8
+f 45 8 30
+f 45 30 3
+f 46 3 30
+f 46 44 18
+f 46 35 23
+f 46 23 3
+f 47 30 17
+f 47 17 29
+f 48 31 6
+f 48 18 31
+f 49 32 11
+f 49 11 18
+f 49 48 32
+f 50 6 20
+f 50 20 32
+f 51 32 20
+f 51 20 33
+f 52 33 19
+f 52 4 35
+f 52 51 33
+f 53 34 4
+f 53 37 34
+f 53 19 37
+f 53 52 19
+f 53 4 52
+f 54 34 13
+f 54 13 23
+f 54 23 34
+f 55 11 32
+f 55 32 51
+f 55 52 35
+f 55 51 52
+f 55 18 11
+f 55 46 18
+f 55 35 46
+f 56 36 1
+f 56 24 36
+f 56 39 7
+f 56 7 24
+f 57 37 14
+f 57 14 24
+f 57 24 37
+f 58 1 26
+f 58 26 39
+f 58 56 1
+f 58 39 56
+f 59 39 26
+f 59 26 7
+f 59 7 39
+f 60 29 17
+f 60 17 43
+f 60 43 10
+f 60 10 31
+f 60 31 18
+f 60 18 44
+f 60 46 29
+f 60 44 46
+f 61 45 3
+f 61 3 21
+f 61 21 40
+f 61 40 26
+f 61 26 45
+f 62 47 29
+f 62 29 46
+f 62 46 30
+f 62 30 47
+f 63 48 6
+f 63 32 48
+f 63 50 32
+f 63 6 50
+f 64 49 18
+f 64 18 48
+f 64 48 49
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_11.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b286e5790c5ac823ec068b899e4cd0998a62bf2
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.22034670 -0.22784013 0.14393941
+v -0.20519519 -0.21268861 -0.23484848
+v -0.19066098 -0.02242022 0.19201715
+v -0.32640731 -0.01571891 0.14393941
+v -0.34553430 -0.24714815 0.14976426
+v -0.20519519 -0.01571891 -0.32575757
+v -0.26768542 -0.25737558 -0.25243503
+v -0.20519519 -0.01571891 -0.23484848
+v -0.23606176 -0.21388217 -0.35981767
+v -0.31125579 -0.01571891 -0.32575757
+v -0.31734355 -0.22051950 -0.22899315
+v -0.32640731 -0.01571891 -0.23484848
+v -0.30405817 -0.18762163 -0.31820838
+v -0.28510226 -0.20440125 -0.31834511
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 9 2 7
+f 10 4 6
+f 10 6 9
+f 11 7 5
+f 12 5 4
+f 12 4 10
+f 12 11 5
+f 12 10 11
+f 13 11 10
+f 13 10 9
+f 13 7 11
+f 14 13 9
+f 14 9 7
+f 14 7 13
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_12.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ce039ed22a2ff14fe523ab62abab0d994460c7
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.24290808 0.08809896 0.23936834
+v 0.00949440 0.22779118 0.20110675
+v -0.21913415 0.28313599 0.26363004
+v -0.06877890 0.45317753 0.14364268
+v -0.32640731 0.09034170 0.14393941
+v 0.00659010 0.39929117 0.21080810
+v -0.16466411 0.25940734 0.26172814
+v -0.03237168 0.15299944 0.18344113
+v -0.40451272 0.08807564 0.22513430
+v 0.00440693 0.45363948 0.15590465
+v -0.17217106 0.38236943 0.22125831
+v -0.27212191 0.08822032 0.25277198
+v -0.14468197 0.33685786 0.24823244
+v 0.01268391 0.31862385 0.22240859
+v -0.17889867 0.09230788 0.17853768
+v -0.30087758 0.32107215 0.14445628
+v -0.01122971 0.21869543 0.18221599
+v -0.06765989 0.44482461 0.16619570
+v 0.01370231 0.24465899 0.20895554
+v -0.23360811 0.23045712 0.26217806
+v -0.37962626 0.08806770 0.24861747
+v -0.16065322 0.28098917 0.26151222
+v -0.17488626 0.33660800 0.24839042
+v -0.12860223 0.39710769 0.21804982
+v 0.00821265 0.42545362 0.18866442
+v -0.22730711 0.08896947 0.22638971
+v -0.14212321 0.43870355 0.14044020
+v -0.34571501 0.23441415 0.15141212
+v -0.28232605 0.30694732 0.21299981
+v -0.17966554 0.23074878 0.26048815
+v 0.01211347 0.34558155 0.22162381
+v -0.23801388 0.30884438 0.24843070
+v 0.00749717 0.43289026 0.18234430
+v -0.16916245 0.42715230 0.14071856
+v -0.12634954 0.43465809 0.16921494
+v -0.41166632 0.08934172 0.21541025
+v -0.40435881 0.09506925 0.22370574
+v -0.26895201 0.26371722 0.24908737
+v -0.16695009 0.42107777 0.17046021
+v -0.14160365 0.43548529 0.15485445
+v -0.15274894 0.42281766 0.17569147
+v -0.41001189 0.09890324 0.21330039
+v -0.38178694 0.09016140 0.24736416
+v -0.29679777 0.27656805 0.21765041
+f 8 5 4
+f 9 5 1
+f 10 8 4
+f 12 1 8
+f 15 5 8
+f 17 10 2
+f 17 2 8
+f 17 8 10
+f 18 10 4
+f 19 12 8
+f 19 8 2
+f 19 2 10
+f 19 14 7
+f 20 7 3
+f 21 9 1
+f 21 1 12
+f 21 12 20
+f 21 20 3
+f 22 13 3
+f 22 3 7
+f 22 7 14
+f 23 3 13
+f 24 13 6
+f 24 23 13
+f 24 11 23
+f 25 24 6
+f 26 15 8
+f 26 8 1
+f 26 1 5
+f 26 5 15
+f 27 4 5
+f 28 16 5
+f 30 19 7
+f 30 12 19
+f 30 20 12
+f 30 7 20
+f 31 22 14
+f 31 6 13
+f 31 13 22
+f 31 25 6
+f 31 14 19
+f 31 19 25
+f 32 23 11
+f 32 3 23
+f 32 11 29
+f 33 10 18
+f 33 18 24
+f 33 24 25
+f 33 25 19
+f 33 19 10
+f 34 27 5
+f 34 5 16
+f 35 18 4
+f 35 24 18
+f 36 5 9
+f 37 36 9
+f 38 32 29
+f 38 3 32
+f 39 34 16
+f 39 16 29
+f 39 29 11
+f 39 27 34
+f 40 35 4
+f 40 4 27
+f 40 39 35
+f 40 27 39
+f 41 11 24
+f 41 24 35
+f 41 39 11
+f 41 35 39
+f 42 28 5
+f 42 5 36
+f 42 16 28
+f 42 29 16
+f 42 37 29
+f 42 36 37
+f 43 37 9
+f 43 9 21
+f 43 21 3
+f 43 3 38
+f 44 43 38
+f 44 38 29
+f 44 29 37
+f 44 37 43
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_13.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de488ec329301f8abdd7975a7da283f96802a401
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24935028 -0.01571891 0.15909093
+v 0.24935028 -0.01571891 -0.23484848
+v 0.28591430 0.24566161 0.19854583
+v -0.34571501 0.23441415 0.15141212
+v -0.32640731 -0.01571891 -0.23484848
+v 0.27372239 0.23675235 -0.24669797
+v -0.32640731 -0.01571891 0.14393941
+v -0.29330275 0.21334857 -0.22554936
+v 0.00692603 -0.01571891 0.15909093
+v -0.01086538 0.21852891 0.18243533
+v -0.31251258 0.18606486 -0.22765144
+v -0.30871791 0.21357850 -0.19542676
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 8 4 6
+f 9 7 1
+f 9 1 3
+f 10 3 4
+f 10 4 7
+f 10 9 3
+f 10 7 9
+f 11 8 6
+f 11 6 5
+f 11 5 4
+f 12 11 4
+f 12 4 8
+f 12 8 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_14.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f0f6964b7236520ee789edd335b0c3ae9eea50
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00715073 -0.47617758 0.00748905
+v 0.00732439 -0.47063857 -0.09670361
+v 0.00692603 -0.25814316 0.00757577
+v -0.22034670 -0.25814316 0.00757577
+v -0.23248378 -0.39012764 0.00694499
+v -0.22034670 -0.25814316 -0.09848484
+v -0.07902558 -0.47177589 0.00840455
+v 0.00692603 -0.25814316 -0.09848484
+v -0.22710623 -0.38523842 -0.09928843
+v -0.06344773 -0.46834224 -0.09579650
+v -0.09532038 -0.45816846 -0.09658027
+v -0.07739572 -0.46666916 -0.06649835
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 2 1
+f 10 1 7
+f 11 7 5
+f 11 5 9
+f 11 9 2
+f 11 2 10
+f 12 11 10
+f 12 10 7
+f 12 7 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_15.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6209d710b8e3c7dd021adac0038d1a3ce28dbe
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.21187734 -0.39820201 0.10972510
+v -0.19734798 -0.35603763 -0.29185492
+v -0.21733829 -0.23266033 0.22438347
+v -0.31954447 -0.21911422 0.21095886
+v -0.37919453 -0.22065664 -0.03692273
+v -0.21446638 -0.32783326 0.21439928
+v -0.21470591 -0.39968652 -0.09782032
+v -0.37936880 -0.21894908 0.14056107
+v -0.20519519 -0.21268861 -0.23484848
+v -0.21387200 -0.30123744 0.22586999
+v -0.23379888 -0.36393465 -0.18669561
+v -0.19580603 -0.38609502 -0.24719419
+v -0.36509440 -0.22100861 0.17218151
+v -0.29508498 -0.31953491 0.06707710
+v -0.28784449 -0.20617174 -0.30761714
+v -0.22565187 -0.23024616 0.22088158
+v -0.21172432 -0.38279284 0.15505071
+v -0.26248336 -0.33717324 -0.15628494
+v -0.19822877 -0.38832267 -0.23272324
+v -0.22204973 -0.39146686 0.10742567
+v -0.29450736 -0.31987025 0.02414498
+v -0.24421857 -0.24208327 -0.33689751
+v -0.32003976 -0.20366566 -0.24480728
+v -0.22193281 -0.37607747 0.15273453
+v -0.21933761 -0.37971782 -0.18680614
+v -0.23397802 -0.34926753 -0.22986640
+v -0.27971290 -0.33472777 0.09646884
+v -0.27929368 -0.33496969 -0.00615279
+v -0.19997049 -0.34384880 -0.30692758
+v -0.22243599 -0.32540237 0.20958104
+v -0.24783995 -0.34975974 0.15399940
+v -0.36338010 -0.21953130 -0.11101706
+v -0.26338892 -0.34887175 0.10700836
+v -0.23387800 -0.37990958 -0.08133945
+v -0.22396639 -0.32281301 -0.30227537
+v -0.23274183 -0.32340315 -0.28873087
+v -0.32290720 -0.21003881 -0.23244316
+v -0.20294910 -0.37892024 -0.24480100
+v -0.20903112 -0.33778270 -0.30263927
+f 10 3 4
+f 10 4 6
+f 12 2 9
+f 12 9 3
+f 12 3 10
+f 13 6 4
+f 13 4 8
+f 14 8 5
+f 16 9 4
+f 16 4 3
+f 16 3 9
+f 17 10 6
+f 17 12 10
+f 17 1 12
+f 18 11 7
+f 18 7 5
+f 19 12 1
+f 19 1 7
+f 20 7 1
+f 21 14 5
+f 21 7 14
+f 22 15 9
+f 23 5 8
+f 23 8 4
+f 23 4 9
+f 23 9 15
+f 24 20 1
+f 24 1 17
+f 25 19 7
+f 25 7 11
+f 25 11 19
+f 26 19 11
+f 26 11 18
+f 27 14 7
+f 27 7 20
+f 27 8 14
+f 28 21 5
+f 28 7 21
+f 29 22 9
+f 29 9 2
+f 30 24 17
+f 30 17 6
+f 30 6 13
+f 30 13 24
+f 31 24 13
+f 31 13 8
+f 31 8 20
+f 31 20 24
+f 32 26 18
+f 32 18 5
+f 32 5 23
+f 33 27 20
+f 33 20 8
+f 33 8 27
+f 34 28 5
+f 34 5 7
+f 34 7 28
+f 35 15 22
+f 35 22 29
+f 36 15 35
+f 36 26 32
+f 37 23 15
+f 37 15 36
+f 37 36 32
+f 37 32 23
+f 38 36 12
+f 38 26 36
+f 38 12 19
+f 38 19 26
+f 39 36 35
+f 39 35 29
+f 39 12 36
+f 39 29 2
+f 39 2 12
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_16.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0aa838c79196d7a26954627a0da816dfe6a028
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.12735547 -0.37803865 -0.35542321
+v 0.23094919 -0.14138553 -0.45006322
+v 0.23164842 0.17108025 -0.34871064
+v 0.12813816 0.21155383 -0.35606060
+v 0.12760754 0.21145625 -0.46153701
+v 0.15091397 -0.36669302 -0.34993069
+v 0.12155676 -0.29692741 -0.44751502
+v 0.23296036 0.09527272 -0.45302893
+v 0.21412962 0.21102721 -0.35311914
+v 0.22395022 -0.26957610 -0.35084169
+v 0.11981590 -0.36741992 -0.37825857
+v 0.15901611 0.21064777 -0.43314459
+v 0.20523922 -0.30884767 -0.34922365
+v 0.15667224 -0.32320550 -0.40496776
+v 0.14823810 -0.36220499 -0.36248724
+v 0.20089195 0.20960962 -0.37550411
+v 0.20188661 -0.30713431 -0.35765424
+v 0.14603529 -0.33126032 -0.40458452
+v 0.13349753 -0.29302205 -0.44391812
+v 0.16267264 -0.34600562 -0.37211278
+v 0.18661683 -0.29267591 -0.38956842
+v 0.14798486 -0.31965057 -0.41391275
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 8 3 2
+f 8 2 5
+f 9 5 4
+f 9 4 3
+f 9 3 8
+f 10 2 3
+f 11 1 4
+f 11 4 5
+f 11 5 7
+f 12 8 5
+f 12 5 9
+f 13 10 3
+f 13 3 6
+f 15 6 1
+f 15 1 11
+f 16 12 9
+f 16 9 8
+f 16 8 12
+f 17 2 10
+f 17 10 13
+f 18 11 7
+f 18 15 11
+f 19 7 2
+f 19 2 14
+f 20 13 6
+f 20 6 15
+f 20 17 13
+f 20 14 17
+f 20 18 14
+f 20 15 18
+f 21 17 14
+f 21 14 2
+f 21 2 17
+f 22 18 7
+f 22 7 19
+f 22 19 14
+f 22 14 18
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_17.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95f10d49c43d15d1051318fb38d5b25d9d26c08
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.22825285 -0.34371001 -0.23330340
+v 0.43069390 -0.04067551 -0.23118112
+v 0.32926580 0.19656074 -0.22973056
+v 0.27378612 0.22787308 -0.25409548
+v 0.23045352 -0.10945087 -0.47852703
+v 0.23532259 -0.33644877 -0.23120331
+v 0.22781022 0.21115836 -0.33561906
+v 0.43093181 0.07948941 -0.22975246
+v 0.34273882 -0.12197708 -0.39042980
+v 0.22560725 -0.30040757 -0.32187112
+v 0.34099392 0.14967910 -0.31688288
+v 0.40048975 -0.13001178 -0.23139723
+v 0.36834928 -0.04071639 -0.39199425
+v 0.22870403 0.08420549 -0.46593864
+v 0.22608499 -0.34212194 -0.24837278
+v 0.29653352 -0.11547468 -0.44353128
+v 0.34269734 0.17746977 -0.25474840
+v 0.38288845 -0.10132216 -0.33130503
+v 0.39830357 -0.04116897 -0.33568298
+v 0.36949413 0.06116787 -0.37391019
+v 0.26998384 0.10909074 -0.43245355
+v 0.36779341 -0.12543152 -0.34580029
+v 0.38297171 -0.12753719 -0.30559549
+v 0.25736210 -0.12056678 -0.46141401
+v 0.32278838 -0.11635674 -0.41813950
+v 0.26995252 0.02645619 -0.47448889
+v 0.32697321 0.19343409 -0.24381480
+v 0.38748058 0.14184396 -0.22989695
+v 0.41463672 0.07139725 -0.28795118
+v 0.41074975 -0.05423508 -0.28802000
+v 0.30357010 0.13227791 -0.37656438
+v 0.22691834 -0.31302341 -0.30716664
+v 0.35281880 -0.10052513 -0.38681341
+v 0.39745664 -0.12958351 -0.24590183
+v 0.23322250 -0.33456190 -0.24580911
+v 0.24473266 -0.10812957 -0.47585102
+v 0.31277858 -0.07121899 -0.44466850
+v 0.31054750 0.04700458 -0.44609274
+v 0.23226784 0.05538627 -0.47510017
+v 0.36871509 0.15400928 -0.25893028
+v 0.42766018 -0.03963753 -0.24562064
+v 0.39719978 0.02852177 -0.33385951
+v 0.36882898 0.09175520 -0.34177578
+v 0.33346553 0.14623783 -0.33048440
+v 0.34096418 0.04938441 -0.41652680
+v 0.37103856 -0.13607563 -0.31903834
+v 0.27016039 -0.07187024 -0.47501383
+v 0.33792555 -0.07031093 -0.41733043
+v 0.29907798 -0.00142259 -0.45870719
+v 0.29906141 0.06377076 -0.44289279
+v 0.24249273 0.05246233 -0.47474574
+v 0.42780949 0.07728744 -0.24386997
+v 0.36679673 -0.00259538 -0.39108870
+v 0.28121288 -0.10141172 -0.45866194
+v 0.29762031 -0.05606468 -0.45981045
+v 0.39745458 0.10690727 -0.27039741
+v 0.35424867 0.04330390 -0.40220585
+f 1 3 4
+f 6 3 1
+f 7 1 4
+f 8 3 6
+f 11 7 4
+f 12 8 6
+f 12 2 8
+f 14 10 7
+f 14 5 10
+f 15 1 7
+f 15 7 10
+f 15 6 1
+f 17 11 4
+f 19 18 13
+f 21 14 7
+f 22 13 18
+f 23 22 18
+f 24 16 10
+f 25 10 16
+f 27 17 4
+f 27 4 3
+f 27 3 17
+f 28 3 8
+f 30 18 19
+f 30 23 18
+f 31 21 7
+f 32 15 10
+f 32 9 22
+f 32 25 9
+f 32 10 25
+f 33 22 9
+f 33 13 22
+f 33 25 13
+f 33 9 25
+f 34 12 6
+f 34 2 12
+f 35 6 15
+f 35 15 23
+f 35 34 6
+f 35 23 34
+f 36 24 10
+f 36 10 5
+f 36 16 24
+f 37 25 16
+f 39 26 5
+f 39 5 14
+f 40 17 3
+f 40 3 28
+f 40 11 17
+f 40 29 11
+f 41 8 2
+f 41 19 29
+f 41 30 19
+f 41 23 30
+f 41 34 23
+f 41 2 34
+f 42 29 19
+f 42 19 13
+f 42 20 29
+f 43 29 20
+f 43 20 11
+f 43 11 29
+f 44 31 7
+f 44 7 11
+f 44 11 20
+f 45 21 31
+f 45 44 20
+f 45 31 44
+f 46 23 15
+f 46 15 32
+f 46 32 22
+f 46 22 23
+f 47 36 5
+f 47 5 26
+f 48 37 13
+f 48 13 25
+f 48 25 37
+f 49 47 26
+f 49 26 38
+f 49 45 13
+f 49 38 45
+f 50 38 14
+f 50 14 21
+f 50 45 38
+f 50 21 45
+f 51 39 14
+f 51 26 39
+f 51 38 26
+f 51 14 38
+f 52 40 28
+f 52 28 8
+f 52 41 29
+f 52 8 41
+f 53 42 13
+f 53 20 42
+f 54 47 37
+f 54 37 16
+f 54 16 36
+f 54 36 47
+f 55 49 13
+f 55 13 37
+f 55 37 47
+f 55 47 49
+f 56 52 29
+f 56 29 40
+f 56 40 52
+f 57 45 20
+f 57 20 53
+f 57 53 13
+f 57 13 45
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_18.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58fcbdf54f45850dc6c685daddc4b21c3f3158c9
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.30313178 0.20139094 -0.25956717
+v 0.30881201 0.20999317 -0.23431574
+v -0.29266677 0.20900597 -0.23367765
+v -0.11058262 0.42336133 -0.23210351
+v 0.07922235 0.39156616 -0.35961722
+v -0.28646801 0.21953611 -0.22985719
+v 0.16338234 0.37555736 -0.30092215
+v -0.05797541 0.21163331 -0.48853407
+v 0.30209579 0.21598508 -0.23118910
+v -0.19053256 0.30359601 -0.38550800
+v 0.23912908 0.32369194 -0.23084763
+v 0.10592811 0.24721151 -0.47503821
+v 0.03597970 0.43867187 -0.23163395
+v -0.28751308 0.20187578 -0.25840248
+v -0.23350631 0.33729113 -0.23243682
+v -0.07931323 0.36112190 -0.40670945
+v 0.17101814 0.33460255 -0.34673241
+v 0.07638947 0.21904442 -0.48699611
+v 0.08962149 0.42093877 -0.27524625
+v -0.25312991 0.30793609 -0.23076137
+v 0.10686921 0.42550393 -0.23108225
+v -0.20990887 0.20913584 -0.39410402
+v -0.15377535 0.40786648 -0.25886029
+v -0.13460331 0.28877791 -0.44620566
+v 0.06056748 0.30507130 -0.45875455
+v -0.02054589 0.40523022 -0.34548906
+v 0.22988678 0.30803924 -0.27202099
+v 0.13300669 0.30567962 -0.43109838
+v 0.17988362 0.21159765 -0.40900791
+v 0.10360707 0.40379936 -0.30251919
+v -0.02151727 0.43865045 -0.23168247
+v -0.17824747 0.39282606 -0.23315694
+v -0.24653196 0.26887950 -0.30414956
+v -0.20593786 0.33240490 -0.32902937
+v 0.16805107 0.39712664 -0.23117459
+v -0.12146483 0.34679109 -0.40039308
+v -0.20314947 0.25302454 -0.38930467
+v -0.12313444 0.23978865 -0.46741289
+v 0.07348485 0.36153969 -0.40426696
+v -0.05245824 0.30401498 -0.46088845
+v 0.06085113 0.27803858 -0.47596820
+v 0.01954503 0.40431133 -0.34832428
+v -0.07956053 0.42087567 -0.27475337
+v -0.07974896 0.40668476 -0.32050509
+v 0.20015091 0.30542658 -0.32960329
+v 0.15889504 0.36183235 -0.33090214
+v 0.10364390 0.24162460 -0.47673934
+v 0.18801187 0.25182198 -0.38948007
+v 0.14240611 0.28185455 -0.42988609
+v 0.08879054 0.40450921 -0.31795952
+v -0.00604775 0.42086860 -0.30481350
+v -0.15357699 0.41133040 -0.23347996
+v -0.24612233 0.30613353 -0.25730652
+v -0.19990878 0.29511807 -0.37830515
+v -0.20668379 0.36059177 -0.27205562
+v 0.17274133 0.37873310 -0.27441161
+v 0.16450734 0.38983864 -0.25912827
+v -0.17428100 0.31600519 -0.38952704
+v -0.14749890 0.36213695 -0.36004407
+v -0.23222755 0.23903975 -0.34813070
+v 0.07552870 0.31988011 -0.44309707
+v 0.14527011 0.33283672 -0.38820225
+v -0.09362819 0.29537340 -0.45892301
+v -0.00705526 0.28143890 -0.47392006
+f 1 2 3
+f 9 6 3
+f 9 3 2
+f 11 2 1
+f 11 9 2
+f 11 6 9
+f 14 8 1
+f 14 1 3
+f 20 3 6
+f 21 6 11
+f 21 19 13
+f 21 20 6
+f 22 8 14
+f 27 11 1
+f 29 1 8
+f 29 8 18
+f 30 19 7
+f 31 4 20
+f 31 21 13
+f 31 20 21
+f 32 20 4
+f 32 15 20
+f 33 14 3
+f 35 21 11
+f 35 19 21
+f 37 24 22
+f 37 10 24
+f 38 8 22
+f 38 22 24
+f 39 25 16
+f 40 16 25
+f 41 12 18
+f 41 40 25
+f 41 18 8
+f 41 28 12
+f 41 25 28
+f 42 19 5
+f 42 5 39
+f 42 39 16
+f 42 16 26
+f 43 23 4
+f 43 4 31
+f 44 26 16
+f 44 23 43
+f 45 27 1
+f 45 17 27
+f 45 1 28
+f 46 27 17
+f 46 7 11
+f 46 11 27
+f 46 5 7
+f 47 29 18
+f 47 18 12
+f 47 12 29
+f 48 28 1
+f 48 1 29
+f 49 29 12
+f 49 12 28
+f 49 48 29
+f 49 28 48
+f 50 5 19
+f 50 19 30
+f 50 30 7
+f 50 7 5
+f 51 31 13
+f 51 43 31
+f 51 44 43
+f 51 26 44
+f 51 42 26
+f 51 13 19
+f 51 19 42
+f 52 32 4
+f 52 4 23
+f 52 23 32
+f 53 33 3
+f 53 3 20
+f 53 34 33
+f 54 34 10
+f 54 33 34
+f 54 10 37
+f 55 32 23
+f 55 15 32
+f 55 34 53
+f 55 53 20
+f 55 20 15
+f 56 35 11
+f 56 11 7
+f 57 7 19
+f 57 19 35
+f 57 56 7
+f 57 35 56
+f 58 36 24
+f 58 24 10
+f 58 10 34
+f 59 23 44
+f 59 44 16
+f 59 16 36
+f 59 55 23
+f 59 34 55
+f 59 58 34
+f 59 36 58
+f 60 37 22
+f 60 22 14
+f 60 54 37
+f 60 14 33
+f 60 33 54
+f 61 39 28
+f 61 28 25
+f 61 25 39
+f 62 39 5
+f 62 28 39
+f 62 5 46
+f 62 46 17
+f 62 45 28
+f 62 17 45
+f 63 16 40
+f 63 36 16
+f 63 24 36
+f 63 38 24
+f 63 8 38
+f 64 41 8
+f 64 40 41
+f 64 63 40
+f 64 8 63
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_19.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482882215e976d69c9addf417546becf1433097f
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.31860325 0.21728335 0.19415331
+v 0.34900225 0.21943421 -0.11088849
+v 0.36192053 0.21839864 0.11098163
+v 0.19744460 0.41171521 0.15490414
+v 0.18874422 0.22670534 -0.23484848
+v 0.27876232 0.33881106 0.00833734
+v 0.26326021 0.33292738 0.16743482
+v 0.33283262 0.21733275 -0.15715549
+v 0.20111495 0.22847925 0.23656714
+v 0.36215695 0.21842317 0.00844675
+v 0.18122568 0.38649430 -0.23208055
+v 0.34706021 0.21837595 0.15616287
+v 0.27632877 0.33667898 0.12250681
+v 0.18874422 0.22670534 0.00757577
+v 0.19798918 0.31265672 0.24228033
+v 0.26389892 0.34655837 -0.10942851
+v 0.29186889 0.22270130 -0.23348169
+v 0.33242715 0.21854430 0.18111505
+v 0.19706924 0.42512472 0.00841011
+v 0.26262758 0.34750041 0.13686907
+v 0.26993253 0.22185218 0.22483231
+v 0.17989297 0.39889173 -0.20171810
+v 0.19524718 0.40081644 0.18609124
+v 0.27633793 0.33798638 -0.03645529
+v 0.24746776 0.33208948 -0.19644212
+v 0.30446349 0.21937401 -0.21693351
+v 0.23521331 0.30615019 0.21725026
+v 0.20159365 0.40812141 0.15242572
+v 0.24801288 0.24385068 0.23306781
+v 0.18502764 0.43044199 0.00805195
+v 0.19233311 0.42210814 -0.06672074
+v 0.18841705 0.39167986 -0.19960111
+v 0.23218541 0.33221561 -0.22852929
+v 0.23289339 0.27909521 0.23304302
+v 0.20491536 0.36676038 0.20210508
+v 0.23548190 0.35182255 0.18728159
+v 0.23281588 0.22876697 0.23249200
+v 0.19468826 0.37049214 0.20766310
+v 0.18932776 0.40803160 -0.13990365
+v 0.18327701 0.42590015 -0.06725368
+v 0.20870094 0.30893018 0.23647771
+v 0.26423456 0.30962073 0.18790767
+v 0.21688981 0.37794728 0.18278399
+v 0.20333150 0.40679910 -0.09413114
+v 0.20329211 0.39137902 -0.15405825
+v 0.18375499 0.41221187 -0.14159389
+f 8 3 1
+f 8 1 5
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 12 1 3
+f 13 3 6
+f 13 12 3
+f 13 7 12
+f 14 5 1
+f 15 14 9
+f 16 10 2
+f 17 5 11
+f 18 12 7
+f 18 1 12
+f 19 13 6
+f 19 6 16
+f 20 7 13
+f 21 14 1
+f 21 9 14
+f 22 11 5
+f 22 5 14
+f 23 20 4
+f 23 7 20
+f 24 16 6
+f 24 6 10
+f 24 10 16
+f 25 16 2
+f 25 2 8
+f 26 8 5
+f 26 5 17
+f 26 25 8
+f 27 1 18
+f 28 19 4
+f 28 13 19
+f 28 20 13
+f 28 4 20
+f 29 15 9
+f 29 21 1
+f 30 4 19
+f 30 23 4
+f 30 22 14
+f 31 19 16
+f 31 30 19
+f 32 16 25
+f 32 25 11
+f 32 11 22
+f 33 17 11
+f 33 11 25
+f 33 26 17
+f 33 25 26
+f 34 1 27
+f 34 29 1
+f 34 15 29
+f 36 18 7
+f 36 35 27
+f 36 23 35
+f 37 29 9
+f 37 9 21
+f 37 21 29
+f 38 30 14
+f 38 14 15
+f 38 23 30
+f 38 35 23
+f 40 22 30
+f 40 30 31
+f 41 34 27
+f 41 15 34
+f 41 27 35
+f 41 38 15
+f 41 35 38
+f 42 36 27
+f 42 27 18
+f 42 18 36
+f 43 36 7
+f 43 7 23
+f 43 23 36
+f 44 39 31
+f 44 31 16
+f 44 16 39
+f 45 32 22
+f 45 22 39
+f 45 39 16
+f 45 16 32
+f 46 39 22
+f 46 22 40
+f 46 40 31
+f 46 31 39
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_2.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d791b0febc5758a8927bb5a5f79bfffdf4e95d
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.14194328 -0.35690679 -0.37407651
+v 0.24283763 -0.15409472 -0.43192746
+v 0.12813816 0.21155383 -0.35606060
+v -0.14891789 0.30261232 -0.42089741
+v -0.12625122 -0.23941763 -0.46441190
+v 0.10364390 0.24162460 -0.47673934
+v -0.19911468 -0.31153888 -0.35221608
+v 0.12739724 -0.33289100 -0.41539792
+v 0.23668973 0.11089951 -0.43495512
+v 0.17159825 0.24106608 -0.41505402
+v -0.11803659 0.22282942 -0.47422920
+v 0.21313018 -0.08873267 -0.49084524
+v -0.18363837 -0.32776016 -0.35134548
+v -0.22523879 0.21564150 -0.36979001
+v 0.22870403 0.08420549 -0.46593864
+v -0.12694371 0.28455793 -0.45304799
+v -0.02193771 0.22168929 -0.49189748
+v 0.23045352 -0.10945087 -0.47852703
+v -0.08618586 -0.33776141 -0.42107797
+v -0.19305351 0.28487107 -0.39465097
+v -0.20515065 -0.01546135 -0.44446151
+v 0.21689015 0.00921694 -0.49045082
+v 0.04873819 0.23720149 -0.48857849
+v -0.10888638 0.23589510 -0.47277917
+v -0.08042230 -0.13925707 -0.47801819
+v 0.23226784 0.05538627 -0.47510017
+v -0.17587085 -0.26992333 -0.43019939
+v -0.14446546 0.27531342 -0.44692289
+v -0.14058589 -0.23850141 -0.46111496
+v -0.20417475 -0.07089869 -0.43063663
+v -0.17791326 0.24877485 -0.43426458
+v 0.22926109 -0.01776359 -0.48914177
+v 0.00800247 0.23612174 -0.48920264
+v 0.07848427 0.20800249 -0.48859895
+v -0.03617270 0.13800415 -0.49000369
+v 0.17392960 -0.08869932 -0.49029801
+v -0.16319436 -0.32028168 -0.39263080
+v -0.18910831 0.27992941 -0.40338627
+v -0.12126525 0.18330633 -0.47298807
+v -0.16092541 -0.25518564 -0.44460320
+v -0.18910907 -0.25070283 -0.42260641
+v -0.14917500 0.20778843 -0.45772821
+v 0.22698437 -0.07313709 -0.48824644
+v -0.03678996 0.19637014 -0.49075262
+v -0.16637689 -0.27745417 -0.43151804
+v -0.19228637 -0.30344177 -0.37820178
+v -0.18827852 -0.28364598 -0.40536358
+f 1 2 3
+f 8 2 1
+f 9 3 2
+f 10 6 4
+f 10 4 3
+f 10 3 9
+f 12 8 5
+f 13 1 3
+f 13 3 7
+f 14 7 3
+f 15 10 9
+f 15 6 10
+f 16 4 6
+f 18 2 8
+f 18 8 12
+f 19 8 1
+f 19 1 13
+f 19 5 8
+f 20 14 3
+f 20 3 4
+f 22 12 17
+f 23 16 6
+f 24 17 11
+f 24 11 16
+f 24 16 17
+f 26 15 9
+f 26 9 2
+f 26 22 6
+f 26 6 15
+f 28 4 16
+f 28 16 11
+f 29 5 19
+f 29 25 5
+f 30 7 14
+f 30 14 21
+f 31 21 14
+f 31 28 11
+f 32 12 22
+f 32 22 26
+f 32 26 2
+f 32 2 18
+f 33 23 17
+f 33 17 16
+f 33 16 23
+f 34 22 17
+f 34 17 23
+f 34 23 6
+f 34 6 22
+f 36 12 5
+f 36 5 25
+f 36 25 35
+f 36 35 17
+f 36 17 12
+f 37 19 13
+f 38 20 4
+f 38 4 28
+f 38 28 31
+f 38 31 14
+f 38 14 20
+f 39 29 21
+f 39 21 11
+f 39 11 25
+f 39 25 29
+f 40 21 29
+f 41 7 30
+f 41 30 21
+f 41 40 27
+f 41 21 40
+f 42 31 11
+f 42 11 21
+f 42 21 31
+f 43 32 18
+f 43 18 12
+f 43 12 32
+f 44 35 25
+f 44 25 11
+f 44 11 17
+f 44 17 35
+f 45 37 27
+f 45 19 37
+f 45 27 40
+f 45 40 29
+f 45 29 19
+f 46 37 13
+f 46 13 7
+f 47 27 37
+f 47 37 46
+f 47 41 27
+f 47 46 7
+f 47 7 41
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_20.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d1b5527ee4b03a1d22a20cbb7958321e1a9b43
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.21733829 -0.23266033 0.22438347
+v -0.22034670 -0.22784013 0.14393941
+v -0.17889867 0.09230788 0.17853768
+v -0.35511168 0.08514978 0.25948789
+v -0.43030039 -0.13601983 0.14324998
+v -0.28677922 0.08491662 0.26082173
+v -0.37936880 -0.21894908 0.14056107
+v -0.35665003 -0.15845264 0.23530152
+v -0.32640731 0.09034170 0.14393941
+v -0.23462628 0.08752650 0.23264644
+v -0.40696314 -0.05883476 0.22725502
+v -0.32781100 -0.04384230 0.26295613
+v -0.31052037 -0.22035196 0.21615494
+v -0.38487943 -0.19837634 0.18223440
+v -0.41870312 -0.15971131 0.13926921
+v -0.44552242 -0.01936241 0.15919369
+v -0.23193018 0.00248988 0.23277608
+v -0.34975546 0.08339829 0.26260538
+v -0.38003096 -0.07338082 0.24626001
+v -0.30065731 -0.13460409 0.24962134
+v -0.28842512 -0.01386844 0.26193198
+v -0.35010820 -0.17206129 0.23394151
+v -0.37294223 -0.21144074 0.17812698
+v -0.41950886 -0.12984863 0.18499713
+v -0.40229164 -0.18978780 0.13938700
+v -0.36366770 0.04230845 0.26212505
+v -0.38640042 -0.10146788 0.23596098
+v -0.34997347 -0.04318132 0.26207585
+v -0.29755137 -0.02862340 0.26241981
+v -0.25971988 -0.01292443 0.24733297
+v -0.33111430 -0.19940869 0.22154999
+v -0.40173923 -0.15806289 0.18922431
+v -0.41395685 -0.06041457 0.21723297
+v -0.36505072 0.00165269 0.26222244
+v -0.40067923 -0.10118222 0.22003227
+v -0.32339750 -0.13288399 0.24740876
+f 1 2 3
+f 7 2 1
+f 9 3 2
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 13 7 1
+f 15 5 9
+f 15 14 5
+f 16 9 5
+f 16 4 9
+f 17 10 6
+f 17 1 3
+f 17 3 10
+f 18 6 4
+f 22 13 1
+f 22 1 20
+f 23 14 7
+f 23 7 13
+f 23 13 14
+f 24 5 14
+f 24 16 5
+f 25 7 14
+f 25 14 15
+f 25 2 7
+f 25 15 9
+f 25 9 2
+f 26 16 11
+f 26 4 16
+f 26 18 4
+f 27 19 11
+f 27 8 19
+f 28 19 8
+f 28 8 22
+f 28 20 12
+f 29 18 12
+f 29 12 20
+f 29 20 1
+f 29 1 21
+f 29 21 6
+f 29 6 18
+f 30 17 6
+f 30 6 21
+f 30 21 1
+f 30 1 17
+f 31 22 14
+f 31 14 13
+f 31 13 22
+f 32 22 8
+f 32 14 22
+f 32 24 14
+f 32 27 24
+f 32 8 27
+f 33 24 11
+f 33 11 16
+f 33 16 24
+f 34 26 11
+f 34 11 19
+f 34 19 28
+f 34 28 12
+f 34 12 18
+f 34 18 26
+f 35 27 11
+f 35 11 24
+f 35 24 27
+f 36 28 22
+f 36 22 20
+f 36 20 28
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_21.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5293cc40b2fec64214db385649e67e235141b33c
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.07746820 -0.03251700 0.37815751
+v -0.06382461 -0.02173170 0.37665578
+v -0.19863304 -0.02351320 0.47240246
+v -0.30757499 0.02525681 0.48372900
+v -0.40493881 -0.01391403 0.43080410
+v -0.11026546 0.02808825 0.41917327
+v -0.15480510 -0.03030176 0.44822568
+v -0.08941927 0.03568162 0.38123405
+v -0.41021680 -0.03629929 0.47768894
+v -0.22536988 0.02846568 0.47904833
+v -0.11025387 -0.02923098 0.41668313
+v -0.14146903 0.02117851 0.44371113
+v -0.06107934 0.00993526 0.37996229
+v -0.36661984 0.00977991 0.44144626
+v -0.25511198 -0.01930879 0.49133371
+v -0.34335666 -0.04400669 0.47466656
+v -0.30809613 0.02798938 0.46626415
+v -0.18259439 0.03186828 0.45880716
+v -0.08235305 -0.02924169 0.38868882
+v -0.14204204 -0.02202329 0.44435371
+v -0.19839414 0.02248611 0.47231852
+v -0.09765064 0.02788570 0.40494934
+v -0.09809306 -0.01186109 0.41729734
+v -0.19455929 0.02952612 0.40122614
+v -0.39226303 -0.00032845 0.47889241
+v -0.25424305 0.02321155 0.48802807
+v -0.22287165 -0.03210590 0.47704632
+v -0.38236603 -0.02577049 0.49013756
+v -0.42162620 -0.04288250 0.44496680
+v -0.15448511 0.02867817 0.44681228
+v -0.09704362 -0.02916612 0.40427444
+v -0.23862322 0.01032298 0.48980815
+v -0.06987468 -0.01815822 0.38579724
+v -0.09926805 0.01041624 0.41730362
+v -0.36441498 0.01119775 0.48190734
+v -0.41840245 -0.01333847 0.46818167
+v -0.18175868 -0.03063444 0.46112253
+v -0.23995458 -0.01106923 0.48948593
+v -0.33755257 0.01341291 0.49297870
+v -0.42319428 -0.04178187 0.46778177
+v -0.41175157 -0.03449077 0.43396889
+v -0.39175385 -0.04520555 0.44373885
+v -0.08485185 -0.01829507 0.40111797
+v -0.06735181 0.00778339 0.38736029
+v -0.41748067 -0.01648597 0.44171195
+v -0.40626214 -0.01072868 0.47935679
+v -0.36596872 0.00427066 0.48933690
+v -0.37954647 -0.00580799 0.49157717
+v -0.34425350 -0.04410212 0.46465774
+v -0.43120110 -0.02577340 0.45095841
+v -0.43010273 -0.03118414 0.46630386
+v -0.43198463 -0.03600285 0.44994813
+v -0.43076555 -0.03530585 0.46536325
+v -0.43183488 -0.02685971 0.45920273
+f 8 2 1
+f 8 1 5
+f 11 7 1
+f 13 2 8
+f 16 1 7
+f 17 4 10
+f 18 6 8
+f 18 17 10
+f 18 8 17
+f 19 1 2
+f 20 3 7
+f 20 7 11
+f 21 20 12
+f 21 3 20
+f 21 18 10
+f 22 13 8
+f 22 8 6
+f 22 6 13
+f 23 20 11
+f 23 12 20
+f 24 8 5
+f 24 5 14
+f 24 17 8
+f 24 14 17
+f 26 10 4
+f 27 16 7
+f 27 15 16
+f 28 16 15
+f 28 9 16
+f 30 12 6
+f 30 6 18
+f 30 21 12
+f 30 18 21
+f 31 11 1
+f 31 1 19
+f 31 19 2
+f 32 3 21
+f 32 21 10
+f 32 10 26
+f 33 2 13
+f 34 6 12
+f 34 12 23
+f 35 17 14
+f 35 14 25
+f 35 4 17
+f 36 25 14
+f 37 27 7
+f 37 7 3
+f 37 3 27
+f 38 27 3
+f 38 15 27
+f 38 32 15
+f 38 3 32
+f 39 26 4
+f 39 4 35
+f 39 32 26
+f 39 15 32
+f 40 16 9
+f 41 5 1
+f 41 1 29
+f 42 29 1
+f 42 40 29
+f 42 16 40
+f 43 23 11
+f 43 11 31
+f 43 33 23
+f 43 31 2
+f 43 2 33
+f 44 33 13
+f 44 23 33
+f 44 34 23
+f 44 13 6
+f 44 6 34
+f 45 36 14
+f 45 14 5
+f 46 25 36
+f 47 39 35
+f 47 35 25
+f 48 28 15
+f 48 15 39
+f 48 39 47
+f 48 46 9
+f 48 9 28
+f 48 47 25
+f 48 25 46
+f 49 42 1
+f 49 1 16
+f 49 16 42
+f 50 36 45
+f 50 45 5
+f 51 9 46
+f 51 46 36
+f 52 41 29
+f 52 29 40
+f 52 50 5
+f 52 5 41
+f 53 40 9
+f 53 9 51
+f 53 52 40
+f 54 51 36
+f 54 36 50
+f 54 53 51
+f 54 50 52
+f 54 52 53
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_22.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c1d9f8f49833884e751509c1f2e9371391ef95
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.20519519 -0.01571891 -0.23484848
+v -0.15755836 -0.01293255 -0.44701812
+v -0.20519519 0.21155383 -0.23484848
+v -0.29949029 0.20280049 -0.22875432
+v -0.30626728 -0.01481114 -0.41930658
+v -0.19811692 0.21042182 -0.41216256
+v -0.15234414 0.13700510 -0.45293594
+v -0.16359048 -0.02301976 -0.44442331
+v -0.31125579 -0.01571891 -0.23484848
+v -0.30555964 0.07909473 -0.41380642
+v -0.21854710 0.00095887 -0.44479177
+v -0.29560649 0.14872280 -0.33063506
+v -0.28808985 0.05803337 -0.42956265
+v -0.28709007 -0.01290892 -0.42793906
+v -0.18973771 -0.01394951 -0.44489044
+v -0.29315752 0.19720778 -0.25791124
+v -0.22004023 0.04301878 -0.44501694
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 9 4
+f 10 5 9
+f 11 7 2
+f 12 10 4
+f 12 6 10
+f 13 10 6
+f 13 6 7
+f 13 5 10
+f 14 8 5
+f 14 13 11
+f 14 5 13
+f 15 11 2
+f 15 2 8
+f 15 14 11
+f 15 8 14
+f 16 12 4
+f 16 4 6
+f 16 6 12
+f 17 13 7
+f 17 7 11
+f 17 11 13
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_23.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be9131b0a007d19b9361712ed7a728247eed694
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00509068 -0.07194693 0.21602162
+v -0.15356561 -0.03393010 0.39227617
+v -0.17080680 0.03615492 0.39174490
+v 0.00574629 0.06887443 0.21498324
+v -0.09042946 -0.01294487 0.21858767
+v -0.06766247 -0.02931726 0.37310321
+v -0.00942497 -0.01790052 0.29987900
+v -0.05808682 -0.06063856 0.21351121
+v -0.18475756 -0.01203643 0.39409437
+v -0.07722092 0.05895818 0.21489673
+v -0.07870070 0.03136984 0.37776860
+v -0.04051588 -0.01985790 0.34457459
+v -0.12938542 0.04470288 0.38601671
+v -0.18581333 0.02612085 0.39225890
+v -0.05558221 -0.01233106 0.37465107
+v -0.00773369 -0.03068882 0.28278727
+v -0.10359791 0.04136957 0.38210851
+v -0.08773905 0.04737412 0.21713957
+v -0.01176936 0.01955639 0.29885855
+v -0.02579491 0.00896939 0.32962842
+v -0.04020748 0.01946298 0.34368081
+v -0.02510145 -0.00949317 0.33064863
+v -0.04030846 0.03000447 0.33110078
+v -0.05602897 0.00840198 0.37421151
+f 6 2 1
+f 7 1 4
+f 8 1 2
+f 8 4 1
+f 9 2 3
+f 9 8 2
+f 9 5 8
+f 10 8 5
+f 10 4 8
+f 12 6 1
+f 13 10 3
+f 13 4 10
+f 13 3 2
+f 14 9 3
+f 14 3 10
+f 14 5 9
+f 15 2 6
+f 15 6 12
+f 15 12 7
+f 16 12 1
+f 16 1 7
+f 16 7 12
+f 17 11 4
+f 17 4 13
+f 17 13 2
+f 17 2 15
+f 18 14 10
+f 18 10 5
+f 18 5 14
+f 19 7 4
+f 20 7 19
+f 21 19 4
+f 21 20 19
+f 22 15 7
+f 22 7 20
+f 23 21 4
+f 23 4 11
+f 23 11 21
+f 24 21 11
+f 24 20 21
+f 24 22 20
+f 24 15 22
+f 24 17 15
+f 24 11 17
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_24.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bfd2105da7e7abcfc79b11130f4e2cf5f61003d
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.19997049 -0.34384880 -0.30692758
+v -0.19570052 -0.30749033 -0.36520893
+v -0.20519519 -0.01571891 -0.32575757
+v -0.31125579 -0.01571891 -0.32575757
+v -0.39218567 -0.09846790 -0.32170617
+v -0.20515065 -0.01546135 -0.44446151
+v -0.28102686 -0.21594422 -0.30515008
+v -0.19568217 -0.33957793 -0.31905989
+v -0.22396639 -0.32281301 -0.30227537
+v -0.27466646 -0.01375929 -0.43369816
+v -0.39725711 -0.07538443 -0.32405823
+v -0.19857532 -0.29598462 -0.38224095
+v -0.20903112 -0.33778270 -0.30263927
+v -0.35539856 -0.09842945 -0.37412528
+v -0.30626728 -0.01481114 -0.41930658
+v -0.19928156 -0.24025640 -0.41328020
+v -0.38860506 -0.09606681 -0.33103793
+v -0.37059137 -0.07232511 -0.36050568
+v -0.31617210 -0.09679934 -0.40099926
+v -0.34534699 -0.07388876 -0.38465070
+v -0.30723755 -0.05924423 -0.41262746
+v -0.34434705 -0.08882589 -0.38316667
+v -0.27282822 -0.05173660 -0.42832047
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 7 5
+f 9 3 7
+f 10 4 3
+f 10 3 6
+f 11 7 4
+f 11 5 7
+f 12 8 1
+f 12 2 8
+f 12 9 5
+f 13 1 3
+f 13 3 9
+f 13 12 1
+f 13 9 12
+f 15 11 4
+f 15 4 10
+f 16 10 6
+f 16 6 2
+f 16 2 12
+f 16 12 14
+f 17 5 11
+f 17 14 12
+f 17 12 5
+f 18 11 15
+f 18 17 11
+f 18 14 17
+f 19 16 14
+f 20 18 15
+f 20 14 18
+f 21 15 10
+f 21 20 15
+f 22 19 14
+f 22 14 20
+f 22 21 19
+f 22 20 21
+f 23 21 10
+f 23 10 16
+f 23 16 19
+f 23 19 21
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_25.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b827fc78ec35c7ed1dc46b2958e3855287ebd6a
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.16781531 -0.41239705 0.12734669
+v 0.30193915 -0.24981355 -0.17267194
+v 0.29731507 -0.24909853 0.13851840
+v 0.16824931 -0.25791598 0.26855603
+v 0.17359271 -0.25814316 -0.23484848
+v 0.22109495 -0.32194429 0.20314556
+v 0.23399078 -0.36436206 -0.06851969
+v 0.16635303 -0.39770347 -0.26063368
+v 0.28618048 -0.24874787 -0.23161067
+v 0.24648263 -0.33728703 0.12680461
+v 0.26903177 -0.25117298 0.19190773
+v 0.16397263 -0.36916919 0.21135919
+v 0.31548857 -0.25029271 0.05188559
+v 0.18998442 -0.40861845 -0.09745241
+v 0.23532259 -0.33644877 -0.23120331
+v 0.17243136 -0.39258907 -0.26442679
+v 0.22121816 -0.25211742 0.23615297
+v 0.18860642 -0.39459285 0.13448995
+v 0.26442383 -0.26526662 0.18951529
+v 0.18069369 -0.27295239 0.26260462
+v 0.16609650 -0.41299974 -0.18761264
+v 0.31672455 -0.25012811 -0.08233885
+v 0.26135615 -0.32164034 0.08159677
+v 0.27638726 -0.29255477 0.12046571
+v 0.21776983 -0.36455186 -0.20158268
+v 0.24638407 -0.32554687 -0.21628523
+v 0.18390193 -0.38651074 -0.26212974
+v 0.20304919 -0.29542017 0.23314822
+v 0.23383362 -0.34898951 0.13371221
+v 0.18834238 -0.40969841 -0.00814232
+v 0.17486229 -0.40924355 0.12625774
+v 0.16773784 -0.29571629 0.25517408
+v 0.18080410 -0.25780557 0.26284734
+v 0.23403737 -0.36439993 -0.08090394
+v 0.24679739 -0.33690145 -0.17216899
+v 0.18847705 -0.39372517 -0.21611897
+v 0.21822956 -0.26588159 0.23296489
+v 0.18023870 -0.29214815 0.25065701
+v 0.17282872 -0.26781181 0.26519175
+v 0.17765728 -0.39130679 -0.25944552
+v 0.17720352 -0.40625771 -0.18629877
+f 8 4 5
+f 12 4 8
+f 16 8 5
+f 16 5 9
+f 17 9 5
+f 17 5 4
+f 17 3 9
+f 17 11 3
+f 18 6 12
+f 19 10 3
+f 19 6 10
+f 19 3 11
+f 21 12 8
+f 21 1 12
+f 22 13 7
+f 22 2 9
+f 22 9 3
+f 22 3 13
+f 23 13 10
+f 23 10 7
+f 23 7 13
+f 24 13 3
+f 24 3 10
+f 24 10 13
+f 26 15 9
+f 26 9 2
+f 27 16 9
+f 27 9 15
+f 27 15 25
+f 27 8 16
+f 28 6 19
+f 28 12 6
+f 29 18 10
+f 29 10 6
+f 29 6 18
+f 30 7 10
+f 30 10 18
+f 30 21 14
+f 30 1 21
+f 31 18 12
+f 31 12 1
+f 31 30 18
+f 31 1 30
+f 32 4 12
+f 32 12 20
+f 33 20 17
+f 33 17 4
+f 33 4 20
+f 34 30 14
+f 34 7 30
+f 34 22 7
+f 35 26 2
+f 35 2 22
+f 35 22 34
+f 35 34 25
+f 35 25 15
+f 35 15 26
+f 36 27 25
+f 36 34 14
+f 36 25 34
+f 37 11 17
+f 37 17 20
+f 37 20 28
+f 37 28 19
+f 37 19 11
+f 38 28 20
+f 38 20 12
+f 38 12 28
+f 39 32 20
+f 39 20 4
+f 39 4 32
+f 40 36 21
+f 40 21 8
+f 40 8 27
+f 40 27 36
+f 41 36 14
+f 41 14 21
+f 41 21 36
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_26.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00485bd928c97f075740b272d286477b103512e
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.17932748 -0.38497829 0.16287078
+v 0.19726518 -0.40022793 -0.09971364
+v 0.17359271 -0.25814316 -0.09848484
+v 0.00496599 -0.26191252 0.21960545
+v 0.00571222 -0.40477144 0.20214823
+v 0.16824931 -0.25791598 0.26855603
+v 0.00692603 -0.37935528 -0.09848484
+v 0.00692603 -0.25814316 -0.09848484
+v 0.13766815 -0.35417257 0.23499896
+v 0.07742773 -0.25769286 0.26925774
+v 0.17282872 -0.26781181 0.26519175
+v 0.00664222 -0.36033720 0.22665576
+v 0.16405928 -0.35547989 0.21870620
+v 0.11600607 -0.32077716 0.26449007
+v 0.02011879 -0.32306850 0.23389870
+v 0.16416971 -0.30606462 0.24909351
+v 0.11931869 -0.32329361 0.26252399
+v 0.13541190 -0.30836539 0.26415143
+f 5 2 1
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 3 2
+f 8 2 7
+f 9 5 1
+f 10 8 4
+f 10 6 3
+f 10 3 8
+f 11 1 2
+f 11 2 3
+f 11 3 6
+f 12 4 5
+f 13 9 1
+f 13 1 11
+f 14 10 12
+f 14 12 5
+f 14 6 10
+f 15 12 10
+f 15 10 4
+f 15 4 12
+f 16 13 11
+f 16 9 13
+f 17 14 5
+f 17 5 9
+f 18 11 6
+f 18 6 14
+f 18 14 17
+f 18 16 11
+f 18 17 9
+f 18 9 16
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_27.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401dabc3a8da162c4c811116ad4a32faa66345c8
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.08054912 -0.44021748 -0.23120603
+v 0.21539657 -0.29661623 -0.34755525
+v 0.27378612 0.22787308 -0.25409548
+v -0.20519519 0.21155383 -0.23484848
+v -0.19263307 -0.32185780 -0.34681328
+v 0.22099161 -0.35233750 -0.23141653
+v 0.04792702 -0.40610284 -0.34814450
+v -0.19822877 -0.38832267 -0.23272324
+v -0.22523879 0.21564150 -0.36979001
+v -0.06480402 -0.44099664 -0.23095466
+v 0.21654308 -0.32021798 -0.31517186
+v 0.22038423 0.21069866 -0.34462150
+v -0.09497423 -0.39056574 -0.34769063
+v 0.10917415 -0.39200654 -0.34806876
+v 0.13407590 -0.42467707 -0.23103039
+v -0.12371296 -0.42536962 -0.23112777
+v -0.04911167 -0.43778222 -0.25853644
+v -0.17448933 -0.36386421 -0.31480646
+v 0.17571387 -0.36238461 -0.33131922
+v 0.11803803 -0.42190316 -0.27245789
+v -0.18413308 -0.39671008 -0.23194598
+v 0.06452449 -0.43677820 -0.25943541
+v -0.00729727 -0.40599077 -0.34765803
+v -0.10994832 -0.40627268 -0.30436779
+v -0.12142325 -0.42263224 -0.24538605
+v -0.18781099 -0.37992441 -0.27009201
+v -0.14936789 -0.36180592 -0.34602486
+v 0.16345599 -0.36125787 -0.34658617
+v 0.18634867 -0.33646949 -0.34737230
+v 0.21731229 -0.35001214 -0.25777980
+v 0.10892707 -0.40601410 -0.31724780
+v 0.18581310 -0.38011328 -0.27366541
+v 0.17701078 -0.37513142 -0.30328395
+v 0.07967380 -0.43704807 -0.24618960
+v 0.06333301 -0.42079214 -0.30432006
+v -0.04914803 -0.42059419 -0.30408848
+v -0.18068806 -0.39151917 -0.25689364
+v -0.18961607 -0.34868802 -0.31478901
+v 0.18634299 -0.36538355 -0.30416295
+v 0.13247564 -0.42202248 -0.24551878
+v 0.19268387 -0.38493028 -0.23259994
+v 0.14650708 -0.40510308 -0.27285569
+v -0.06398021 -0.40459196 -0.33135931
+v -0.15061926 -0.40521479 -0.25768410
+f 6 3 4
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 6 4
+f 11 2 3
+f 11 3 6
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 9 7
+f 13 5 9
+f 14 9 2
+f 14 7 9
+f 15 10 1
+f 15 6 10
+f 16 10 4
+f 17 1 10
+f 20 15 1
+f 21 16 4
+f 21 4 8
+f 22 17 7
+f 22 1 17
+f 23 13 7
+f 23 7 17
+f 25 17 10
+f 25 10 16
+f 25 24 17
+f 25 16 21
+f 27 18 5
+f 27 5 13
+f 27 13 24
+f 28 19 14
+f 29 2 11
+f 29 11 19
+f 29 19 28
+f 29 28 14
+f 29 14 2
+f 30 11 6
+f 31 7 14
+f 31 14 20
+f 33 20 14
+f 33 14 19
+f 34 22 20
+f 34 20 1
+f 34 1 22
+f 35 22 7
+f 35 20 22
+f 35 31 20
+f 35 7 31
+f 36 23 17
+f 36 24 13
+f 36 17 24
+f 37 25 21
+f 37 21 8
+f 37 8 26
+f 37 27 24
+f 37 26 18
+f 37 18 27
+f 38 26 8
+f 38 8 5
+f 38 5 18
+f 38 18 26
+f 39 19 11
+f 39 11 30
+f 39 30 32
+f 39 33 19
+f 39 32 33
+f 40 32 15
+f 40 15 20
+f 41 32 30
+f 41 30 6
+f 41 6 15
+f 41 15 32
+f 42 33 32
+f 42 20 33
+f 42 40 20
+f 42 32 40
+f 43 36 13
+f 43 13 23
+f 43 23 36
+f 44 37 24
+f 44 24 25
+f 44 25 37
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_28.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5cb4602beb3bf50e1b763087a52d51f971dc57
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28967480 -0.28539458 0.00860749
+v 0.26849935 -0.26816742 -0.24034462
+v 0.24935028 -0.01571891 0.00757577
+v -0.22034670 -0.01571891 0.00757577
+v -0.26336974 -0.27296058 -0.24930442
+v 0.24935028 -0.01571891 -0.23484848
+v -0.22034670 -0.25814316 0.00757577
+v -0.22034670 -0.01571891 -0.23484848
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_29.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05058dee800d9949a3405d2b8d4629ec22114bb2
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19726518 -0.40022793 -0.09971364
+v 0.18235584 -0.39313099 -0.23771176
+v 0.17359271 -0.25814316 -0.09848484
+v -0.22034670 -0.25814316 -0.09848484
+v -0.22710623 -0.38523842 -0.09928843
+v 0.17359271 -0.25814316 -0.23484848
+v -0.26336974 -0.27296058 -0.24930442
+v -0.21251708 -0.37234070 -0.23250872
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_3.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f517df4c6805767fd2605360b92a3b4c044a75
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.30341513 0.22884664 0.22559173
+v -0.15974064 0.22670534 -0.23484848
+v -0.17497689 0.31605629 0.25549875
+v -0.16916245 0.42715230 0.14071856
+v -0.26168789 0.29661957 -0.21591182
+v -0.15974064 0.22670534 0.00757577
+v -0.26271122 0.33609031 0.20931185
+v -0.33047453 0.21959187 -0.12574629
+v -0.15339324 0.41307891 -0.21853527
+v -0.15861521 0.43682337 0.00771933
+v -0.21699867 0.30918500 0.25523926
+v -0.28646801 0.21953611 -0.22985719
+v -0.27867832 0.35048161 0.01035567
+v -0.34599134 0.21802124 0.16861738
+v -0.17217106 0.38236943 0.22125831
+v -0.15423334 0.42542250 -0.12670578
+v -0.29589189 0.29093216 0.21059915
+v -0.31651960 0.21941383 -0.17038892
+v -0.15880035 0.40727226 -0.23471364
+v -0.24810203 0.33439883 -0.18368509
+v -0.26811958 0.36153032 0.15549796
+v -0.31626156 0.22373372 0.21151647
+v -0.36230189 0.21896162 0.08410272
+v -0.16983834 0.41210332 0.17948938
+v -0.17488626 0.33660800 0.24839042
+v -0.23909139 0.34632177 0.22110025
+v -0.22032287 0.39275350 -0.06532017
+v -0.26311964 0.28190233 -0.23134464
+v -0.24916788 0.32006141 -0.21433191
+v -0.22198350 0.40745372 0.09879765
+v -0.27906674 0.33687095 0.17969427
+v -0.31013769 0.26837137 0.20593897
+v -0.34481211 0.21994419 -0.05102651
+v -0.36189562 0.21852215 0.11237663
+v -0.32245118 0.29354099 0.12694252
+v -0.21170080 0.40435333 0.15497351
+v -0.18570097 0.37779260 0.22225468
+v -0.26672471 0.32397364 0.21797762
+v -0.20972849 0.40474551 -0.02034900
+v -0.21728617 0.36693177 -0.21713497
+v -0.27706435 0.23608174 -0.23110753
+v -0.23350631 0.33729113 -0.23243682
+v -0.19548078 0.41903349 0.12332712
+v -0.23560849 0.39215985 0.03950781
+v -0.27832015 0.35196092 0.15549823
+v -0.32994948 0.22400201 0.19472831
+v -0.33839335 0.24674110 0.00902970
+v -0.33879591 0.23094392 -0.04915357
+v -0.32258222 0.29138024 0.08658195
+v -0.30820629 0.30581356 0.16388037
+v -0.18348727 0.40866285 0.17654458
+v -0.23749418 0.37684075 0.17676664
+v -0.22135386 0.40621512 0.12417643
+v -0.19519622 0.42034378 0.05481978
+v -0.20843945 0.37484623 -0.21595464
+v -0.17824747 0.39282606 -0.23315694
+v -0.32144794 0.24983440 0.19603076
+v -0.32185243 0.27944342 0.16661543
+v -0.25307694 0.34435747 0.20849510
+v -0.20753875 0.37727755 0.20740332
+v -0.33915137 0.24999777 0.15229504
+f 6 3 1
+f 9 6 2
+f 11 1 3
+f 12 2 6
+f 14 12 6
+f 15 3 6
+f 15 6 10
+f 16 10 6
+f 16 6 9
+f 17 1 11
+f 18 8 5
+f 18 12 14
+f 19 9 2
+f 20 8 13
+f 22 14 6
+f 22 6 1
+f 24 15 10
+f 24 10 4
+f 25 11 3
+f 25 3 15
+f 27 16 9
+f 27 9 19
+f 28 18 5
+f 28 12 18
+f 29 5 8
+f 29 8 20
+f 31 17 7
+f 32 22 1
+f 32 1 17
+f 33 8 23
+f 34 18 14
+f 34 23 8
+f 34 8 18
+f 35 23 34
+f 37 25 15
+f 37 11 25
+f 37 26 11
+f 37 15 24
+f 38 17 11
+f 38 11 26
+f 38 26 7
+f 38 7 17
+f 39 10 16
+f 39 16 27
+f 40 20 13
+f 40 13 27
+f 41 2 12
+f 41 12 28
+f 42 28 5
+f 42 5 29
+f 42 29 20
+f 42 20 40
+f 42 41 28
+f 42 19 2
+f 42 2 41
+f 43 4 10
+f 43 36 4
+f 44 27 13
+f 44 13 30
+f 44 39 27
+f 44 30 39
+f 45 30 13
+f 45 21 30
+f 45 13 35
+f 45 31 7
+f 45 7 21
+f 46 14 22
+f 46 22 32
+f 47 33 23
+f 48 13 8
+f 48 8 33
+f 48 47 13
+f 48 33 47
+f 49 35 13
+f 49 23 35
+f 49 47 23
+f 49 13 47
+f 50 45 35
+f 50 17 31
+f 50 31 45
+f 51 24 4
+f 51 4 36
+f 51 37 24
+f 52 36 21
+f 52 21 7
+f 53 30 21
+f 53 21 36
+f 53 43 30
+f 53 36 43
+f 54 39 30
+f 54 10 39
+f 54 43 10
+f 54 30 43
+f 55 40 27
+f 55 27 19
+f 56 42 40
+f 56 19 42
+f 56 55 19
+f 56 40 55
+f 57 46 32
+f 57 32 14
+f 57 14 46
+f 58 32 17
+f 58 17 50
+f 58 14 32
+f 58 50 35
+f 59 52 7
+f 59 7 26
+f 59 26 52
+f 60 51 36
+f 60 36 52
+f 60 37 51
+f 60 52 26
+f 60 26 37
+f 61 34 14
+f 61 14 58
+f 61 58 35
+f 61 35 34
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_30.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2784013866e11053742dd06d0d29105fd812d0
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.38820943 -0.16534643 -0.09908672
+v 0.37613701 -0.15689998 -0.23615644
+v 0.40231567 0.11273523 -0.24536404
+v 0.24935028 0.09034170 -0.09848484
+v 0.24935028 -0.15208255 -0.09848484
+v 0.24935028 0.09034170 -0.23484848
+v 0.37056241 0.09034170 -0.09848484
+v 0.24935028 -0.15208255 -0.23484848
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_31.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869e0ce958bc9badf5c1e5a0e291c789367d53d2
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01156290 -0.43088189 0.17422951
+v 0.00692603 -0.37935528 0.00757577
+v 0.00692603 -0.01571891 0.14393941
+v -0.19066098 -0.02242022 0.19201715
+v -0.23248378 -0.39012764 0.00694499
+v 0.00692603 -0.01571891 0.00757577
+v -0.22074876 -0.37989914 0.14412509
+v -0.22034670 -0.01571891 0.00757577
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_4.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de6dc314ccf9b4e0d4352efd49f5493e2a65d64
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.18080410 -0.25780557 0.26284734
+v 0.28967480 -0.28539458 0.00860749
+v 0.25015547 0.09093378 0.26242665
+v 0.05457319 0.09509335 0.18718943
+v 0.00692603 -0.25814316 0.00757577
+v 0.24935028 -0.01571891 0.00757577
+v 0.07742773 -0.25769286 0.26925774
+v 0.23736064 -0.21997217 0.23573448
+v 0.24935028 0.09034170 0.15909093
+v 0.00692603 -0.01571891 0.00757577
+v 0.11316031 -0.23867737 0.27877932
+v 0.04356988 0.03680414 0.22241767
+v 0.00643538 -0.25899321 0.21844868
+v 0.23679941 -0.25231690 0.22145987
+v 0.25344261 0.03361668 0.25077589
+v 0.20563691 -0.25191793 0.25084607
+v 0.15225480 -0.24042195 0.27616981
+v 0.20898023 0.09151102 0.25038502
+v 0.00692603 -0.01571891 0.15909093
+v 0.00448139 -0.07923647 0.20757345
+v 0.14986589 -0.21569999 0.27634335
+v 0.04966289 0.08615697 0.19194532
+f 6 2 5
+f 7 2 1
+f 9 3 2
+f 9 2 6
+f 9 4 3
+f 10 6 5
+f 10 9 6
+f 10 4 9
+f 12 11 3
+f 12 7 11
+f 13 5 2
+f 13 2 7
+f 14 1 2
+f 14 2 8
+f 15 8 2
+f 15 2 3
+f 15 3 8
+f 16 8 3
+f 16 3 1
+f 16 14 8
+f 16 1 14
+f 17 11 7
+f 17 7 1
+f 17 1 3
+f 18 12 3
+f 18 3 4
+f 20 13 7
+f 20 7 12
+f 20 12 19
+f 20 19 10
+f 20 10 5
+f 20 5 13
+f 21 17 3
+f 21 3 11
+f 21 11 17
+f 22 18 4
+f 22 12 18
+f 22 19 12
+f 22 4 10
+f 22 10 19
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_5.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951352cc231248ee37bc90fb657325202b8a12dd
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.35417493 -0.01513458 0.23163985
+v 0.39601482 0.10272825 0.19393691
+v 0.33816425 0.14384203 0.24781722
+v 0.11152578 0.40254545 0.21290950
+v 0.00692603 0.33276595 0.14393941
+v 0.23895417 0.36406279 0.15740622
+v 0.08913905 0.25946441 0.24604395
+v 0.05457319 0.09509335 0.18718943
+v 0.34284832 0.21361536 0.17611492
+v 0.16649763 0.36383962 0.23350493
+v 0.29018424 0.04465490 0.26382963
+v 0.01221779 0.33369365 0.22341565
+v 0.20389574 0.22670534 0.14393941
+v 0.34256357 0.15271259 0.23641999
+v 0.17094386 0.38560934 0.21148695
+v 0.33323597 0.01769741 0.24537766
+v 0.15517143 0.34734671 0.24827657
+v 0.24892020 -0.01607337 0.23626063
+v 0.04966289 0.08615697 0.19194532
+v 0.34706021 0.21837595 0.15616287
+v 0.19261218 0.35359805 0.22010124
+v 0.12629208 0.40096911 0.21111972
+v 0.31827288 -0.01268915 0.24590816
+v 0.07051544 0.31471362 0.24685359
+v 0.11299576 0.37327741 0.23837092
+v 0.28990655 0.12039852 0.26283962
+v 0.24011636 0.09469310 0.26027700
+v 0.04494084 0.26138809 0.23136273
+v -0.01122971 0.21869543 0.18221599
+v 0.28477654 -0.01149651 0.24832998
+v 0.12983825 0.34366603 0.24678371
+v 0.10973600 0.39522142 0.21974534
+v 0.04261139 0.33034228 0.23627848
+v 0.25445173 0.01942219 0.24723102
+v 0.25489886 0.12716123 0.26085075
+v 0.06100427 0.23204306 0.23043703
+v 0.01852136 0.26180329 0.21646810
+v 0.28463618 0.04864540 0.26318951
+v 0.01540316 0.23021081 0.20625942
+f 1 2 3
+f 6 5 4
+f 12 4 5
+f 13 8 5
+f 13 2 1
+f 13 1 8
+f 13 5 6
+f 14 9 6
+f 14 3 2
+f 14 2 9
+f 16 1 3
+f 16 3 11
+f 17 3 10
+f 18 8 1
+f 19 8 18
+f 20 9 2
+f 20 2 13
+f 20 13 6
+f 20 6 9
+f 21 10 3
+f 21 3 14
+f 21 15 10
+f 21 14 6
+f 21 6 15
+f 22 15 6
+f 22 6 4
+f 22 10 15
+f 23 16 11
+f 23 1 16
+f 23 18 1
+f 25 17 10
+f 25 10 22
+f 26 11 3
+f 26 3 17
+f 26 17 24
+f 27 24 7
+f 28 7 24
+f 29 12 5
+f 29 5 8
+f 29 8 19
+f 30 23 11
+f 30 18 23
+f 31 25 24
+f 31 24 17
+f 31 17 25
+f 32 4 12
+f 32 12 25
+f 32 25 22
+f 32 22 4
+f 33 25 12
+f 33 24 25
+f 33 28 24
+f 33 12 28
+f 34 30 11
+f 34 18 30
+f 34 27 19
+f 34 19 18
+f 35 26 24
+f 35 24 27
+f 35 27 11
+f 35 11 26
+f 36 27 7
+f 36 7 28
+f 36 28 19
+f 36 19 27
+f 37 28 12
+f 37 12 29
+f 37 19 28
+f 38 34 11
+f 38 11 27
+f 38 27 34
+f 39 37 29
+f 39 29 19
+f 39 19 37
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_6.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8d1705d88d3315ba744fa27e0484a504f2e75c
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.34553430 -0.24714815 0.14976426
+v -0.30405817 -0.18762163 -0.31820838
+v -0.32629137 -0.01591170 0.26652181
+v -0.32336150 0.22599610 0.20196986
+v -0.44504330 0.00963532 -0.12720276
+v -0.31921260 0.19029864 0.22628691
+v -0.30060874 -0.20428821 -0.27645024
+v -0.41326240 -0.15848767 -0.17060969
+v -0.30595305 0.12337167 -0.36027990
+v -0.44411017 0.00059466 0.16937727
+v -0.37057322 -0.21260024 -0.10861248
+v -0.35521686 0.21316964 -0.01936488
+v -0.39983466 -0.04317774 -0.32759224
+v -0.30589080 -0.02989415 -0.41836235
+v -0.30236492 0.18981244 -0.24697174
+v -0.38580143 -0.13621749 0.21850497
+v -0.41663502 0.09778187 0.20689247
+v -0.44490777 -0.08465459 -0.12793817
+v -0.31734355 -0.22051950 -0.22899315
+v -0.40033357 -0.20340713 0.12302586
+v -0.38390777 0.08087368 -0.31389361
+v -0.38542825 -0.10809381 -0.31896276
+v -0.31651960 0.21941383 -0.17038892
+v -0.37962626 0.08806770 0.24861747
+v -0.39909453 0.16956087 0.14191459
+v -0.44500808 0.02637276 0.16976297
+v -0.43032487 -0.01507307 -0.26180203
+v -0.40071614 -0.15896929 -0.22385451
+v -0.38428047 -0.21612866 -0.02042778
+v -0.42925718 -0.14702162 -0.06692137
+v -0.38857385 -0.21203304 0.13793318
+v -0.41805305 -0.12844417 0.19036751
+v -0.36956658 0.03887565 -0.37151006
+v -0.36760284 0.11137468 -0.31706367
+v -0.30994506 -0.07569566 -0.41040670
+v -0.32659702 0.08912731 0.26223054
+v -0.39399227 -0.02956590 0.24705905
+v -0.38511277 0.16589705 0.18198316
+v -0.35741547 0.21500146 0.15150982
+v -0.41380748 0.09466092 -0.15684793
+v -0.44470537 -0.08780434 0.12778801
+v -0.42939341 0.11166115 0.05497246
+v -0.41602599 -0.09318328 -0.27362786
+v -0.31322252 -0.18028287 -0.31907559
+v -0.42843756 -0.13115748 -0.12600037
+v -0.39940158 -0.20186897 0.03966343
+v -0.40073361 0.04234923 -0.31565916
+v -0.31289550 0.07078982 -0.41667226
+v -0.34628591 0.10249239 -0.36206192
+v -0.35859806 0.10253429 -0.34659455
+v -0.38443076 0.13772949 -0.18559997
+v -0.37011107 -0.04200232 -0.37257080
+v -0.39382385 0.05747102 0.24648235
+v -0.38206560 -0.02925770 0.25201735
+v -0.40098799 -0.05629665 0.23618349
+v -0.41751456 0.11033038 0.19536252
+v -0.32994948 0.22400201 0.19472831
+v -0.40036217 0.16751760 0.03924324
+v -0.42988340 0.04007409 -0.20035338
+v -0.41469627 0.06439138 -0.24578131
+v -0.44424876 -0.05720266 0.15388614
+v -0.42899475 -0.14190377 0.13762032
+v -0.44411096 0.05565009 0.02370389
+v -0.41342780 -0.02722153 -0.30401332
+f 7 3 1
+f 7 6 3
+f 14 7 2
+f 15 4 6
+f 15 6 7
+f 15 14 9
+f 15 7 14
+f 16 1 3
+f 19 7 1
+f 19 1 11
+f 19 2 7
+f 23 12 4
+f 23 4 15
+f 24 6 4
+f 24 4 17
+f 26 5 18
+f 27 18 5
+f 28 19 11
+f 28 11 8
+f 29 11 1
+f 29 1 20
+f 29 8 11
+f 31 20 1
+f 31 1 16
+f 32 31 16
+f 32 20 31
+f 35 14 2
+f 36 3 6
+f 36 6 24
+f 39 25 38
+f 41 26 18
+f 41 18 30
+f 43 13 22
+f 43 22 28
+f 43 18 27
+f 43 28 8
+f 43 8 18
+f 44 2 19
+f 44 19 28
+f 44 28 22
+f 44 35 2
+f 44 22 35
+f 45 30 18
+f 45 18 8
+f 45 8 30
+f 46 29 20
+f 46 20 30
+f 46 30 8
+f 46 8 29
+f 48 9 14
+f 49 15 9
+f 49 9 48
+f 49 48 33
+f 50 34 23
+f 50 23 15
+f 50 15 49
+f 50 21 34
+f 50 47 21
+f 50 49 33
+f 50 33 47
+f 51 12 23
+f 51 23 34
+f 52 35 22
+f 52 22 13
+f 52 13 33
+f 52 14 35
+f 52 48 14
+f 52 33 48
+f 53 36 24
+f 53 3 36
+f 53 24 17
+f 53 17 26
+f 53 26 37
+f 54 37 16
+f 54 16 3
+f 54 53 37
+f 54 3 53
+f 55 32 16
+f 55 16 37
+f 55 10 32
+f 55 37 26
+f 55 26 10
+f 56 38 25
+f 56 17 4
+f 56 4 38
+f 56 25 42
+f 56 42 26
+f 56 26 17
+f 57 4 12
+f 57 12 39
+f 57 39 38
+f 57 38 4
+f 58 39 12
+f 58 25 39
+f 58 42 25
+f 58 12 51
+f 58 51 40
+f 58 40 42
+f 59 27 5
+f 59 42 40
+f 60 34 21
+f 60 59 40
+f 60 21 47
+f 60 47 27
+f 60 27 59
+f 60 51 34
+f 60 40 51
+f 61 10 26
+f 61 26 41
+f 61 41 32
+f 61 32 10
+f 62 41 30
+f 62 30 20
+f 62 20 32
+f 62 32 41
+f 63 5 26
+f 63 26 42
+f 63 59 5
+f 63 42 59
+f 64 43 27
+f 64 13 43
+f 64 27 47
+f 64 47 33
+f 64 33 13
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_7.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a914a363e28d6809c2deeaedb8f88e5a9a0085c2
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00664222 -0.36033720 0.22665576
+v 0.00692603 -0.36420377 0.14393941
+v 0.05047586 0.22552640 0.22401788
+v -0.04242555 0.22731149 0.20045203
+v -0.22748391 -0.37385810 0.14723549
+v -0.01122971 0.21869543 0.18221599
+v -0.22075825 0.15226468 0.23241832
+v 0.05179284 -0.09568582 0.21129818
+v 0.01540316 0.23021081 0.20625942
+v -0.22034670 0.15094777 0.14393941
+v -0.00122503 -0.01300828 0.29015548
+v 0.04364621 -0.07716354 0.20092286
+v -0.02334877 0.22454008 0.18188018
+v -0.00055227 0.01075212 0.28990438
+v 0.03845629 -0.03262448 0.23411021
+v -0.17853809 -0.29698141 0.24743426
+v 0.03854582 0.02239217 0.23556325
+v -0.18591089 -0.26256916 0.24704174
+v -0.16612316 -0.35738238 0.23294053
+v -0.08770162 -0.34262489 0.24574330
+v -0.21278833 -0.24887237 0.23315873
+v -0.07219668 -0.32808427 0.24758796
+v -0.16277223 -0.32693116 0.24648824
+v -0.04200894 -0.35818802 0.23183472
+v -0.20787104 -0.28484978 0.23450544
+v -0.14107265 -0.33993465 0.24555083
+v -0.21093594 -0.32743860 0.21876998
+v -0.21054799 -0.35257047 0.19271381
+f 5 2 1
+f 6 3 2
+f 7 3 4
+f 8 1 2
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 10 5 7
+f 10 7 4
+f 11 1 8
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 13 9 6
+f 13 4 9
+f 13 10 4
+f 13 6 10
+f 14 3 7
+f 14 7 11
+f 15 11 8
+f 15 8 3
+f 15 14 11
+f 17 15 3
+f 17 3 14
+f 17 14 15
+f 18 16 11
+f 18 11 7
+f 19 5 1
+f 21 18 7
+f 21 7 5
+f 22 20 1
+f 22 1 11
+f 22 11 20
+f 23 11 16
+f 24 20 19
+f 24 19 1
+f 24 1 20
+f 25 16 18
+f 25 18 21
+f 26 20 11
+f 26 11 23
+f 26 23 19
+f 26 19 20
+f 27 23 16
+f 27 16 25
+f 27 19 23
+f 27 25 21
+f 27 21 5
+f 28 27 5
+f 28 5 19
+f 28 19 27
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_8.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e121b424683fea2478b98aef2f21cbe01e54c58
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.07975919 -0.39737441 -0.35086251
+v 0.14194328 -0.35690679 -0.37407651
+v 0.12168266 -0.38364738 -0.35080346
+v -0.14800355 -0.14129964 -0.43686677
+v 0.02449425 -0.29297220 -0.47552474
+v 0.12594712 -0.13228486 -0.46351328
+v -0.16280166 -0.35257888 -0.34732633
+v 0.10309236 -0.36113152 -0.40469042
+v 0.13800130 -0.15177515 -0.45444356
+v -0.02160283 -0.13878286 -0.49051371
+v -0.04984020 -0.37497913 -0.38968924
+v -0.15278679 -0.24151913 -0.45339923
+v 0.11907080 -0.37927914 -0.36303393
+v 0.11892898 -0.27911262 -0.45683466
+v 0.07578039 -0.22405531 -0.49000271
+v -0.11875164 -0.13404263 -0.46570771
+v -0.06583188 -0.39589229 -0.35002573
+v 0.04851648 -0.39183228 -0.37507620
+v -0.18182248 -0.24766757 -0.42921166
+v -0.13155220 -0.30473797 -0.43018656
+v -0.03417049 -0.21013178 -0.48920785
+v 0.10718138 -0.37784797 -0.37587551
+v 0.11641928 -0.30502295 -0.44613288
+v 0.04722932 -0.14222255 -0.48916465
+v 0.07717110 -0.28023452 -0.47702474
+v 0.10666186 -0.25422717 -0.47303005
+v -0.09387440 -0.37553523 -0.37447322
+v 0.00801924 -0.39163597 -0.37496696
+v -0.17464367 -0.33366252 -0.35587768
+v -0.14900759 -0.28920028 -0.43273414
+v -0.12128972 -0.26295313 -0.45723503
+v -0.05009656 -0.32273862 -0.44422085
+v 0.00896814 -0.25086906 -0.48975437
+v -0.10788633 -0.16811673 -0.47347785
+v 0.07870982 -0.39276099 -0.36235509
+v 0.11934932 -0.33707459 -0.41676817
+v 0.07253609 -0.17020753 -0.48918669
+v 0.10054107 -0.31926040 -0.44548215
+v -0.10804382 -0.38394567 -0.35002114
+v -0.06466816 -0.39131359 -0.35922279
+v -0.13600743 -0.33401178 -0.39948103
+v -0.15239637 -0.26397309 -0.44405980
+v -0.17352705 -0.30213058 -0.39975778
+v -0.10906715 -0.22363599 -0.47259431
+v -0.07946464 -0.34793151 -0.41494912
+v -0.06341352 -0.29319804 -0.45786443
+v 0.05049289 -0.25178857 -0.48900694
+v -0.03487941 -0.15377093 -0.49006494
+v -0.14058589 -0.23850141 -0.46111496
+v 0.04877565 -0.29074031 -0.47498404
+v -0.15830675 -0.34830381 -0.35900313
+v -0.10491951 -0.37903483 -0.36018331
+v -0.13691235 -0.24839956 -0.45839361
+v -0.16898997 -0.29562094 -0.40941326
+v -0.16413931 -0.30719275 -0.40282395
+v -0.09428495 -0.23755205 -0.47285027
+v -0.10616816 -0.34997609 -0.40040975
+v -0.10641851 -0.31728485 -0.43074588
+v -0.01984436 -0.30774546 -0.45962631
+v -0.01938723 -0.28085872 -0.47367575
+v -0.09472238 -0.13981327 -0.47457344
+v -0.04846246 -0.26663632 -0.47268013
+f 7 1 3
+f 7 3 4
+f 9 3 2
+f 9 6 4
+f 9 4 3
+f 13 8 2
+f 13 2 3
+f 14 9 2
+f 16 4 6
+f 16 6 10
+f 17 1 7
+f 18 5 8
+f 19 16 12
+f 19 4 16
+f 22 13 3
+f 22 3 1
+f 22 8 13
+f 23 14 2
+f 24 10 6
+f 25 14 23
+f 26 15 6
+f 26 6 9
+f 26 9 14
+f 26 25 15
+f 26 14 25
+f 28 5 18
+f 28 18 1
+f 28 1 17
+f 29 7 4
+f 29 4 19
+f 31 20 30
+f 32 28 11
+f 32 5 28
+f 33 10 15
+f 35 18 8
+f 35 8 22
+f 35 22 1
+f 35 1 18
+f 36 23 2
+f 36 2 8
+f 37 15 10
+f 37 10 24
+f 37 24 6
+f 37 6 15
+f 38 25 23
+f 38 8 5
+f 38 36 8
+f 38 23 36
+f 39 27 17
+f 39 17 7
+f 40 27 11
+f 40 17 27
+f 40 28 17
+f 40 11 28
+f 41 30 20
+f 42 30 19
+f 42 19 12
+f 43 29 19
+f 43 7 29
+f 45 32 11
+f 45 11 27
+f 46 20 31
+f 47 5 33
+f 47 33 15
+f 47 15 25
+f 48 33 21
+f 48 10 33
+f 48 44 34
+f 48 21 44
+f 49 12 16
+f 49 16 34
+f 49 34 44
+f 49 42 12
+f 50 38 5
+f 50 25 38
+f 50 47 25
+f 50 5 47
+f 51 39 7
+f 51 43 41
+f 51 7 43
+f 52 41 27
+f 52 27 39
+f 52 51 41
+f 52 39 51
+f 53 31 30
+f 53 30 42
+f 53 49 31
+f 53 42 49
+f 54 43 19
+f 54 19 30
+f 54 30 43
+f 55 43 30
+f 55 30 41
+f 55 41 43
+f 56 44 21
+f 56 21 33
+f 56 49 44
+f 56 31 49
+f 57 45 27
+f 57 27 41
+f 57 41 20
+f 58 32 45
+f 58 46 32
+f 58 20 46
+f 58 57 20
+f 58 45 57
+f 59 5 32
+f 59 32 46
+f 60 33 5
+f 60 59 46
+f 60 5 59
+f 60 46 31
+f 61 48 34
+f 61 34 16
+f 61 16 10
+f 61 10 48
+f 62 56 33
+f 62 33 60
+f 62 60 31
+f 62 31 56
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/collision/model_normalized_collision_9.obj b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b3f1822d50ff2a6d855d4921b63b48af386a59
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08008350 -0.45114200 0.12494339
+v 0.18235584 -0.39313099 -0.23771176
+v 0.16951268 -0.36047020 0.21278856
+v -0.21527844 -0.35818660 0.18327419
+v -0.13495519 -0.42029575 -0.22952588
+v -0.21251708 -0.37234070 -0.23250872
+v -0.14030424 -0.36430989 0.23407909
+v 0.16407931 -0.41952174 0.08096017
+v 0.03438880 -0.46816781 -0.11183063
+v 0.15212847 -0.35842710 0.22415960
+v -0.16653702 -0.43614232 0.08114648
+v -0.07888997 -0.43726192 -0.22992447
+v 0.18552835 -0.37590680 0.16695785
+v 0.11719656 -0.45259936 -0.09770586
+v -0.14223704 -0.35810523 0.23688958
+v 0.10911944 -0.39393634 0.20731899
+v -0.17842872 -0.42165636 -0.09565560
+v -0.20793971 -0.40761124 0.06672542
+v -0.06819133 -0.46811471 0.08059032
+v -0.16693217 -0.40669179 0.17434434
+v 0.11027617 -0.43619799 -0.23022312
+v 0.16175601 -0.39191286 0.17921408
+v 0.11737165 -0.45216270 0.05280943
+v 0.16175715 -0.42093524 -0.15591666
+v -0.16919844 -0.35832883 0.22971891
+v -0.05825905 -0.36874298 0.23032657
+v 0.15256688 -0.37916839 0.21211480
+v -0.20308993 -0.39433937 -0.19928094
+v -0.10903216 -0.45154345 -0.11166449
+v -0.22748391 -0.37385810 0.14723549
+v -0.20898895 -0.40667853 -0.03699145
+v -0.10647084 -0.45136531 0.12204101
+v -0.04937683 -0.45352145 -0.20122076
+v 0.11006768 -0.45253842 -0.14208363
+v 0.14959922 -0.42096430 0.12658221
+v 0.06449625 -0.46789283 0.00700753
+v 0.11798034 -0.43826256 -0.21548767
+v -0.12232846 -0.42152598 0.18007728
+v -0.20957101 -0.38062119 0.16594249
+v -0.05667527 -0.35902664 0.23436703
+v 0.14918126 -0.37088167 0.21916928
+v 0.09022221 -0.43783536 0.14680658
+v 0.16397263 -0.36916919 0.21135919
+v -0.19594844 -0.39161310 -0.23062339
+v -0.09241491 -0.46692741 0.00869915
+v -0.14785561 -0.43638224 -0.12589285
+v -0.17806227 -0.42375438 0.10810319
+v -0.16330126 -0.43716377 -0.02267328
+v -0.09182781 -0.46626227 0.06597725
+v -0.09203879 -0.45113639 0.13597098
+v 0.04973465 -0.45188123 -0.20101756
+v -0.12394212 -0.43562614 -0.18550628
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diff --git a/bell_pepper/bell_pepper_1/model.xml b/bell_pepper/bell_pepper_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9e8066bfe778b17c300606bd8d2d9b1325a187d
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bell_pepper_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.003" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.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"/>
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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_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.2730849999998404e-05 4.8654899999999696e-05 -0.04210617599999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.2730849999998404e-05 4.8654899999999696e-05 0.042855982199999976" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04005155609999998 0.044368082999999975 0.00037490309999999954" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bell_pepper/bell_pepper_1/visual/image0.png b/bell_pepper/bell_pepper_1/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2caadd7975b2871367af51ae574c7ef2bfd05b22
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d2f809c387c5dfe2cbe4473c6f80ecf7e58dcd0a42e7279396e8e9baec4817
+size 823949
diff --git a/bell_pepper/bell_pepper_1/visual/material.mtl b/bell_pepper/bell_pepper_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_1/visual/material_0.jpeg b/bell_pepper/bell_pepper_1/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..dc8e8d3672dc951eb564ac1bec4fc25235c3df1c
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62710a9faf366acae85efff3c61ba5485fc92185659ae8217830704ae69b220d
+size 81120
diff --git a/bell_pepper/bell_pepper_1/visual/model_normalized_0.obj b/bell_pepper/bell_pepper_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f86d48c2a067ec624a4abe876ca12a2a72836f
--- /dev/null
+++ b/bell_pepper/bell_pepper_1/visual/model_normalized_0.obj
@@ -0,0 +1,6974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.37733643 -0.01508480 0.43063570
+v -0.40433350 -0.02074462 0.42927073
+v -0.40418142 -0.01372210 0.43032221
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+v -0.34341244 -0.00100423 0.43872562
+v -0.37731872 -0.00056834 0.43506085
+v -0.34357851 0.01052313 0.43590067
+v -0.40202975 -0.00758870 0.43528148
+v -0.37675397 -0.02203553 0.43287160
+v -0.34391844 -0.00855823 0.44135673
+v -0.34381722 -0.01559403 0.44261401
+v -0.40351150 -0.02678026 0.42953288
+v -0.39936250 -0.00320424 0.43921989
+v -0.37774958 0.00600489 0.43968150
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diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_0.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec7aa5c21f7fe751954effe32ed898044a91c02
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+f 63 45 58
+f 64 56 45
+f 64 45 33
+f 64 33 56
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_1.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e8ca363c4e1c83d335f6466c1aa55e5737502b
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00906368 -0.32873611 -0.06845674
+v 0.01024828 -0.29422415 -0.17459282
+v 0.00757576 0.16201302 0.00187912
+v -0.23484848 0.16201302 0.00187912
+v -0.23131828 -0.26004331 -0.14593451
+v -0.24720684 0.18115264 -0.20342233
+v 0.00757576 -0.20162334 0.00187912
+v 0.01026414 -0.32258106 -0.07796171
+v -0.00543807 -0.32759569 -0.06660648
+v 0.00757576 0.16201302 -0.17993906
+v -0.23484848 -0.20162334 0.00187912
+v -0.23067436 -0.24723129 -0.17213788
+v -0.23016543 -0.28087984 -0.06530672
+v -0.21596457 -0.25916460 -0.15556476
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 5
+f 11 4 6
+f 11 7 4
+f 11 9 7
+f 12 6 2
+f 12 5 6
+f 13 11 5
+f 13 5 9
+f 13 9 11
+f 14 12 2
+f 14 2 5
+f 14 5 12
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_10.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52525cbad3a9ce0df30de8251a1c77fcd4df9ab4
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.33045264 0.27054616 0.00138252
+v 0.33090271 0.26088702 -0.14891567
+v 0.25754698 0.35816695 0.00515125
+v -0.09686096 0.33576996 0.00298784
+v -0.03787879 0.25292211 0.00187912
+v 0.02559055 0.27932833 -0.23158872
+v 0.29683751 0.33191451 0.00699050
+v 0.00757576 0.25292211 0.00187912
+v 0.23120471 0.27997072 -0.22843530
+v 0.10093166 0.35497155 -0.02235008
+v -0.03835683 0.25650276 -0.25767545
+v 0.31382463 0.30462654 0.00496757
+v 0.30085929 0.28101441 -0.17276306
+v 0.08558979 0.35920410 0.00477208
+v -0.05001658 0.34448491 0.00410042
+v 0.33204557 0.25987086 -0.13584392
+v 0.18914039 0.29535565 -0.20531626
+v -0.10410391 0.28451600 -0.12663675
+v -0.03383405 0.33961843 -0.03870712
+v 0.25016742 0.25334531 -0.25609111
+v 0.24496201 0.26780251 -0.24279051
+v 0.32413399 0.27041501 -0.14788350
+v 0.28240951 0.34427849 0.00408747
+v 0.24620829 0.29529734 -0.18852233
+v 0.23196489 0.35575268 -0.02224920
+v 0.11494649 0.29525266 -0.20537731
+v -0.10501020 0.33338471 -0.00260830
+v -0.03564656 0.26719327 -0.23421811
+v 0.08600823 0.35643543 -0.00984296
+v 0.32089358 0.26444287 -0.17803265
+v 0.31593037 0.26997684 -0.17417989
+v 0.26250741 0.28823837 -0.19347324
+v 0.25615363 0.35546993 -0.00545632
+v -0.10733574 0.29766366 -0.09603366
+v -0.04868845 0.34013303 -0.02352285
+v -0.00233965 0.27875734 -0.21966193
+v -0.03682813 0.26020393 -0.25134751
+v -0.09470365 0.32646163 -0.03689651
+f 8 7 5
+f 12 2 7
+f 12 8 1
+f 12 7 8
+f 14 7 3
+f 15 4 5
+f 15 5 7
+f 15 7 14
+f 16 1 8
+f 16 12 1
+f 16 2 12
+f 17 9 6
+f 18 11 5
+f 19 15 14
+f 20 8 5
+f 20 5 11
+f 20 16 8
+f 20 2 16
+f 21 11 6
+f 21 6 9
+f 21 20 11
+f 22 7 2
+f 23 13 3
+f 23 3 7
+f 23 7 22
+f 24 9 17
+f 25 14 3
+f 25 10 14
+f 25 24 17
+f 26 17 6
+f 26 25 17
+f 26 10 25
+f 26 19 10
+f 26 6 19
+f 27 5 4
+f 27 4 15
+f 29 19 14
+f 29 14 10
+f 29 10 19
+f 30 2 20
+f 30 22 2
+f 30 21 13
+f 30 20 21
+f 31 23 22
+f 31 13 23
+f 31 30 13
+f 31 22 30
+f 32 13 21
+f 32 21 9
+f 32 9 24
+f 33 25 3
+f 33 24 25
+f 33 32 24
+f 33 3 13
+f 33 13 32
+f 34 18 5
+f 34 5 27
+f 34 11 18
+f 35 27 15
+f 35 15 19
+f 35 19 27
+f 36 28 19
+f 36 19 6
+f 36 6 28
+f 37 28 6
+f 37 6 11
+f 37 11 34
+f 38 27 19
+f 38 19 28
+f 38 34 27
+f 38 37 34
+f 38 28 37
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_11.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b34cb970a1bec80c4cb8e007c805beb142e6afc
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.23398004 -0.28914452 -0.05479972
+v -0.23392858 -0.25892408 -0.14791678
+v -0.23484848 0.13170999 0.00187912
+v -0.45274758 0.12986750 0.00349067
+v -0.47194580 -0.18493460 0.00693267
+v -0.23484848 0.13170999 -0.14963603
+v -0.23016543 -0.28087984 -0.06530672
+v -0.40564741 -0.19886056 -0.13980441
+v -0.23484848 -0.18647183 0.00187912
+v -0.47360590 -0.14304410 0.01035703
+v -0.23192420 -0.26301910 -0.13141831
+v -0.26273558 -0.28634121 -0.05040225
+v -0.48296404 -0.08757154 -0.15156068
+v -0.28839669 -0.24384890 -0.14054500
+v -0.30587732 -0.26844200 -0.05004732
+v -0.44350664 -0.16551918 -0.14255224
+v -0.43239369 0.11446925 -0.14562188
+v -0.49211299 -0.00942400 -0.10750550
+v -0.43676790 -0.18325686 -0.12865829
+v -0.44523099 -0.17552499 -0.12982699
+v -0.47347418 0.06314351 -0.14693350
+v -0.49062649 -0.03535616 -0.12069372
+v -0.47687888 -0.13464660 -0.08493764
+v -0.47380295 0.06247974 -0.12167289
+v -0.44558419 0.10195995 -0.14566167
+v -0.49025151 -0.00900253 -0.14708683
+v -0.46005400 -0.16147474 -0.09963651
+v -0.48884446 -0.02990416 -0.14795432
+f 6 4 3
+f 7 6 3
+f 9 7 3
+f 9 1 7
+f 10 3 4
+f 10 9 3
+f 10 5 9
+f 11 7 1
+f 11 1 2
+f 11 2 6
+f 11 6 7
+f 12 2 1
+f 12 9 5
+f 12 1 9
+f 13 6 2
+f 14 12 8
+f 14 8 2
+f 14 2 12
+f 15 12 5
+f 15 5 8
+f 15 8 12
+f 16 13 2
+f 16 2 8
+f 17 4 6
+f 18 10 4
+f 18 5 10
+f 19 8 5
+f 20 13 16
+f 20 19 5
+f 20 16 8
+f 20 8 19
+f 21 17 6
+f 21 6 13
+f 22 13 5
+f 22 5 18
+f 23 5 13
+f 24 21 18
+f 24 18 4
+f 24 4 21
+f 25 21 4
+f 25 4 17
+f 25 17 21
+f 26 21 13
+f 26 22 18
+f 26 18 21
+f 27 20 5
+f 27 5 23
+f 27 23 13
+f 27 13 20
+f 28 26 13
+f 28 13 22
+f 28 22 26
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_12.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0fb03607839eba575da8864e8261fd0915952e
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00847211 -0.36787976 0.10573365
+v 0.00784397 -0.36353504 0.00352866
+v 0.00757576 0.16201302 0.18369730
+v -0.21969697 0.16201302 0.18369730
+v -0.24769706 -0.33157649 0.01846133
+v 0.00757576 0.16201302 0.00187912
+v 0.00375865 -0.32749515 0.21198935
+v -0.18634503 -0.35042546 0.03564845
+v -0.21969697 0.16201302 0.00187912
+v 0.00935504 -0.36879016 0.01910195
+v 0.00974187 -0.35396622 0.16315477
+v -0.25092564 -0.00710453 0.23339876
+v -0.22903479 -0.33427631 0.00699223
+v -0.23029055 -0.29606134 0.19010231
+v -0.23484848 -0.01980516 0.00187912
+v -0.15769498 -0.35096997 0.02232863
+v -0.05120950 -0.36728233 0.09130492
+v 0.00757576 -0.01980516 0.19884882
+v -0.24382592 -0.33354062 0.02109603
+v -0.24844102 -0.33191579 0.10649154
+v -0.15428089 -0.33503153 0.15929881
+v -0.05115649 -0.36586571 0.03436878
+v -0.02115737 -0.36605778 0.02015033
+v -0.11070705 -0.35102571 0.00598814
+v -0.03669560 -0.36639402 0.10487247
+v -0.24427833 -0.33407595 0.10279544
+v -0.11173116 -0.34923240 0.14638086
+v -0.23076936 -0.32249130 0.14606610
+v -0.18571064 -0.35071906 0.08980075
+v -0.14056078 -0.35012007 0.13134716
+v -0.21524453 -0.31983438 0.15978489
+v -0.21464794 -0.33321910 0.13040115
+f 6 4 3
+f 9 4 6
+f 10 2 6
+f 11 1 10
+f 11 10 6
+f 11 6 3
+f 12 3 4
+f 12 4 9
+f 14 7 12
+f 15 9 6
+f 15 6 2
+f 15 2 13
+f 15 13 5
+f 15 12 9
+f 15 5 12
+f 16 8 13
+f 17 10 1
+f 18 11 3
+f 18 7 11
+f 18 12 7
+f 18 3 12
+f 19 13 8
+f 19 5 13
+f 20 14 12
+f 20 12 5
+f 21 7 14
+f 22 8 16
+f 22 17 8
+f 22 10 17
+f 23 2 10
+f 23 22 16
+f 23 10 22
+f 24 16 13
+f 24 13 2
+f 24 23 16
+f 24 2 23
+f 25 17 1
+f 25 1 11
+f 26 20 5
+f 26 5 19
+f 26 19 8
+f 27 11 7
+f 27 7 21
+f 27 25 11
+f 28 14 20
+f 29 26 8
+f 29 8 17
+f 30 26 29
+f 30 29 17
+f 30 17 25
+f 30 25 27
+f 30 27 21
+f 31 28 21
+f 31 21 14
+f 31 14 28
+f 32 20 26
+f 32 26 30
+f 32 28 20
+f 32 30 21
+f 32 21 28
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_13.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d5cd41ed4637f496b729ff58b7f4713515461a
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20502620 -0.25015158 -0.25935159
+v 0.32909127 -0.13902905 -0.24843321
+v -0.17171603 -0.20795717 -0.24813355
+v -0.08053793 0.25424593 -0.24872418
+v 0.12645796 0.03938239 -0.35996311
+v -0.22874223 0.15056691 -0.24649433
+v 0.26883480 -0.08958815 -0.31163718
+v -0.05115773 -0.10322292 -0.34361990
+v 0.24720792 0.26101597 -0.24911799
+v -0.14002120 0.08290863 -0.34313519
+v 0.28579893 -0.14869240 -0.28210418
+v 0.01343735 -0.23850448 -0.27314209
+v 0.12615085 -0.08854700 -0.34186068
+v -0.11997582 0.24081729 -0.24756049
+v 0.27404534 0.05321479 -0.31894508
+v -0.08013784 -0.03248345 -0.35957414
+v -0.22888938 -0.06257956 -0.31193423
+v 0.11281903 0.18108453 -0.32886696
+v 0.30966529 -0.13736910 -0.27164529
+v 0.20267687 -0.17946594 -0.29744264
+v 0.00665357 -0.24924958 -0.25745764
+v -0.15432883 -0.14596616 -0.31281015
+v 0.12508769 -0.01733947 -0.35960547
+v 0.20285567 0.27232235 -0.24912741
+v -0.22781389 0.09586578 -0.31383457
+v 0.33482438 -0.09433428 -0.25133467
+v -0.03685567 0.06738896 -0.35932626
+v -0.23339683 -0.16853715 -0.25185831
+v -0.19841508 0.01171741 -0.32807178
+v 0.18717513 0.17376276 -0.32798029
+v -0.06383599 0.19661949 -0.31377887
+v 0.32173817 -0.15500775 -0.25232275
+v 0.28545116 -0.00400056 -0.31711572
+v 0.20271495 -0.23537428 -0.27208277
+v 0.24331722 -0.11730554 -0.31166253
+v 0.02068212 -0.10301682 -0.34356138
+v -0.18118708 -0.15563896 -0.29916379
+v -0.07722503 -0.16045107 -0.31218361
+v -0.12427883 -0.07578382 -0.34190458
+v 0.02462032 0.27063137 -0.24977513
+v -0.22448236 0.11568806 -0.29956068
+v 0.32755787 -0.09367465 -0.26176424
+v -0.06553290 0.05335219 -0.35916181
+v -0.23014145 -0.11180337 -0.29910361
+v -0.19908059 0.08173300 -0.32806344
+v -0.13853822 -0.04754122 -0.34369305
+v 0.22652294 0.12978800 -0.32750148
+v 0.03638567 0.06670792 -0.35895891
+v 0.19931532 0.22403363 -0.29834155
+v -0.09226794 0.22368414 -0.28662739
+v -0.06406686 0.12740293 -0.34350446
+v 0.32393091 -0.13716826 -0.25570355
+v 0.31465341 -0.15299693 -0.26128384
+v 0.28468757 -0.04651962 -0.31220162
+v 0.24469844 -0.04797983 -0.32944989
+v 0.21495939 -0.13406310 -0.31202449
+v 0.15652094 -0.22386871 -0.28268850
+v 0.09652274 -0.04520603 -0.35923143
+v -0.18224032 -0.18471666 -0.27051007
+v -0.00341321 -0.21711779 -0.28472955
+v -0.05081008 -0.06014311 -0.35811321
+v -0.09543272 -0.08942870 -0.34352094
+v -0.11623479 0.23567837 -0.25925792
+v -0.07944226 0.02481559 -0.35896707
+f 1 2 3
+f 6 3 2
+f 9 6 2
+f 14 6 9
+f 19 11 7
+f 21 12 1
+f 21 1 3
+f 21 3 12
+f 23 16 5
+f 24 14 9
+f 26 15 9
+f 26 9 2
+f 27 5 16
+f 28 3 6
+f 28 6 25
+f 29 17 25
+f 32 2 1
+f 33 15 26
+f 34 1 12
+f 35 7 11
+f 35 34 20
+f 35 11 34
+f 37 22 12
+f 38 22 8
+f 40 4 14
+f 40 14 24
+f 41 25 6
+f 42 26 2
+f 42 33 26
+f 43 27 16
+f 44 28 25
+f 44 25 17
+f 44 37 28
+f 44 22 37
+f 44 39 22
+f 44 17 39
+f 45 10 16
+f 45 16 29
+f 45 29 25
+f 45 31 10
+f 45 25 31
+f 46 29 16
+f 46 17 29
+f 46 39 17
+f 46 16 39
+f 47 15 5
+f 47 5 30
+f 47 9 15
+f 48 27 18
+f 48 18 30
+f 48 30 5
+f 48 5 27
+f 49 24 9
+f 49 47 30
+f 49 9 47
+f 49 30 18
+f 49 40 24
+f 49 18 31
+f 49 31 40
+f 50 40 31
+f 50 4 40
+f 50 31 25
+f 50 25 41
+f 51 10 31
+f 51 43 10
+f 51 27 43
+f 51 31 18
+f 51 18 27
+f 52 2 32
+f 52 42 2
+f 52 19 42
+f 53 32 1
+f 53 11 19
+f 53 52 32
+f 53 19 52
+f 53 34 11
+f 53 1 34
+f 54 19 7
+f 54 42 19
+f 54 33 42
+f 55 23 5
+f 55 5 15
+f 55 15 33
+f 55 7 35
+f 55 54 7
+f 55 33 54
+f 56 35 20
+f 56 20 13
+f 56 13 35
+f 57 36 13
+f 57 13 20
+f 57 20 34
+f 57 34 12
+f 57 8 36
+f 58 13 36
+f 58 23 55
+f 58 55 35
+f 58 35 13
+f 58 16 23
+f 59 37 12
+f 59 12 3
+f 59 3 28
+f 59 28 37
+f 60 38 8
+f 60 12 22
+f 60 22 38
+f 60 57 12
+f 60 8 57
+f 61 39 16
+f 61 16 58
+f 61 58 36
+f 61 36 8
+f 62 8 22
+f 62 22 39
+f 62 61 8
+f 62 39 61
+f 63 41 6
+f 63 6 14
+f 63 50 41
+f 63 14 4
+f 63 4 50
+f 64 43 16
+f 64 16 10
+f 64 10 43
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_14.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63d2c0aa0fcecb87b6183f9df6ec9239a1dc1fb9
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.00770471 -0.33691935 0.19817554
+v 0.00950636 -0.32340874 0.21938419
+v -0.23029055 -0.29606134 0.19010231
+v -0.25092564 -0.00710453 0.23339876
+v 0.00757576 -0.01980516 0.19884882
+v -0.07948606 -0.13995246 0.34782275
+v -0.09636678 -0.32682222 0.19045408
+v -0.15601835 -0.23294998 0.28759381
+v 0.00747566 -0.02779211 0.33555527
+v 0.00996576 -0.27993823 0.27959717
+v -0.26259951 -0.16974352 0.28407794
+v -0.12090430 -0.07429406 0.33266734
+v 0.00999394 -0.17922484 0.34789082
+v 0.01007400 -0.29242999 0.26368728
+v -0.15529074 -0.26063803 0.25994281
+v -0.19807665 -0.19434799 0.30179831
+v -0.09322693 -0.03388334 0.31738823
+v -0.06468832 -0.07317914 0.34819754
+v -0.22734356 -0.11419901 0.30121933
+v 0.00812796 -0.05715144 0.35065660
+v -0.01900066 -0.27645025 0.27663371
+v -0.22709013 -0.22026889 0.27397544
+v -0.16962973 -0.30531658 0.20103641
+v -0.18389042 -0.16753587 0.31585692
+v -0.10880447 -0.17682080 0.33047704
+v -0.03435888 -0.03046052 0.33190038
+v -0.18339907 -0.03460145 0.28724661
+v -0.07845732 -0.08246094 0.34748641
+v -0.07749876 -0.04788108 0.33316304
+v -0.26384120 -0.09616798 0.28517584
+v -0.09529602 -0.26132105 0.27374946
+v -0.07956170 -0.28987304 0.24518136
+v -0.19824892 -0.21837920 0.28717598
+v -0.19916559 -0.27440648 0.22951833
+v -0.24069999 -0.19310708 0.28461387
+v -0.17148902 -0.31138658 0.19149356
+v -0.22648892 -0.16760964 0.30001007
+v -0.05044666 -0.16564236 0.34594028
+v -0.00557334 -0.17785208 0.34655877
+v -0.03537068 -0.05716296 0.34631101
+v -0.13673660 -0.10004913 0.33097205
+v -0.10667079 -0.05989503 0.33056603
+v -0.25763750 -0.16696048 0.28677437
+v -0.22888955 -0.04408048 0.27414141
+v -0.18248726 -0.10002784 0.31537598
+v -0.00435608 -0.29086134 0.26248365
+v -0.22769101 -0.28943260 0.20026541
+v -0.13829030 -0.14972802 0.33055710
+v -0.18292241 -0.05811712 0.30115894
+v -0.23003512 -0.03005467 0.26319104
+v -0.21253885 -0.03379121 0.27419620
+f 5 2 1
+f 5 3 4
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 9 5 4
+f 11 4 3
+f 13 8 10
+f 14 2 5
+f 14 13 10
+f 14 5 13
+f 14 7 2
+f 20 13 5
+f 20 5 9
+f 20 18 6
+f 20 6 13
+f 21 10 8
+f 25 24 16
+f 25 6 24
+f 25 16 8
+f 26 9 4
+f 26 4 17
+f 27 17 4
+f 28 18 12
+f 28 6 18
+f 29 17 27
+f 29 26 17
+f 30 4 11
+f 31 21 8
+f 31 8 15
+f 31 15 21
+f 32 10 21
+f 32 21 15
+f 32 15 23
+f 32 23 7
+f 33 15 8
+f 33 8 16
+f 33 16 22
+f 34 33 22
+f 34 15 33
+f 34 23 15
+f 35 22 16
+f 35 11 22
+f 36 23 3
+f 36 3 7
+f 36 7 23
+f 37 16 24
+f 37 35 16
+f 37 11 35
+f 37 24 19
+f 38 13 6
+f 38 6 25
+f 39 25 8
+f 39 8 13
+f 39 38 25
+f 39 13 38
+f 40 20 9
+f 40 9 26
+f 40 18 20
+f 40 29 18
+f 40 26 29
+f 41 28 12
+f 41 19 24
+f 41 6 28
+f 42 12 18
+f 42 18 29
+f 42 29 27
+f 43 30 11
+f 43 19 30
+f 43 37 19
+f 43 11 37
+f 44 4 30
+f 45 30 19
+f 45 12 30
+f 45 41 12
+f 45 19 41
+f 46 14 10
+f 46 10 32
+f 46 32 7
+f 46 7 14
+f 47 34 22
+f 47 3 23
+f 47 23 34
+f 47 22 11
+f 47 11 3
+f 48 41 24
+f 48 24 6
+f 48 6 41
+f 49 42 27
+f 49 12 42
+f 49 27 44
+f 49 44 30
+f 49 30 12
+f 50 4 44
+f 51 50 44
+f 51 44 27
+f 51 27 4
+f 51 4 50
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_15.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d4331de4ac11b4b354c1d79e41ea32c607a1fe
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.28361982 -0.01697058 0.28074176
+v 0.32557683 0.21568771 0.00311540
+v 0.29482583 0.17186791 0.29225081
+v 0.26008015 0.36172849 0.09113591
+v 0.26434308 0.11666097 0.00106547
+v 0.32179043 0.29075266 0.10591844
+v 0.25726692 0.17168085 0.32280099
+v 0.29968384 -0.01061209 0.21554098
+v 0.26332628 0.35484166 0.00231921
+v 0.26535659 0.33178861 0.17493762
+v 0.28127833 0.08700458 0.31880068
+v 0.25905813 0.00114425 0.29521244
+v 0.27022026 0.11862478 -0.00512075
+v 0.32461223 0.27652559 0.11855489
+v 0.29286218 0.05959709 0.29763559
+v 0.26034850 0.36162782 0.03315253
+v 0.32153162 0.29000352 0.00611262
+v 0.29341652 0.32787038 0.13166624
+v 0.28163089 0.19868828 0.29177633
+v 0.25854594 0.33592951 0.17766914
+v 0.28228003 0.12955596 0.31834841
+v 0.25798885 0.04568558 0.32401603
+v 0.26248471 -0.00604164 0.15497692
+v 0.30116519 -0.01147868 0.24093853
+v 0.28091592 0.04706311 0.30752603
+v 0.30766415 0.16812064 0.22171719
+v 0.29683751 0.33191451 0.00699050
+v 0.30902837 0.30327570 0.13054879
+v 0.26653637 0.16860111 0.31752356
+v 0.27883341 0.32904249 0.15699564
+v 0.25663500 0.19986726 0.30880478
+v 0.25852026 0.34934278 0.15024584
+v 0.26973865 -0.01609801 0.29138615
+v 0.26806167 -0.01099878 0.16024434
+v 0.26977261 0.04751015 0.31749768
+v 0.28240951 0.34427849 0.00408747
+v 0.27056357 0.35627017 0.09080593
+v 0.30784960 0.31764216 0.10476380
+v 0.30785835 0.29178123 0.14539621
+v 0.26881925 0.19749222 0.30219601
+v 0.27044744 0.34253530 0.14724120
+v 0.25957543 0.01995253 0.30906527
+v 0.27016899 0.35556615 0.03217846
+v 0.30717598 0.31864073 0.06432498
+v 0.28130092 0.34442663 0.11799767
+f 13 2 8
+f 13 9 2
+f 13 5 9
+f 16 9 5
+f 16 5 12
+f 17 2 9
+f 17 14 2
+f 17 6 14
+f 20 19 10
+f 21 15 3
+f 21 11 15
+f 22 16 12
+f 22 21 7
+f 22 11 21
+f 23 12 5
+f 23 5 13
+f 24 8 2
+f 24 2 14
+f 24 15 1
+f 24 1 8
+f 25 15 11
+f 25 1 15
+f 26 14 3
+f 26 3 15
+f 26 24 14
+f 26 15 24
+f 28 14 6
+f 29 3 19
+f 29 21 3
+f 29 7 21
+f 30 10 19
+f 30 28 18
+f 31 19 20
+f 31 22 7
+f 31 16 22
+f 32 4 16
+f 32 31 20
+f 32 16 31
+f 33 12 23
+f 34 8 1
+f 34 33 23
+f 34 1 33
+f 34 23 13
+f 34 13 8
+f 35 25 11
+f 35 11 22
+f 35 22 33
+f 35 33 1
+f 35 1 25
+f 36 27 17
+f 36 17 9
+f 36 9 16
+f 37 4 32
+f 37 16 4
+f 38 28 6
+f 38 18 28
+f 38 27 37
+f 39 3 14
+f 39 14 28
+f 39 19 3
+f 39 30 19
+f 39 28 30
+f 40 29 19
+f 40 7 29
+f 40 31 7
+f 40 19 31
+f 41 30 18
+f 41 10 30
+f 41 32 20
+f 41 20 10
+f 42 33 22
+f 42 22 12
+f 42 12 33
+f 43 37 27
+f 43 27 36
+f 43 36 16
+f 43 16 37
+f 44 38 6
+f 44 6 17
+f 44 17 27
+f 44 27 38
+f 45 38 37
+f 45 18 38
+f 45 41 18
+f 45 37 32
+f 45 32 41
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_16.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c383932eb93f07d313d7e8ac484aefedd68a961f
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.30231739 -0.34104956 0.14853016
+v 0.36830395 -0.28610626 -0.01030833
+v 0.33784106 -0.21145596 0.25180562
+v 0.29154534 -0.11217385 0.31229010
+v 0.31320067 -0.10955062 -0.04667819
+v 0.28693751 -0.23892465 0.29303995
+v 0.35116293 -0.29865492 0.13156389
+v 0.30778094 -0.31688592 -0.05525157
+v 0.36767758 -0.20838714 0.02772007
+v 0.31076159 -0.21053517 0.28859903
+v 0.33844616 -0.32257547 0.11775412
+v 0.31102855 -0.30656108 0.20033033
+v 0.33083384 -0.12927330 -0.06571201
+v 0.28752231 -0.28140661 0.25174333
+v 0.36931030 -0.27546371 0.06115921
+v 0.32428954 -0.11141365 0.27965081
+v 0.28886773 -0.18505621 0.30918339
+v 0.36903764 -0.28851718 0.04579210
+v 0.31591048 -0.33696454 -0.00708375
+v 0.33651835 -0.29653138 0.17504693
+v 0.32224632 -0.23554018 0.26282140
+v 0.32234450 -0.11114200 -0.06038479
+v 0.35361185 -0.28569265 -0.04706987
+v 0.36896068 -0.23569595 -0.03378076
+v 0.30545639 -0.32882591 -0.03743098
+v 0.29075373 -0.31616966 0.20776996
+v 0.33682590 -0.14547233 0.25479014
+v 0.35156547 -0.27216004 0.16412723
+v 0.32361514 -0.21224911 0.27598658
+v 0.29978501 -0.11126665 0.30756133
+v 0.34194973 -0.32058401 0.00559247
+v 0.35541735 -0.30772928 0.06317229
+v 0.31309827 -0.33468445 0.14597270
+v 0.29658431 -0.27645185 0.24825741
+v 0.33801622 -0.28091090 0.19039067
+v 0.36748015 -0.20945949 -0.02006479
+v 0.36751001 -0.25989745 -0.03717828
+v 0.30526546 -0.34256063 -0.00908887
+v 0.34329183 -0.30558984 -0.03610939
+v 0.29439367 -0.32124685 0.19788229
+v 0.36826364 -0.23631578 0.05790966
+v 0.35421058 -0.23707247 0.16466386
+v 0.29692760 -0.23555113 0.28818878
+v 0.29833403 -0.18491662 0.30254076
+v 0.35367506 -0.30771034 -0.00956650
+v 0.31675640 -0.32433851 -0.03474832
+v 0.32937392 -0.30723228 -0.04875668
+v 0.35490156 -0.29343328 -0.03587724
+f 6 4 5
+f 14 6 5
+f 16 9 13
+f 17 4 6
+f 17 6 10
+f 19 11 1
+f 20 11 7
+f 22 13 8
+f 22 8 5
+f 22 16 13
+f 22 5 16
+f 23 8 13
+f 24 18 2
+f 24 15 18
+f 25 14 5
+f 25 5 8
+f 26 12 14
+f 26 14 25
+f 27 16 3
+f 27 9 16
+f 28 18 15
+f 28 7 18
+f 28 20 7
+f 29 3 16
+f 29 21 3
+f 30 16 5
+f 30 5 4
+f 30 29 16
+f 30 10 29
+f 30 4 17
+f 31 11 19
+f 32 18 7
+f 32 7 11
+f 32 11 31
+f 33 20 12
+f 33 1 11
+f 33 11 20
+f 34 14 12
+f 34 12 21
+f 35 3 21
+f 35 28 3
+f 35 20 28
+f 35 21 12
+f 35 12 20
+f 36 24 13
+f 36 13 9
+f 36 9 24
+f 37 23 13
+f 37 13 24
+f 37 24 2
+f 37 2 23
+f 38 19 1
+f 38 26 25
+f 38 1 26
+f 40 26 1
+f 40 12 26
+f 40 33 12
+f 40 1 33
+f 41 9 27
+f 41 24 9
+f 41 15 24
+f 42 27 3
+f 42 41 27
+f 42 15 41
+f 42 28 15
+f 42 3 28
+f 43 29 10
+f 43 10 6
+f 43 21 29
+f 43 34 21
+f 43 6 14
+f 43 14 34
+f 44 30 17
+f 44 17 10
+f 44 10 30
+f 45 32 31
+f 45 2 18
+f 45 18 32
+f 45 31 19
+f 45 19 39
+f 46 38 25
+f 46 19 38
+f 46 39 19
+f 46 25 8
+f 47 8 23
+f 47 23 39
+f 47 46 8
+f 47 39 46
+f 48 45 39
+f 48 39 23
+f 48 23 2
+f 48 2 45
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_17.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058d34b9ee6b551c2ed4eb1920d7a128f31a89db
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.34691957 -0.00443810 -0.18109026
+v 0.34163951 -0.00420309 -0.24962766
+v 0.34323102 0.23107563 -0.17542257
+v 0.19003470 0.29884761 -0.19238759
+v 0.18939394 -0.00465364 -0.17993906
+v 0.23018437 0.17227544 -0.31775164
+v 0.18939394 -0.00465364 -0.25569664
+v 0.31593037 0.26997684 -0.17417989
+v 0.33838879 0.16026282 -0.24588920
+v 0.27551651 -0.00422421 -0.32229959
+v 0.19118758 0.26272220 -0.26444613
+v 0.24974050 0.29679777 -0.17957476
+v 0.31003836 0.23893796 -0.22655607
+v 0.23408568 0.08592122 -0.32955348
+v 0.32750941 -0.00397034 -0.27593407
+v 0.29787187 0.15798669 -0.28491852
+v 0.29028509 0.28649527 -0.17382308
+v 0.24638505 0.28310527 -0.21729725
+v 0.32496926 0.25439515 -0.18613260
+v 0.33797713 0.18561123 -0.23204549
+v 0.25581792 0.25156483 -0.25535987
+v 0.28304885 0.05134981 -0.31474755
+v 0.27234972 0.26551481 -0.22958782
+v 0.25864783 0.28048341 -0.21455925
+v 0.31076165 0.25209742 -0.21134538
+v 0.32718879 0.25783202 -0.17456149
+v 0.32372337 0.18367910 -0.25476919
+v 0.33889093 0.22958006 -0.18840938
+v 0.22967791 0.20008320 -0.30398985
+v 0.24444928 0.25404285 -0.25776965
+v 0.28545116 -0.00400056 -0.31711572
+v 0.24206976 0.17049779 -0.31360226
+v 0.29758117 0.25199230 -0.22494993
+v 0.28705950 0.28083664 -0.18862997
+v 0.31228686 0.26730983 -0.18569688
+v 0.29792100 0.19612284 -0.26890393
+v 0.27088850 0.17071575 -0.29968150
+v 0.24325505 0.19756518 -0.29978881
+v 0.26932992 0.22495033 -0.26865108
+f 1 2 3
+f 7 1 5
+f 7 5 4
+f 8 5 1
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 11 7 4
+f 12 4 5
+f 14 10 7
+f 14 11 6
+f 14 7 11
+f 15 9 2
+f 15 2 10
+f 17 12 5
+f 17 5 8
+f 18 11 4
+f 18 4 12
+f 20 3 9
+f 22 10 14
+f 22 16 9
+f 22 9 15
+f 24 18 12
+f 24 12 17
+f 24 23 18
+f 25 19 13
+f 26 19 8
+f 26 3 19
+f 26 8 1
+f 26 1 3
+f 27 13 20
+f 27 20 9
+f 27 9 16
+f 28 19 3
+f 28 3 20
+f 28 20 13
+f 28 13 19
+f 29 6 11
+f 30 11 18
+f 30 23 21
+f 30 18 23
+f 30 29 11
+f 30 21 29
+f 31 22 15
+f 31 15 10
+f 31 10 22
+f 32 22 14
+f 32 14 6
+f 33 21 23
+f 33 25 13
+f 33 23 25
+f 34 24 17
+f 34 23 24
+f 35 8 19
+f 35 19 25
+f 35 25 23
+f 35 23 34
+f 35 34 17
+f 35 17 8
+f 36 13 27
+f 36 27 16
+f 37 16 22
+f 37 22 32
+f 37 36 16
+f 38 32 6
+f 38 6 29
+f 38 37 32
+f 39 33 13
+f 39 21 33
+f 39 13 36
+f 39 36 37
+f 39 37 38
+f 39 38 29
+f 39 29 21
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_18.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0aabe405c90e1b12d7883b679a853b0661c22c
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.22767338 0.25883869 0.27761756
+v 0.28501411 0.33576489 -0.00911262
+v 0.23945324 0.35630548 0.16060487
+v 0.10227366 0.37245034 0.12014936
+v 0.00757576 0.26807363 0.00187912
+v 0.23199484 0.37086377 0.04841291
+v 0.07038747 0.31111271 0.26128827
+v 0.29034272 0.26582747 0.18164540
+v 0.25638034 0.35617282 0.13280386
+v 0.20179576 0.37145349 0.14888039
+v 0.00811290 0.35371254 0.00270144
+v 0.16890572 0.31273640 0.25847935
+v 0.00901822 0.26540435 0.28641175
+v 0.26561746 0.31929716 0.18523342
+v 0.14393939 0.26807363 0.00187912
+v 0.25754698 0.35816695 0.00515125
+v 0.28643434 0.29427154 0.17599574
+v 0.21750945 0.37139536 0.03527086
+v 0.22770684 0.37097557 0.12027004
+v 0.11615423 0.35566028 0.19107605
+v 0.01225218 0.34148782 0.17741683
+v 0.20189767 0.35549868 0.18695099
+v 0.02572738 0.26194485 0.29466803
+v 0.22563208 0.31230929 0.23147545
+v 0.25193958 0.34254026 0.17516064
+v 0.28399478 0.26056506 0.20891507
+v 0.11627010 0.37247498 0.05009724
+v 0.07020120 0.35697527 0.00477681
+v 0.13090837 0.37178897 0.14892367
+v 0.10023739 0.34002644 0.22025890
+v 0.00907703 0.35786135 0.07749411
+v 0.01471065 0.32516770 0.21936482
+v 0.22680650 0.35516653 0.17581347
+v 0.19938325 0.25868254 0.29375445
+v 0.15638408 0.28456367 0.28903155
+v 0.01519596 0.28414149 0.27404200
+v 0.26392834 0.27196690 0.23499858
+v 0.15906530 0.37179361 0.03477841
+v 0.04137525 0.33904624 0.20577150
+v 0.17165687 0.34088853 0.21752745
+v 0.04013538 0.35626005 0.13594906
+v 0.00934604 0.35757969 0.04818691
+v 0.23983290 0.34287028 0.18536703
+v 0.19727300 0.32414342 0.23233947
+v 0.19709998 0.26889473 0.28639598
+v 0.07028833 0.28538146 0.28653767
+v 0.02788662 0.27076437 0.28926925
+v 0.01542508 0.29771933 0.25972354
+v 0.22501701 0.26973061 0.27099162
+v 0.26972986 0.26080416 0.23829524
+v 0.04132135 0.32509006 0.23378109
+v 0.10246712 0.37228195 0.06454472
+v 0.16848933 0.29635491 0.27470183
+f 11 2 5
+f 13 11 5
+f 15 5 2
+f 15 2 8
+f 16 9 2
+f 16 6 9
+f 16 2 11
+f 17 8 2
+f 17 2 9
+f 17 9 14
+f 18 6 16
+f 19 9 6
+f 19 18 10
+f 19 6 18
+f 19 10 3
+f 19 3 9
+f 22 10 20
+f 23 13 5
+f 25 14 9
+f 25 9 3
+f 26 15 8
+f 26 1 5
+f 26 5 15
+f 26 8 17
+f 27 4 10
+f 27 10 18
+f 28 16 11
+f 29 20 10
+f 29 10 4
+f 29 4 21
+f 30 7 12
+f 31 11 13
+f 31 13 21
+f 32 21 13
+f 33 3 10
+f 33 10 22
+f 33 25 3
+f 34 23 5
+f 34 5 1
+f 35 12 7
+f 35 23 34
+f 37 25 24
+f 37 14 25
+f 38 18 16
+f 38 16 28
+f 38 27 18
+f 38 28 11
+f 38 11 27
+f 39 29 21
+f 39 20 29
+f 39 21 32
+f 39 30 20
+f 40 22 20
+f 40 20 30
+f 40 30 12
+f 40 12 22
+f 41 31 21
+f 41 21 4
+f 41 4 31
+f 42 11 31
+f 43 24 25
+f 43 25 33
+f 44 33 22
+f 44 22 12
+f 44 43 33
+f 44 12 24
+f 44 24 43
+f 45 35 34
+f 46 35 7
+f 46 23 35
+f 46 7 36
+f 47 36 13
+f 47 13 23
+f 47 46 36
+f 47 23 46
+f 48 32 13
+f 48 13 36
+f 48 36 7
+f 49 37 24
+f 49 1 37
+f 49 24 45
+f 49 45 34
+f 49 34 1
+f 50 37 1
+f 50 1 26
+f 50 26 17
+f 50 17 14
+f 50 14 37
+f 51 39 32
+f 51 7 30
+f 51 30 39
+f 51 48 7
+f 51 32 48
+f 52 27 11
+f 52 11 42
+f 52 4 27
+f 52 42 31
+f 52 31 4
+f 53 45 24
+f 53 24 12
+f 53 12 35
+f 53 35 45
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_19.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9273ab62d61365afcd40482d59301efaef8d0b26
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.35138100 -0.29417971 0.11836766
+v -0.34924942 -0.27142167 -0.02053433
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\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_2.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b1926fe4bdf6f2b46a42c21af966c53a0b281d
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.16201302 0.18369730
+v 0.00757576 0.16201302 -0.17993906
+v 0.01104538 0.34498221 0.16483597
+v -0.01850952 0.34104556 0.16336807
+v -0.45055452 0.12800137 -0.00850631
+v -0.00301917 0.28697661 -0.18656984
+v 0.00887806 0.33895917 0.18194830
+v -0.21969697 0.13170999 0.00187912
+v 0.00811290 0.35371254 0.00270144
+v -0.41438340 0.12885307 -0.14873195
+v -0.43379475 0.12527585 0.14558531
+v -0.07935115 0.34084616 0.07639262
+v -0.24720684 0.18115264 -0.20342233
+v -0.23484848 0.13170999 -0.14963603
+v -0.21969697 0.16201302 0.18369730
+v -0.21969697 0.13170999 0.15339427
+v -0.44697035 0.12516601 0.11691628
+v -0.33110268 0.23416106 0.13935827
+v -0.04828111 0.34036890 0.13466583
+v -0.30247165 0.27820515 -0.03390778
+v -0.18201287 0.28047165 0.17276989
+v -0.40168996 0.22183150 0.07302122
+v -0.18527543 0.30978392 -0.03803471
+v -0.19526742 0.25049879 -0.17223318
+v -0.06169437 0.32409647 0.17579644
+v -0.27431507 0.29428597 0.05781232
+v -0.21138133 0.26654772 0.17402178
+v -0.42740828 0.16622775 0.11519551
+v -0.38808041 0.23611451 0.00749618
+v -0.12502789 0.32556625 -0.02139557
+v -0.14050011 0.26706360 -0.17525569
+v -0.22455798 0.23527593 -0.17087803
+v -0.31834549 0.26334741 0.09940779
+v -0.27495875 0.29521469 -0.00945535
+v -0.09122166 0.32398465 0.14707737
+v -0.31816468 0.25002131 0.12595395
+v -0.37275581 0.20656900 0.14133589
+v -0.44211775 0.13734592 0.11560710
+v -0.32682845 0.26531816 -0.03500908
+v -0.41528199 0.20868065 0.02014176
+v -0.34626036 0.26393612 0.05901116
+v -0.15680590 0.30978053 -0.05223198
+v -0.07975920 0.34150258 0.04746318
+v -0.24405976 0.28126522 -0.07810950
+v -0.16733235 0.29373643 0.15835160
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+v -0.44457319 0.16751654 0.06108232
+v -0.35650294 0.25064634 -0.01940591
+v -0.29929294 0.26500256 -0.06154491
+v -0.31656265 0.27936278 -0.00972937
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+v -0.44272180 0.15054141 -0.00465189
+v -0.41575837 0.20837522 0.06124869
+v -0.38849627 0.23547646 0.06046913
+v -0.33116336 0.26333468 0.08497754
+v -0.21599400 0.29381245 -0.06496932
+v -0.25938289 0.29332074 -0.03820875
+v -0.06521446 0.34152123 0.00464718
+v -0.41458407 0.19422867 0.10026146
+v -0.36034821 0.24782798 0.08623410
+v -0.28743627 0.27843474 -0.04871586
+f 1 2 3
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+f 9 3 2
+f 9 2 6
+f 12 3 9
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+f 13 2 10
+f 14 10 2
+f 14 2 8
+f 14 8 11
+f 15 1 7
+f 16 11 8
+f 16 8 1
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+f 64 24 52
+f 64 60 44
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\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_20.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcbd36c08e2bd6e3fd2c788f6d40924daa722bc5
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.23392858 -0.25892408 -0.14791678
+v -0.22746527 -0.20488484 -0.22692763
+v -0.22752895 0.23997998 -0.15815403
+v -0.23040020 0.24414000 -0.14648952
+v -0.48296404 -0.08757154 -0.15156068
+v -0.23067436 -0.24723129 -0.17213788
+v -0.39334042 -0.20540799 -0.14346843
+v -0.22962728 0.08197993 -0.31738019
+v -0.46045905 0.07373513 -0.17178818
+v -0.27480314 -0.24803621 -0.14264710
+v -0.47785043 0.05186762 -0.14664560
+v -0.28707549 -0.10003950 -0.28290150
+v -0.37665873 -0.19946156 -0.16456759
+v -0.22711845 0.11881610 -0.29280832
+v -0.40584704 0.12830208 -0.16740537
+v -0.24224015 0.23931274 -0.14297911
+v -0.24410794 -0.24434190 -0.17081407
+v -0.44094638 -0.16637433 -0.14493083
+v -0.47588423 0.02064993 -0.18673010
+v -0.23025818 -0.10498269 -0.30202333
+v -0.27093399 -0.11624350 -0.28230000
+v -0.40814435 0.08861143 -0.20759346
+v -0.22883499 0.10644990 -0.30580290
+v -0.46489838 0.07814274 -0.14738067
+v -0.27320943 -0.24253284 -0.15506678
+v -0.24365622 -0.21502642 -0.20919385
+v -0.39078759 -0.20050421 -0.15290909
+v -0.46368556 -0.07389905 -0.19237842
+v -0.47489190 0.05135254 -0.16036243
+v -0.30349472 -0.00313814 -0.29736424
+v -0.37546885 -0.18806304 -0.17729326
+v -0.24594153 -0.12697115 -0.28278212
+v -0.24409987 -0.10320283 -0.29814553
+v -0.45006343 0.04764404 -0.20842893
+v -0.24092649 0.10236178 -0.30253453
+v -0.40751169 0.13515197 -0.14589898
+v -0.22826974 -0.21805021 -0.21259962
+v -0.47721837 -0.08500632 -0.17132812
+v -0.23120068 -0.01845127 -0.31607926
+v -0.33116451 -0.01611047 -0.28290646
+v -0.43627424 -0.16291016 -0.15455326
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+v -0.23091459 -0.12732932 -0.28615915
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+v -0.45975092 0.04640096 -0.19712948
+v -0.30177927 0.02489613 -0.29770394
+v -0.43833373 -0.00264728 -0.22187570
+v -0.24274026 0.08003412 -0.31285591
+v -0.31746399 0.19188212 -0.14489327
+v -0.47606178 -0.06060642 -0.18153095
+v -0.24623695 -0.01784077 -0.31263805
+v -0.31266294 -0.05976449 -0.28208351
+v -0.46533153 -0.09465138 -0.17971239
+v -0.27315014 -0.07612235 -0.29673051
+v -0.33054331 0.02379744 -0.28272925
+v -0.43590940 0.03658713 -0.22253895
+v -0.45143993 -0.05740558 -0.20555695
+v -0.28224402 0.06216171 -0.29806616
+f 1 3 4
+f 6 3 1
+f 14 3 2
+f 16 10 1
+f 16 1 4
+f 16 7 10
+f 16 11 7
+f 16 4 3
+f 16 3 15
+f 17 6 1
+f 17 7 13
+f 18 11 5
+f 18 7 11
+f 19 5 11
+f 20 14 2
+f 20 8 14
+f 22 9 15
+f 23 15 3
+f 23 3 14
+f 23 14 8
+f 25 10 7
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+f 33 21 12
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+f 48 8 46
+f 49 36 16
+f 49 16 15
+f 49 15 36
+f 50 38 5
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+f 50 19 47
+f 51 30 8
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+f 53 31 41
+f 53 42 31
+f 53 28 12
+f 53 12 42
+f 53 38 28
+f 53 41 18
+f 53 18 38
+f 54 44 20
+f 54 20 33
+f 54 33 12
+f 54 52 44
+f 54 12 52
+f 55 46 30
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+f 56 34 35
+f 56 35 48
+f 57 47 40
+f 57 50 47
+f 57 28 50
+f 57 40 52
+f 57 52 12
+f 57 12 28
+f 58 48 46
+f 58 46 55
+f 58 56 48
+f 58 55 56
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_21.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..404592d15b73ac1567722363299f18b331bfd005
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.24890268 -0.04885935 0.10516749
+v 0.37402274 0.00635453 0.05654967
+v 0.39031287 0.05061058 0.15543968
+v 0.39188062 0.11569121 0.15052134
+v 0.27610180 0.07083464 -0.03219208
+v 0.38946379 0.10214200 0.09947319
+v 0.26317172 0.05620460 0.15411835
+v 0.38145126 0.01314376 0.11346856
+v 0.27549663 -0.00480772 -0.02879856
+v 0.26096935 0.08542611 0.00134209
+v 0.37969714 0.07674329 0.06642249
+v 0.26375594 -0.03642071 0.14068636
+v 0.39157689 0.09813063 0.16786048
+v 0.28812626 -0.05447081 0.03384996
+v 0.26585883 0.07092431 0.15308736
+v 0.26989566 0.07188317 -0.02492969
+v 0.38482984 0.08663321 0.07584712
+v 0.25576090 -0.03583396 0.13327825
+v 0.38700493 0.09106476 0.16666809
+v 0.34700229 -0.01565914 0.07287182
+v 0.29969159 -0.04244388 0.02730419
+v 0.29035419 -0.05285716 0.04319178
+v 0.34276472 -0.01825044 0.05401074
+v 0.34075240 -0.00711384 0.03269445
+v 0.29988296 -0.04752709 0.04520763
+v 0.29851730 -0.04796827 0.03611038
+f 6 4 3
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 10 6 5
+f 10 4 6
+f 10 1 7
+f 10 9 1
+f 11 2 5
+f 12 8 3
+f 13 3 4
+f 14 1 9
+f 15 10 7
+f 15 4 10
+f 15 13 4
+f 15 7 13
+f 16 10 5
+f 16 5 9
+f 16 9 10
+f 17 6 2
+f 17 2 11
+f 17 11 5
+f 17 5 6
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 12 3
+f 19 3 13
+f 19 13 7
+f 19 7 12
+f 20 2 8
+f 21 14 9
+f 22 12 1
+f 22 1 14
+f 22 8 12
+f 23 2 20
+f 24 21 9
+f 24 9 2
+f 24 2 21
+f 25 22 14
+f 25 20 8
+f 25 8 22
+f 25 23 20
+f 26 21 2
+f 26 2 23
+f 26 14 21
+f 26 25 14
+f 26 23 25
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_22.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee01e7fbf6ed371ed600f34fadea7e90677df08
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00784397 -0.36353504 0.00352866
+v 0.00906368 -0.32873611 -0.06845674
+v 0.00757576 -0.20162334 0.00187912
+v -0.47194580 -0.18493460 0.00693267
+v -0.31958745 -0.30475222 -0.00392359
+v 0.00757576 -0.20162334 -0.07387845
+v -0.46952627 -0.19847028 0.01007312
+v -0.21526725 -0.33320255 -0.00513404
+v -0.42213691 -0.18569688 -0.06497782
+v -0.09585302 -0.35372725 0.00673097
+v -0.23016543 -0.28087984 -0.06530672
+v -0.23484848 -0.18647183 0.00187912
+v -0.42766708 -0.18084139 -0.06069017
+v -0.43979220 -0.23949333 0.00909709
+v -0.21609593 -0.33707075 0.00608686
+v -0.04983883 -0.35059015 -0.01708927
+v -0.27303286 -0.30520572 -0.02975388
+v -0.23484848 -0.20162334 -0.07387845
+v -0.46635348 -0.18417545 0.00309349
+v -0.23484848 -0.18647183 -0.05872694
+v -0.33167321 -0.29081272 -0.01754042
+v -0.45392695 -0.22531662 0.00959535
+v -0.34960428 -0.29531528 0.00840788
+v -0.20284821 -0.32041475 -0.03136015
+v 0.00768246 -0.35297287 -0.02115534
+v -0.30491872 -0.30406023 -0.01498937
+v -0.27445940 -0.29304449 -0.04120534
+v -0.32124660 -0.30813502 0.00687286
+v -0.34515094 -0.29207899 -0.00213569
+v -0.03286017 -0.33561249 -0.04714616
+v 0.00856337 -0.33831639 -0.05120605
+f 1 2 3
+f 6 3 2
+f 7 3 4
+f 10 1 3
+f 10 3 7
+f 12 4 3
+f 12 3 6
+f 13 9 7
+f 13 7 4
+f 13 6 9
+f 15 5 8
+f 15 8 10
+f 16 10 8
+f 16 1 10
+f 18 11 9
+f 18 9 6
+f 18 6 2
+f 18 2 11
+f 19 13 4
+f 19 4 12
+f 19 12 13
+f 20 13 12
+f 20 12 6
+f 20 6 13
+f 21 14 9
+f 22 7 9
+f 22 9 14
+f 23 15 10
+f 23 22 14
+f 23 10 7
+f 23 7 22
+f 24 16 8
+f 24 8 17
+f 24 17 11
+f 24 11 2
+f 25 1 16
+f 26 17 8
+f 26 8 5
+f 26 21 17
+f 26 5 21
+f 27 9 11
+f 27 11 17
+f 27 21 9
+f 27 17 21
+f 28 23 5
+f 28 5 15
+f 28 15 23
+f 29 21 5
+f 29 5 23
+f 29 23 14
+f 29 14 21
+f 30 24 2
+f 30 2 16
+f 30 16 24
+f 31 25 16
+f 31 16 2
+f 31 2 1
+f 31 1 25
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_23.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112be610c64532a1e52cdcf319a4969de6af7e33
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.30778094 -0.31688592 -0.05525157
+v 0.35134646 -0.20766140 -0.17353002
+v 0.34896834 -0.28593894 -0.05306226
+v 0.33650249 0.03893432 -0.16611770
+v 0.28762118 -0.06336882 -0.30657009
+v 0.35341554 -0.16100313 -0.08388965
+v 0.29733470 -0.24517759 -0.21297668
+v 0.29141143 -0.00584969 -0.06156173
+v 0.34163951 -0.00420309 -0.24962766
+v 0.35481800 -0.22482205 -0.11113982
+v 0.32502405 -0.24555953 -0.17100690
+v 0.31286214 -0.17778309 -0.25420430
+v 0.29226816 -0.00441762 -0.31206590
+v 0.32288210 -0.08370392 -0.06746009
+v 0.31916098 -0.31184859 -0.05229290
+v 0.28776606 -0.26514048 -0.18760391
+v 0.34374253 0.03487004 -0.18205981
+v 0.35378230 -0.19871764 -0.08438086
+v 0.35313132 -0.22220324 -0.14661420
+v 0.32244579 -0.21971800 -0.21392811
+v 0.28867951 -0.22356725 -0.24470678
+v 0.33780030 -0.10683367 -0.24381029
+v 0.34118279 0.03303483 -0.17076301
+v 0.29667281 -0.00853200 -0.06793405
+v 0.33846307 -0.18335679 -0.05471698
+v 0.29953766 -0.25975949 -0.18431272
+v 0.30432445 -0.31133923 -0.06450168
+v 0.35345028 -0.12581608 -0.20608587
+v 0.34066076 0.04066129 -0.18003986
+v 0.33779457 -0.22029631 -0.18722194
+v 0.33660854 -0.19461147 -0.21413466
+v 0.28876868 -0.16692490 -0.27379589
+v 0.28858541 -0.24890788 -0.21687152
+v 0.29720463 -0.22041180 -0.24054386
+v 0.32750941 -0.00397034 -0.27593407
+v 0.30928416 -0.07728531 -0.28538864
+v 0.33782815 0.02272948 -0.15806558
+v 0.35200560 -0.11610259 -0.11043444
+v 0.35309976 -0.15325827 -0.20146473
+v 0.31175608 -0.20471334 -0.23962544
+v 0.35073914 -0.19476748 -0.18783411
+v 0.32253603 -0.17976369 -0.24118550
+v 0.29970716 -0.16430615 -0.26865917
+v 0.30195664 -0.00401297 -0.30480197
+v 0.32351176 -0.06338695 -0.27286591
+v 0.29706686 -0.06205182 -0.29927646
+f 13 8 4
+f 13 5 8
+f 15 8 1
+f 15 11 3
+f 16 15 1
+f 16 8 5
+f 18 10 6
+f 18 6 3
+f 18 3 10
+f 19 10 3
+f 20 11 7
+f 21 16 5
+f 23 6 17
+f 24 4 8
+f 24 8 14
+f 25 14 8
+f 25 3 6
+f 25 6 14
+f 25 15 3
+f 25 8 15
+f 26 7 11
+f 26 11 15
+f 26 15 16
+f 27 16 1
+f 27 1 8
+f 27 8 16
+f 28 6 10
+f 28 9 17
+f 28 22 9
+f 29 13 4
+f 29 23 17
+f 29 4 23
+f 29 17 9
+f 30 2 19
+f 30 11 20
+f 30 19 3
+f 30 3 11
+f 31 30 20
+f 32 21 5
+f 32 12 21
+f 33 16 21
+f 33 26 16
+f 33 7 26
+f 34 20 7
+f 34 33 21
+f 34 7 33
+f 35 9 22
+f 35 29 9
+f 37 14 6
+f 37 6 23
+f 37 23 4
+f 37 24 14
+f 37 4 24
+f 38 28 17
+f 38 17 6
+f 38 6 28
+f 39 28 10
+f 39 10 19
+f 39 19 2
+f 39 31 22
+f 39 22 28
+f 40 31 20
+f 40 20 34
+f 40 34 21
+f 40 21 12
+f 41 2 30
+f 41 30 31
+f 41 39 2
+f 41 31 39
+f 42 12 22
+f 42 22 31
+f 42 40 12
+f 42 31 40
+f 43 32 5
+f 43 12 32
+f 43 36 12
+f 43 5 36
+f 44 13 29
+f 44 29 35
+f 44 5 13
+f 45 22 12
+f 45 12 36
+f 45 35 22
+f 45 44 35
+f 45 36 44
+f 46 44 36
+f 46 36 5
+f 46 5 44
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_24.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c3b3e78d5bdec2b1a9c96264e1ded82490aa31
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.24602714 -0.36613183 0.13496710
+v 0.32890091 -0.32787863 0.12940305
+v 0.31068363 -0.30777292 0.19890573
+v -0.21693140 -0.29911110 0.19221300
+v 0.02567623 -0.36855126 0.12000996
+v 0.10057852 -0.34973083 0.18858419
+v 0.28634930 -0.35028814 0.14674512
+v 0.24663172 -0.36876598 0.12031407
+v -0.23216027 -0.31351315 0.16308893
+v 0.23180351 -0.34922348 0.18937865
+v 0.04053255 -0.36426666 0.14665681
+v 0.29978468 -0.33763286 0.16094740
+v 0.30659028 -0.34710855 0.12143356
+v 0.28947747 -0.35619378 0.12014139
+v -0.23302243 -0.30242146 0.18002967
+v 0.00784061 -0.36504294 0.12240123
+v -0.12580829 -0.33519055 0.17120444
+v 0.25855846 -0.34951238 0.17539260
+v 0.23213840 -0.36500557 0.14815087
+v 0.30025334 -0.32248429 0.18941677
+v -0.22988709 -0.30768365 0.17404026
+v -0.23523435 -0.30889115 0.16928646
+v -0.05109748 -0.33474448 0.18818536
+v -0.12666466 -0.33983896 0.16189919
+v 0.27303532 -0.33765186 0.18973294
+v -0.15437318 -0.31975339 0.18563323
+v 0.00972760 -0.34907447 0.17592459
+v -0.18642826 -0.32517338 0.16196335
+v 0.02601460 -0.36561339 0.13436291
+v -0.21404110 -0.30418757 0.18619178
+f 3 2 4
+f 6 3 4
+f 10 3 6
+f 13 5 2
+f 13 12 7
+f 13 2 12
+f 14 7 1
+f 14 1 8
+f 14 13 7
+f 14 8 5
+f 14 5 13
+f 15 4 2
+f 16 9 2
+f 16 2 5
+f 18 1 7
+f 19 10 6
+f 19 6 11
+f 19 18 10
+f 19 1 18
+f 19 8 1
+f 19 11 5
+f 19 5 8
+f 20 12 2
+f 20 2 3
+f 21 4 15
+f 22 15 2
+f 22 2 9
+f 22 21 15
+f 22 9 21
+f 23 6 4
+f 24 17 9
+f 24 16 5
+f 25 18 7
+f 25 7 12
+f 25 12 20
+f 25 10 18
+f 25 20 3
+f 25 3 10
+f 26 23 4
+f 26 17 23
+f 26 21 9
+f 26 9 17
+f 27 11 6
+f 27 6 23
+f 27 24 11
+f 27 23 17
+f 27 17 24
+f 28 24 9
+f 28 9 16
+f 28 16 24
+f 29 24 5
+f 29 5 11
+f 29 11 24
+f 30 26 4
+f 30 4 21
+f 30 21 26
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_25.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f68e0b837b5a086aa4a257b052b6a2ed588a6a4
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.28048542 -0.00869590 -0.00550751
+v 0.34667486 -0.00478960 -0.17921293
+v 0.32426015 0.28243657 0.00203751
+v 0.00757576 0.26807363 0.00187912
+v 0.00757576 -0.00465364 -0.17993906
+v 0.00757576 -0.00465364 0.00187912
+v 0.32557683 0.21568771 0.00311540
+v 0.29667281 -0.00853200 -0.06793405
+v 0.00113512 0.28877531 -0.18396990
+v 0.35314483 0.16629657 -0.09531181
+v 0.32765282 0.27624408 0.00328126
+v 0.32718879 0.25783202 -0.17456149
+v 0.35404635 0.21841323 -0.10867878
+v 0.34183232 0.09244919 -0.17901291
+v 0.35381843 0.20320587 -0.09358698
+v 0.35518076 0.14654700 -0.16405482
+v 0.33746993 0.24293935 -0.17362744
+v 0.35154713 0.21661477 -0.16020912
+f 6 5 1
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 2 5
+f 9 4 3
+f 9 6 4
+f 9 5 6
+f 10 7 1
+f 10 1 2
+f 11 3 4
+f 11 4 6
+f 11 6 7
+f 11 7 10
+f 12 9 3
+f 13 3 11
+f 14 2 9
+f 14 9 12
+f 15 13 11
+f 15 11 10
+f 16 10 2
+f 16 2 14
+f 16 15 10
+f 16 13 15
+f 17 12 3
+f 17 3 13
+f 17 16 14
+f 17 14 12
+f 18 17 13
+f 18 13 16
+f 18 16 17
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_26.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a937c2604a4e48e69d442a00243b085407573f
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.26577663 -0.27986023 -0.16570047
+v 0.28495143 -0.23212751 -0.24049394
+v 0.33290093 -0.00370910 -0.14393020
+v 0.20454545 -0.00465364 -0.16478754
+v 0.20271495 -0.23537428 -0.27208277
+v 0.21038172 -0.28619989 -0.17441158
+v 0.29272212 -0.27114268 -0.16229513
+v 0.21459263 -0.25966091 -0.24431400
+v 0.21488097 -0.00750096 -0.33945088
+v 0.20369079 -0.28614718 -0.17881937
+v 0.30827703 -0.00507027 -0.29849621
+v 0.22899324 -0.24836036 -0.25502052
+v 0.27108558 -0.25763903 -0.21572684
+v 0.27487388 -0.14979936 -0.28542816
+v 0.20329459 -0.15271948 -0.30699294
+v 0.20200983 -0.27555161 -0.21929916
+v 0.28866382 -0.18004955 -0.26901360
+v 0.20240945 -0.26170642 -0.24568404
+v 0.25996878 -0.27423944 -0.18972838
+v 0.25715750 -0.24522534 -0.24342223
+v 0.28634276 -0.25927074 -0.20021759
+v 0.23109383 -0.14967889 -0.30136429
+v 0.24485641 -0.27406516 -0.20065535
+v 0.20267729 -0.16637300 -0.30202943
+v 0.22799208 -0.23257666 -0.26797649
+v 0.21547732 -0.27374283 -0.21802669
+v 0.22818981 -0.20811670 -0.28103060
+v 0.27350046 -0.16442971 -0.28062021
+v 0.20286194 -0.20922634 -0.28544691
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 10 6 4
+f 10 1 6
+f 11 9 4
+f 11 4 3
+f 13 8 12
+f 14 9 11
+f 15 4 9
+f 16 10 4
+f 17 7 2
+f 17 14 11
+f 17 11 3
+f 17 3 7
+f 18 12 8
+f 18 5 12
+f 19 7 1
+f 20 13 12
+f 20 12 2
+f 20 2 13
+f 21 13 2
+f 21 2 7
+f 21 19 13
+f 21 7 19
+f 22 15 9
+f 22 9 14
+f 23 1 10
+f 23 10 16
+f 23 19 1
+f 23 8 13
+f 23 13 19
+f 24 18 16
+f 24 5 18
+f 24 16 4
+f 24 4 15
+f 25 12 5
+f 25 17 2
+f 25 2 12
+f 26 18 8
+f 26 16 18
+f 26 23 16
+f 26 8 23
+f 27 17 25
+f 27 24 15
+f 27 15 22
+f 27 25 5
+f 28 27 22
+f 28 22 14
+f 28 14 17
+f 28 17 27
+f 29 27 5
+f 29 5 24
+f 29 24 27
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_27.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20c232b35dc5741a3bd1a3bbe2624465c2a73db
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23187448 -0.28427780 0.28246864
+v 0.26498301 -0.26197844 0.28943211
+v 0.20168776 -0.22442928 0.33232436
+v -0.09713636 -0.18394355 0.32991682
+v -0.09677581 -0.25362220 0.28117827
+v 0.20222001 -0.19917961 0.33832510
+v 0.22946188 -0.26318202 0.30419513
+v 0.26171323 -0.27072175 0.28318122
+v 0.05546970 -0.25004417 0.31752146
+v 0.21483839 -0.21034453 0.33344810
+v 0.00824391 -0.18446945 0.34549421
+v -0.03559032 -0.26887128 0.28092804
+v 0.23022101 -0.27705275 0.29124493
+v 0.25830556 -0.26507176 0.29013284
+v -0.11004673 -0.20281870 0.31591143
+v 0.20209946 -0.25158332 0.31931588
+v 0.26077180 -0.25570653 0.29644138
+v -0.06635120 -0.18033032 0.33730450
+v 0.03990036 -0.22239492 0.33222783
+v 0.04072264 -0.26254220 0.30447290
+v -0.00385568 -0.23557527 0.31739410
+v -0.03358383 -0.26155778 0.28849678
+v 0.03940250 -0.28313244 0.28193449
+v -0.09504959 -0.24751580 0.28717039
+v -0.09415872 -0.20597555 0.31814288
+v -0.06566445 -0.19186063 0.33197964
+v 0.04059164 -0.27579645 0.29098043
+f 6 2 4
+f 10 6 3
+f 11 3 6
+f 12 8 1
+f 12 5 8
+f 13 1 8
+f 14 8 2
+f 14 13 8
+f 14 7 13
+f 15 8 5
+f 15 4 2
+f 15 2 8
+f 16 7 3
+f 16 13 7
+f 17 2 6
+f 17 6 10
+f 17 14 2
+f 17 7 14
+f 17 10 3
+f 17 3 7
+f 18 11 6
+f 18 6 4
+f 19 3 11
+f 19 16 3
+f 19 9 16
+f 19 11 18
+f 20 16 9
+f 21 9 19
+f 21 20 9
+f 22 5 12
+f 22 12 20
+f 23 12 1
+f 24 15 5
+f 24 20 21
+f 24 22 20
+f 24 5 22
+f 25 4 15
+f 25 24 21
+f 25 15 24
+f 26 21 19
+f 26 19 18
+f 26 18 4
+f 26 25 21
+f 26 4 25
+f 27 20 12
+f 27 12 23
+f 27 16 20
+f 27 13 16
+f 27 23 1
+f 27 1 13
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_28.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3d8b3a61fb8a23af0a3bc58cf7ce0d11c73c69
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20369079 -0.28614718 -0.17881937
+v 0.20387057 -0.24276293 -0.26571718
+v -0.09667782 -0.22642565 -0.25129430
+v 0.20854259 -0.28424870 -0.18653036
+v 0.04022278 -0.26103911 -0.25659239
+v 0.00840257 -0.22656969 -0.27960058
+v 0.17286760 -0.27488401 -0.23015743
+v -0.09727505 -0.27005846 -0.17696469
+v 0.02887200 -0.24575462 -0.27167511
+v -0.00545886 -0.22439535 -0.27764831
+v 0.15722267 -0.26241130 -0.25483319
+v 0.20240945 -0.26170642 -0.24568404
+v -0.09329630 -0.24301523 -0.22908275
+v -0.05015047 -0.27942529 -0.17488853
+v -0.09442388 -0.23257085 -0.24453146
+v 0.15738543 -0.24052962 -0.27531482
+v -0.06634743 -0.22487012 -0.26331453
+v 0.20289873 -0.25170086 -0.25832854
+v 0.20200983 -0.27555161 -0.21929916
+v -0.10170620 -0.26367059 -0.18899103
+v 0.02809288 -0.27307234 -0.23029703
+v -0.09892598 -0.23338161 -0.24170885
+f 1 2 3
+f 2 1 4
+f 7 4 1
+f 8 1 3
+f 10 3 2
+f 11 7 5
+f 11 5 9
+f 12 7 11
+f 14 1 8
+f 15 9 5
+f 15 3 9
+f 16 9 6
+f 16 11 9
+f 16 10 2
+f 16 6 10
+f 17 9 3
+f 17 3 10
+f 17 10 6
+f 17 6 9
+f 18 2 4
+f 18 4 12
+f 18 12 11
+f 18 16 2
+f 18 11 16
+f 19 12 4
+f 19 4 7
+f 19 7 12
+f 20 8 3
+f 21 7 1
+f 21 1 14
+f 21 5 7
+f 21 14 8
+f 21 8 20
+f 21 20 13
+f 21 13 5
+f 22 15 5
+f 22 5 13
+f 22 13 20
+f 22 20 3
+f 22 3 15
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_29.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413cb3de876437b8ae2f5087d586871a6aca9cd6
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.20643354 -0.27318846 0.30130727
+v 0.28880208 -0.25530067 0.28012883
+v 0.24359063 -0.11540047 0.33273396
+v 0.20329079 0.00246654 0.30876758
+v 0.27399457 -0.00892021 0.28256736
+v 0.19749666 -0.07285087 0.33763762
+v 0.21553642 -0.21324962 0.33270376
+v 0.20575377 -0.00526192 0.30492675
+v 0.30757857 -0.06663060 0.28762153
+v 0.20209946 -0.25158332 0.31931588
+v 0.28669747 -0.05666224 0.30184178
+v 0.27169321 -0.19925032 0.31646549
+v 0.20260296 -0.21284404 0.33542483
+v 0.29985168 -0.03968100 0.28038477
+v 0.25656059 -0.24943461 0.30345064
+v 0.21854664 0.00304809 0.30825031
+v 0.27285242 -0.08583635 0.31537807
+v 0.24471221 -0.15332143 0.33076647
+v 0.28445525 -0.22326917 0.30267374
+v 0.21476488 -0.25102435 0.31769816
+v 0.29329382 -0.04544917 0.29181051
+v 0.30128043 -0.06909034 0.29565661
+v 0.22915961 -0.19896480 0.33139700
+v 0.28355528 -0.24983598 0.28768588
+v 0.25708544 -0.22575820 0.31571234
+v 0.26973865 -0.01609801 0.29138615
+v 0.24255789 -0.23656604 0.31703506
+f 5 2 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 6 4
+f 10 4 1
+f 13 3 6
+f 13 6 10
+f 14 9 2
+f 14 2 5
+f 15 1 2
+f 16 5 4
+f 16 4 6
+f 17 6 3
+f 17 3 12
+f 17 16 6
+f 17 11 16
+f 18 12 3
+f 19 2 9
+f 20 13 10
+f 20 7 13
+f 20 10 1
+f 20 1 15
+f 21 9 14
+f 21 14 5
+f 22 17 12
+f 22 11 17
+f 22 21 11
+f 22 9 21
+f 22 19 9
+f 22 12 19
+f 23 12 18
+f 23 13 7
+f 23 18 3
+f 23 3 13
+f 24 19 15
+f 24 15 2
+f 24 2 19
+f 25 19 12
+f 25 15 19
+f 25 23 7
+f 25 12 23
+f 26 16 11
+f 26 11 21
+f 26 21 5
+f 26 5 16
+f 27 20 15
+f 27 15 25
+f 27 25 7
+f 27 7 20
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_3.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d98021e6c1caf50e45bf3166924845511b9f8c
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.26104997 -0.36557116 0.11970948
+v 0.34124281 -0.22112989 -0.17798523
+v 0.30114212 -0.20357183 0.29777014
+v 0.00100388 -0.22200326 0.32616223
+v 0.00902360 -0.28675030 -0.19282489
+v 0.00757576 -0.20162334 -0.16478754
+v 0.21481252 -0.30528795 0.26180025
+v 0.31068363 -0.30777292 0.19890573
+v 0.23122402 -0.36645432 -0.00690445
+v 0.01059672 -0.36596952 0.11947118
+v 0.32994476 -0.19928012 0.19242993
+v 0.03888507 -0.28680402 -0.20739386
+v 0.22993677 -0.29125344 0.27525409
+v 0.30231047 -0.35003935 0.01999686
+v 0.25902774 -0.33452353 0.20365931
+v 0.00933370 -0.36557497 0.00860889
+v 0.01029391 -0.30481835 0.24650938
+v 0.27806333 -0.26378322 -0.19819953
+v 0.05578408 -0.29018140 0.27681075
+v 0.28437757 -0.26370045 0.27571542
+v 0.30179121 -0.35045077 0.11874087
+v 0.26026817 -0.36462747 0.01983949
+v 0.21546548 -0.33567630 0.21798324
+v 0.05681085 -0.36435645 -0.01976826
+v 0.00981766 -0.33457686 0.20229473
+v 0.12813023 -0.28768337 -0.20837930
+v 0.30063316 -0.33539708 -0.03167604
+v 0.12962306 -0.30555384 0.26244393
+v 0.00996576 -0.27993823 0.27959717
+v 0.28562594 -0.32351096 0.20378450
+v 0.01214298 -0.28944415 -0.18794345
+v 0.13087924 -0.33569277 0.21752229
+v 0.05541949 -0.32039828 0.23326229
+v 0.26007768 -0.35012290 -0.03019555
+v 0.04096758 -0.29010061 -0.20149945
+v 0.20273775 -0.36482773 -0.02065821
+v 0.30317208 -0.26643252 -0.16135834
+v 0.28363397 -0.27616152 0.26346519
+v 0.28823968 -0.35102964 -0.00676869
+v 0.12636781 -0.28984009 -0.20338730
+v 0.27045236 -0.27570366 0.27319815
+f 6 4 3
+f 6 5 4
+f 10 9 1
+f 11 6 3
+f 11 2 6
+f 11 8 2
+f 11 3 8
+f 12 6 2
+f 12 5 6
+f 13 3 4
+f 15 13 7
+f 16 10 4
+f 16 4 5
+f 16 9 10
+f 18 12 2
+f 19 13 4
+f 20 8 3
+f 20 3 13
+f 21 1 14
+f 21 15 1
+f 21 14 2
+f 21 2 8
+f 22 14 1
+f 22 1 9
+f 23 10 1
+f 23 1 15
+f 23 15 7
+f 24 9 16
+f 25 17 4
+f 25 4 10
+f 26 12 18
+f 27 2 14
+f 28 7 13
+f 28 13 19
+f 28 23 7
+f 29 19 4
+f 29 4 17
+f 29 17 19
+f 30 21 8
+f 30 15 21
+f 30 13 15
+f 31 24 16
+f 31 16 5
+f 32 25 10
+f 32 10 23
+f 32 23 28
+f 33 19 17
+f 33 17 25
+f 33 25 32
+f 33 32 28
+f 33 28 19
+f 34 26 18
+f 34 9 26
+f 34 18 27
+f 35 12 26
+f 35 24 31
+f 35 31 5
+f 35 5 12
+f 36 26 9
+f 36 9 24
+f 37 27 18
+f 37 18 2
+f 37 2 27
+f 38 30 8
+f 38 8 20
+f 39 22 9
+f 39 9 34
+f 39 14 22
+f 39 34 27
+f 39 27 14
+f 40 35 26
+f 40 26 36
+f 40 36 24
+f 40 24 35
+f 41 38 20
+f 41 20 13
+f 41 13 30
+f 41 30 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_30.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c707534764dad438e59a08c242316d540ada32e5
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.21969697 -0.01980516 0.15339427
+v -0.21969697 -0.01980516 0.00187912
+v -0.21969697 0.13170999 0.00187912
+v -0.43379475 0.12527585 0.14558531
+v -0.42720513 -0.02823324 0.15108122
+v -0.45274758 0.12986750 0.00349067
+v -0.21969697 0.13170999 0.15339427
+v -0.42484350 -0.00576204 -0.00395769
+v -0.46041397 0.07239053 0.04723790
+v -0.34090909 0.13170999 0.00187912
+v -0.42164741 -0.01842553 0.00521848
+v -0.44570121 0.04577123 0.14296011
+v -0.46016225 0.11555074 0.04263336
+v -0.45884680 0.06560462 0.02346199
+v -0.44647655 0.02181984 0.11907971
+v -0.44327551 0.09709650 0.14420367
+v -0.44219978 0.12426975 0.12941306
+v -0.44444826 0.01933099 0.08102529
+v -0.45649201 0.11333057 0.01710876
+v -0.45857358 0.06336265 0.03152096
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 3 2
+f 10 7 3
+f 10 6 7
+f 10 8 6
+f 10 3 8
+f 11 8 2
+f 11 2 5
+f 13 9 12
+f 14 6 8
+f 14 8 11
+f 14 9 13
+f 15 12 9
+f 15 5 12
+f 16 12 5
+f 16 5 4
+f 16 13 12
+f 17 4 6
+f 17 6 13
+f 17 16 4
+f 17 13 16
+f 18 14 11
+f 18 11 5
+f 18 5 15
+f 19 14 13
+f 19 13 6
+f 19 6 14
+f 20 15 9
+f 20 9 14
+f 20 18 15
+f 20 14 18
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_31.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178bbc3ae9e348b327cec7d6e092e18bf4b0f327
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23264320 -0.19889402 0.28505640
+v -0.23484848 -0.20162334 0.00187912
+v -0.23484848 -0.01980516 0.00187912
+v -0.35036269 -0.03290038 0.21816679
+v -0.37985409 -0.23197405 -0.02971047
+v -0.23003512 -0.03005467 0.26319104
+v -0.35200053 -0.19537469 0.23230829
+v -0.41247949 -0.01033800 0.01956000
+v -0.30345302 -0.08830063 0.27023068
+v -0.22888955 -0.04408048 0.27414141
+v -0.34683450 -0.05915048 0.23926722
+v -0.30148587 -0.15030910 0.27185508
+v -0.34967059 -0.17828723 0.24123676
+v -0.28860073 -0.07304316 0.26938677
+v -0.28927122 -0.04748491 0.25519243
+v -0.28533707 -0.17674113 0.27036172
+v -0.33368148 -0.08781873 0.25787851
+v -0.25944819 -0.03593515 0.25768586
+v -0.33265391 -0.03293561 0.22671459
+v -0.33398958 -0.15073154 0.25708287
+f 5 2 1
+f 5 3 2
+f 7 5 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 5 7
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 10 9 1
+f 11 4 8
+f 12 1 9
+f 13 11 8
+f 13 8 7
+f 13 7 1
+f 14 9 10
+f 15 14 10
+f 15 11 14
+f 16 13 1
+f 16 1 12
+f 16 12 13
+f 17 12 9
+f 17 11 13
+f 17 14 11
+f 17 9 14
+f 18 15 10
+f 18 10 6
+f 19 4 11
+f 19 11 15
+f 19 15 18
+f 19 18 6
+f 19 6 4
+f 20 17 13
+f 20 13 12
+f 20 12 17
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_4.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d2b2673e693e69cddbe30accac1a69508f9e96
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.20881960 -0.28682466 -0.17183563
+v 0.20502620 -0.25015158 -0.25935159
+v 0.19003470 0.29884761 -0.19238759
+v -0.00301917 0.28697661 -0.18656984
+v -0.00188101 -0.28881287 -0.18171875
+v 0.00632071 0.26088840 -0.26081614
+v 0.20454545 -0.00465364 -0.16478754
+v 0.19118758 0.26272220 -0.26444613
+v 0.00757576 -0.00465364 -0.27084815
+v 0.00757576 -0.00465364 -0.16478754
+v 0.20454545 -0.00465364 -0.25569664
+v 0.00665357 -0.24924958 -0.25745764
+v 0.18939394 -0.00465364 -0.27084815
+v 0.00757576 0.14686151 -0.27084815
+v 0.18939394 0.14686151 -0.27084815
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 8 6 3
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 7 1
+f 11 1 2
+f 11 8 3
+f 11 3 7
+f 12 5 4
+f 12 4 9
+f 12 9 2
+f 12 2 5
+f 13 2 9
+f 14 6 8
+f 14 13 9
+f 14 9 4
+f 14 4 6
+f 15 11 2
+f 15 2 13
+f 15 8 11
+f 15 14 8
+f 15 13 14
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_5.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b09f5d99626d71faebed143bb174c4b02755cd
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.30114212 -0.20357183 0.29777014
+v 0.33045860 -0.23210206 -0.18348558
+v 0.33290093 -0.00370910 -0.14393020
+v 0.00743870 -0.00688271 0.32666191
+v 0.00898285 -0.19699527 0.34011885
+v 0.00757576 -0.00465364 -0.16478754
+v 0.29595421 -0.01697373 0.26438634
+v 0.32627035 -0.11211045 0.27120507
+v 0.14064434 -0.11251754 0.36339382
+v 0.00757576 -0.20162334 -0.16478754
+v 0.32445479 -0.00665337 0.02032340
+v 0.32684747 -0.11405521 0.23061402
+v 0.20222001 -0.19917961 0.33832510
+v 0.02431878 -0.11213074 0.36404240
+v 0.12501130 -0.01467462 0.33164523
+v 0.29905360 -0.08335914 0.30268926
+v 0.00747566 -0.02779211 0.33555527
+v 0.05601025 -0.00760874 0.33218293
+v 0.32444218 -0.08097408 0.24426059
+v 0.12564644 -0.15144622 0.36271901
+v 0.30906017 -0.07223198 0.28911628
+v 0.18102852 -0.07420370 0.34586316
+v 0.31394817 -0.11221541 0.29533070
+v 0.19919802 -0.15236348 0.34781731
+v 0.00812796 -0.05715144 0.35065660
+v 0.16434323 -0.01069182 0.31592628
+v 0.30699947 -0.02792728 0.25532282
+v 0.14223754 -0.19548040 0.34684408
+v 0.05433594 -0.15096398 0.36259704
+v 0.28361982 -0.01697058 0.28074176
+v 0.12623168 -0.08518094 0.36206600
+v 0.32325221 -0.08497390 0.26787264
+v 0.29978501 -0.11126665 0.30756133
+v 0.14088243 -0.14002306 0.36272225
+v 0.19720817 -0.10064833 0.34725688
+v 0.00999394 -0.17922484 0.34789082
+v 0.29522318 -0.03051873 0.27984344
+v 0.05370307 -0.19371428 0.34691642
+v 0.28767378 -0.06888824 0.30493183
+v 0.13998533 -0.04348701 0.34621431
+v 0.05465507 -0.08735242 0.36384504
+v 0.02474823 -0.12403678 0.36340042
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 13 5 1
+f 17 10 5
+f 17 4 10
+f 18 11 3
+f 18 3 4
+f 19 8 3
+f 19 3 11
+f 20 9 14
+f 23 1 8
+f 23 21 16
+f 24 13 1
+f 25 17 5
+f 25 18 4
+f 25 4 17
+f 26 7 11
+f 26 11 18
+f 26 18 15
+f 27 19 11
+f 27 11 7
+f 28 5 13
+f 28 13 20
+f 29 20 14
+f 29 28 20
+f 30 7 26
+f 30 26 15
+f 32 23 8
+f 32 21 23
+f 32 27 21
+f 32 8 19
+f 32 19 27
+f 33 23 16
+f 33 24 1
+f 33 1 23
+f 34 20 13
+f 34 13 24
+f 34 24 9
+f 34 9 20
+f 35 9 24
+f 35 31 9
+f 35 22 31
+f 35 24 33
+f 36 25 5
+f 36 14 25
+f 37 27 7
+f 37 21 27
+f 37 7 30
+f 38 5 28
+f 38 28 29
+f 38 36 5
+f 38 29 36
+f 39 37 30
+f 39 16 21
+f 39 21 37
+f 39 22 35
+f 39 35 33
+f 39 33 16
+f 40 30 15
+f 40 39 30
+f 40 22 39
+f 40 31 22
+f 40 15 18
+f 41 18 25
+f 41 25 14
+f 41 14 9
+f 41 9 31
+f 41 40 18
+f 41 31 40
+f 42 36 29
+f 42 29 14
+f 42 14 36
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_6.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc06fba4fe835bcda7962576ed3c9834c4fb9be
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.25610795 0.00924281 0.30243490
+v 0.28048542 -0.00869590 -0.00550751
+v 0.28501411 0.33576489 -0.00911262
+v 0.06863692 0.36515451 0.11016269
+v 0.00757576 -0.00465364 0.00187912
+v 0.21454277 0.30309433 0.25037618
+v 0.25651795 0.06106356 0.33042409
+v 0.09580921 -0.01128772 0.33489389
+v 0.14141891 0.36446931 -0.00752538
+v 0.26761029 0.31509907 0.18597690
+v 0.24479144 0.02201208 0.31752948
+v -0.00745286 0.19204968 0.31930177
+v 0.00757576 0.26807363 0.00187912
+v 0.25500084 0.21296026 0.30180061
+v 0.20275074 0.06390806 0.34606796
+v 0.00743870 -0.00688271 0.32666191
+v 0.08330650 0.31377400 0.25964163
+v 0.01273740 0.25983932 0.29174965
+v 0.25567269 0.25666687 0.26120803
+v 0.25388940 0.15481569 0.33099075
+v 0.24225546 0.04812837 0.33124388
+v 0.04174544 0.11507919 0.34684604
+v 0.15713025 0.24281180 0.31635352
+v -0.00656583 0.20497836 0.31423921
+v 0.22947808 0.09004779 0.34719161
+v 0.00921977 0.03229218 0.33410559
+v 0.05746954 0.04367333 0.34761331
+v 0.18312540 0.25525560 0.30306817
+v 0.04147124 0.25675758 0.30152851
+v 0.11649109 0.17188731 0.34762974
+v 0.01043850 0.15731793 0.33322517
+v 0.11359967 0.05113227 0.34811759
+v 0.04232006 0.05867483 0.34650945
+v 0.05601025 -0.00760874 0.33218293
+v 0.22629189 0.21115640 0.31906726
+v 0.11530988 0.24298040 0.31724882
+v 0.01340926 0.24355278 0.30181840
+v 0.04260302 0.22915788 0.31613399
+v 0.07041942 0.14319005 0.34718680
+v 0.21536879 0.15665071 0.34576164
+v -0.00531869 0.18742416 0.32127022
+v 0.18641374 0.16944655 0.34724416
+v 0.23939274 0.22275666 0.30349662
+v 0.22750271 0.18507978 0.33190591
+v 0.20016590 0.22670693 0.31764164
+v 0.10104825 0.21395374 0.33087573
+v 0.04266982 0.18624721 0.33142974
+v 0.22798044 0.14209039 0.34581915
+v 0.20109173 0.19875530 0.33243139
+v 0.15701547 0.21397219 0.33195699
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 11 8 1
+f 11 1 7
+f 13 9 5
+f 13 4 9
+f 13 5 12
+f 16 12 5
+f 16 5 8
+f 17 6 4
+f 18 4 13
+f 18 17 4
+f 19 14 10
+f 19 10 6
+f 19 6 14
+f 20 7 10
+f 20 10 14
+f 21 11 7
+f 21 15 8
+f 21 8 11
+f 24 18 13
+f 24 13 12
+f 25 7 20
+f 25 21 7
+f 25 15 21
+f 26 12 16
+f 27 26 16
+f 28 6 17
+f 28 17 23
+f 29 17 18
+f 31 26 22
+f 32 27 8
+f 32 8 15
+f 32 15 25
+f 32 30 27
+f 33 27 22
+f 33 22 26
+f 33 26 27
+f 34 27 16
+f 34 16 8
+f 34 8 27
+f 35 6 28
+f 36 23 17
+f 36 17 29
+f 37 29 18
+f 37 18 24
+f 38 24 12
+f 38 37 24
+f 38 29 37
+f 39 22 27
+f 39 27 30
+f 39 31 22
+f 41 12 26
+f 41 26 31
+f 42 32 25
+f 42 30 32
+f 43 35 14
+f 43 14 6
+f 43 6 35
+f 44 20 14
+f 44 14 35
+f 44 42 40
+f 45 35 28
+f 45 28 23
+f 46 36 29
+f 46 29 38
+f 47 39 30
+f 47 31 39
+f 47 41 31
+f 47 38 12
+f 47 12 41
+f 47 46 38
+f 47 30 46
+f 48 25 20
+f 48 44 40
+f 48 20 44
+f 48 42 25
+f 48 40 42
+f 49 44 35
+f 49 35 45
+f 49 42 44
+f 50 46 30
+f 50 30 42
+f 50 23 36
+f 50 36 46
+f 50 42 49
+f 50 49 45
+f 50 45 23
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_7.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d30dc8865700898b85c4f6ac1f3df7b8cf061cf
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38268838 0.00882704 0.10099127
+v 0.49207953 0.14840573 0.21781939
+v 0.39663783 0.26493124 0.33232823
+v 0.41034819 0.32742278 0.31128017
+v 0.38232539 0.06443767 0.06012196
+v 0.47654935 0.26469403 0.30858091
+v 0.47144227 0.15861687 0.25975174
+v 0.43042049 0.04364250 0.10521200
+v 0.46599491 0.28651486 0.25932819
+v 0.38630700 0.25782549 0.31375450
+v 0.42590124 0.30484796 0.33110568
+v 0.45144434 0.07224736 0.17336901
+v 0.39905325 0.06322707 0.16810921
+v 0.45669793 0.24761251 0.31622637
+v 0.49287050 0.19982237 0.27498771
+v 0.46246771 0.10684634 0.13977470
+v 0.37873541 0.01284449 0.05629014
+v 0.40689451 0.31685701 0.26993850
+v 0.44977799 0.31653954 0.29573260
+v 0.40061757 0.29097373 0.33445553
+v 0.47829214 0.13275661 0.23016472
+v 0.45867653 0.07356864 0.14706613
+v 0.39410179 0.01289971 0.10261302
+v 0.44225393 0.15675993 0.25827235
+v 0.38493429 0.02360333 0.12776862
+v 0.41364120 0.26288991 0.33272687
+v 0.42624252 0.27069301 0.33338906
+v 0.48094267 0.20275524 0.28610623
+v 0.49087984 0.25955346 0.26361297
+v 0.39435884 0.06522699 0.06485328
+v 0.37921889 0.00733632 0.06327404
+v 0.44649293 0.30298805 0.26324699
+v 0.39859250 0.31582701 0.28450751
+v 0.44857993 0.30283701 0.31828374
+v 0.40838999 0.32822150 0.28335351
+v 0.39052642 0.27907176 0.31952157
+v 0.40923401 0.30506425 0.33434321
+v 0.47432422 0.10117466 0.17750810
+v 0.49017979 0.17528249 0.26087802
+v 0.45797401 0.09173391 0.12956554
+v 0.40678368 0.03044661 0.13039303
+v 0.48184590 0.24551398 0.30164469
+v 0.47734738 0.28437789 0.30034353
+v 0.47796207 0.28428879 0.27128732
+v 0.49255860 0.22833616 0.24567889
+v 0.47667648 0.27257270 0.25805693
+v 0.42147341 0.08959589 0.09351385
+v 0.39976890 0.02285339 0.07409185
+v 0.38482984 0.08663321 0.07584712
+v 0.38905580 0.27737229 0.29098968
+v 0.42398002 0.32673836 0.30774505
+v 0.44178988 0.31263390 0.27107857
+v 0.40532141 0.31877455 0.31663160
+v 0.47486173 0.11418055 0.20823574
+v 0.46038298 0.08385870 0.18010853
+v 0.48932761 0.15402526 0.23954530
+v 0.48986471 0.26355303 0.28668075
+v 0.45458451 0.31209701 0.28380501
+v 0.49225385 0.19902007 0.22810891
+v 0.39399106 0.08726868 0.07849858
+v 0.38709199 0.01667250 0.06240450
+v 0.38652055 0.01135815 0.06841312
+v 0.39984165 0.30275800 0.26812370
+v 0.43539824 0.31238972 0.32021674
+f 13 12 7
+f 17 10 5
+f 21 7 12
+f 23 22 12
+f 23 8 22
+f 24 13 7
+f 24 3 13
+f 25 12 13
+f 25 10 1
+f 25 13 3
+f 25 3 10
+f 26 24 7
+f 26 3 24
+f 26 20 3
+f 27 14 6
+f 27 6 11
+f 27 26 14
+f 27 20 26
+f 28 26 7
+f 28 14 26
+f 30 17 5
+f 31 1 10
+f 31 10 17
+f 31 23 1
+f 34 11 6
+f 35 33 4
+f 35 18 33
+f 36 10 3
+f 36 3 20
+f 37 11 4
+f 37 27 11
+f 37 20 27
+f 39 7 21
+f 39 28 7
+f 39 15 28
+f 39 2 15
+f 40 22 8
+f 40 38 22
+f 40 16 2
+f 40 2 38
+f 41 23 12
+f 41 12 25
+f 41 25 1
+f 41 1 23
+f 42 28 15
+f 42 6 14
+f 42 14 28
+f 43 34 6
+f 43 19 34
+f 45 29 15
+f 45 15 2
+f 45 16 29
+f 46 29 16
+f 46 44 29
+f 46 9 44
+f 47 40 30
+f 47 16 40
+f 47 46 16
+f 47 9 46
+f 48 40 8
+f 48 30 40
+f 49 18 32
+f 49 5 33
+f 50 33 5
+f 50 5 10
+f 50 36 33
+f 50 10 36
+f 51 35 4
+f 51 19 35
+f 52 32 18
+f 52 18 35
+f 52 9 32
+f 53 36 20
+f 53 4 33
+f 53 33 36
+f 53 37 4
+f 53 20 37
+f 54 21 12
+f 54 38 2
+f 55 12 22
+f 55 22 38
+f 55 54 12
+f 55 38 54
+f 56 39 21
+f 56 2 39
+f 56 54 2
+f 56 21 54
+f 57 42 15
+f 57 15 29
+f 57 44 43
+f 57 29 44
+f 57 43 6
+f 57 6 42
+f 58 19 43
+f 58 43 44
+f 58 44 9
+f 58 9 52
+f 58 52 35
+f 58 35 19
+f 59 45 2
+f 59 2 16
+f 59 16 45
+f 60 32 9
+f 60 9 47
+f 60 49 32
+f 60 47 30
+f 60 30 5
+f 60 5 49
+f 61 17 30
+f 61 30 48
+f 61 31 17
+f 62 48 8
+f 62 8 23
+f 62 23 31
+f 62 61 48
+f 62 31 61
+f 63 49 33
+f 63 33 18
+f 63 18 49
+f 64 34 19
+f 64 19 51
+f 64 11 34
+f 64 51 4
+f 64 4 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_8.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f1fa470a1a773d3ab44e584f7e1860b2be547e
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00091636 -0.28182714 -0.19828928
+v 0.00703199 -0.23387097 -0.27331158
+v -0.00301917 0.28697661 -0.18656984
+v -0.14050011 0.26706360 -0.17525569
+v -0.23378080 -0.24363859 -0.17739290
+v -0.11492220 0.15953285 -0.31135958
+v 0.00632071 0.26088840 -0.26081614
+v 0.00466128 -0.25703786 -0.24618491
+v -0.09727505 -0.27005846 -0.17696469
+v -0.22874223 0.15056691 -0.24649433
+v -0.18775190 -0.16884555 -0.28326581
+v 0.00757576 0.13170999 -0.27084815
+v -0.10404117 0.25006042 -0.24539423
+v -0.21714509 -0.24977472 -0.17363335
+v -0.03748427 0.27876932 -0.17947514
+v -0.22911269 0.23035071 -0.17222959
+v -0.19828866 -0.16549903 -0.27879746
+v -0.19961504 -0.22972987 -0.21145457
+v -0.09421772 0.26349881 -0.21819656
+v -0.13113397 0.23705562 -0.24295481
+v -0.21408016 -0.24511865 -0.18315494
+v -0.12579086 -0.26478795 -0.17496901
+v -0.18120816 0.25133314 -0.18629448
+v -0.22888522 -0.23015381 -0.19773068
+v -0.12378803 -0.21410615 -0.25601390
+v -0.03564656 0.26719327 -0.23421811
+v -0.18430086 0.25466877 -0.17437939
+v -0.21278921 0.24044038 -0.17394152
+v -0.13907826 0.26344723 -0.18974292
+v -0.20891803 -0.18599580 -0.25408525
+v -0.22987810 -0.16216532 -0.25772178
+v -0.18431426 -0.17770411 -0.27719481
+v -0.09442388 -0.23257085 -0.24453146
+v -0.06497320 0.26347670 -0.23315083
+v -0.19661341 -0.17406931 -0.27306128
+v -0.22169457 -0.17529067 -0.25330936
+v -0.21188628 -0.21399779 -0.22507439
+v -0.03682813 0.26020393 -0.25134751
+f 7 3 1
+f 9 1 3
+f 11 6 2
+f 12 2 6
+f 12 6 7
+f 12 8 2
+f 12 7 1
+f 12 1 8
+f 13 7 6
+f 14 8 1
+f 14 1 9
+f 15 9 3
+f 15 3 4
+f 16 10 5
+f 16 5 14
+f 17 10 6
+f 17 6 11
+f 19 4 3
+f 20 13 6
+f 20 6 10
+f 20 10 16
+f 21 14 5
+f 21 8 14
+f 21 18 8
+f 21 5 18
+f 22 15 4
+f 22 9 15
+f 22 4 16
+f 22 16 14
+f 22 14 9
+f 23 13 20
+f 24 18 5
+f 26 3 7
+f 27 16 4
+f 28 23 20
+f 28 20 16
+f 28 27 23
+f 28 16 27
+f 29 19 13
+f 29 13 23
+f 29 4 19
+f 29 27 4
+f 29 23 27
+f 31 24 5
+f 31 5 10
+f 31 10 17
+f 32 25 18
+f 32 11 2
+f 32 2 25
+f 33 25 2
+f 33 2 8
+f 33 8 18
+f 33 18 25
+f 34 19 3
+f 34 3 26
+f 34 13 19
+f 35 17 11
+f 35 32 30
+f 35 11 32
+f 36 30 24
+f 36 24 31
+f 36 31 17
+f 36 35 30
+f 36 17 35
+f 37 32 18
+f 37 18 24
+f 37 24 30
+f 37 30 32
+f 38 34 26
+f 38 26 7
+f 38 7 13
+f 38 13 34
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/collision/model_normalized_collision_9.obj b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7a9575d2f3751233d002621c6ff6d198e45f50
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.23076936 -0.32249130 0.14606610
+v -0.23326478 -0.33216043 0.00326390
+v -0.23484848 -0.20162334 0.00187912
+v -0.43521025 -0.19334456 0.18882730
+v -0.34842236 -0.30350404 0.08884347
+v -0.23264320 -0.19889402 0.28505640
+v -0.22857509 -0.23534860 0.26087479
+v -0.30507988 -0.31835108 0.09046343
+v -0.36106169 -0.25887801 0.17010993
+v -0.37985409 -0.23197405 -0.02971047
+v -0.25810271 -0.19342900 0.27589971
+v -0.22988709 -0.30768365 0.17404026
+v -0.22996737 -0.21074738 0.27942794
+v -0.30712465 -0.31939626 0.03555097
+v -0.34940822 -0.29041350 0.12998159
+v -0.39163803 -0.20348360 0.21187295
+v -0.45240704 -0.20737741 0.14579735
+v -0.45415752 -0.19319141 0.16288968
+v -0.30395297 -0.27359764 0.18536472
+v -0.34960428 -0.29531528 0.00840788
+v -0.24481894 -0.31930438 0.14494057
+v -0.39260647 -0.23061586 0.18538533
+v -0.39494569 -0.19424114 0.21641279
+v -0.40435056 -0.24446455 0.15713528
+v -0.42922243 -0.20242682 0.18651715
+v -0.45762343 -0.19772535 0.15119901
+v -0.22914867 -0.26305585 0.23118052
+v -0.27380970 -0.30331454 0.15710448
+v -0.33460060 -0.28896485 0.14384621
+v -0.33334270 -0.30406138 0.01003029
+v -0.34741070 -0.30293300 0.02357814
+v -0.24270266 -0.26033782 0.22809462
+v -0.24321716 -0.30521345 0.17083476
+f 7 2 3
+f 8 2 1
+f 10 3 2
+f 11 6 3
+f 12 1 2
+f 12 2 7
+f 13 7 3
+f 13 3 6
+f 14 8 5
+f 14 2 8
+f 15 5 8
+f 16 7 13
+f 18 3 10
+f 18 11 3
+f 18 4 11
+f 20 17 10
+f 21 15 8
+f 21 8 1
+f 21 1 12
+f 22 9 19
+f 22 19 7
+f 22 7 16
+f 23 11 4
+f 23 6 11
+f 23 16 13
+f 23 13 6
+f 24 17 5
+f 24 5 15
+f 24 15 9
+f 24 9 22
+f 25 18 17
+f 25 4 18
+f 25 17 24
+f 25 24 22
+f 25 22 16
+f 25 23 4
+f 25 16 23
+f 26 18 10
+f 26 10 17
+f 26 17 18
+f 27 19 12
+f 27 12 7
+f 28 21 12
+f 29 19 9
+f 29 9 15
+f 29 28 19
+f 29 15 21
+f 29 21 28
+f 30 20 10
+f 30 10 2
+f 30 2 14
+f 31 5 17
+f 31 17 20
+f 31 20 30
+f 31 30 14
+f 31 14 5
+f 32 27 7
+f 32 7 19
+f 32 19 27
+f 33 28 12
+f 33 12 19
+f 33 19 28
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/model.xml b/bell_pepper/bell_pepper_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..762fe32a5bfe6b2c1bf0a62a796e7b372699b0fb
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bell_pepper_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09999999999999995 0.09999999999999995 0.09999999999999995" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
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diff --git a/bell_pepper/bell_pepper_2/visual/image0.png b/bell_pepper/bell_pepper_2/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..471204917af6abc3233d6497478c9ef53c32b1b2
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53ff1ff65b57e0321fa7e3d6dd01395145627b5b99547d7db74ba65b31bd5a4
+size 687241
diff --git a/bell_pepper/bell_pepper_2/visual/material.mtl b/bell_pepper/bell_pepper_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_2/visual/material_0.jpeg b/bell_pepper/bell_pepper_2/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..cb23cb7ea121058875814bf685aa552ebc9b3b7e
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9538ccd5b516e967a932e976a58b028ec6e128472b23a542dfff4d8cb76d3f1c
+size 64516
diff --git a/bell_pepper/bell_pepper_2/visual/model_normalized_0.obj b/bell_pepper/bell_pepper_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c303c357011c8314a3d85d5e7f37827f1da53739
--- /dev/null
+++ b/bell_pepper/bell_pepper_2/visual/model_normalized_0.obj
@@ -0,0 +1,57387 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d6c669ff1c17160592065e0a447014c0bcb1cb
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20141927 -0.00397262 0.00757575
+v 0.20141927 -0.00397262 -0.21969697
+v 0.14300802 0.27503950 -0.22395057
+v -0.30398780 0.25788125 0.00968113
+v -0.32332031 -0.01965207 0.01422220
+v 0.14278190 0.27017135 0.01435334
+v 0.22123413 0.19647772 0.01190632
+v -0.30874624 -0.00527047 -0.24139293
+v -0.19719569 0.29089797 -0.25740869
+v 0.22005335 0.17447635 -0.22202159
+v -0.28945921 0.23831925 -0.24732614
+v 0.00444958 -0.00397262 -0.23484849
+f 5 2 1
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+f 7 3 6
+f 7 6 5
+f 7 5 1
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+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 10 9 3
+f 10 2 9
+f 11 9 8
+f 11 8 4
+f 11 4 9
+f 12 9 2
+f 12 2 8
+f 12 8 9
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d830c04336b5fab9a1d671a36a9467bba2a907
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.12204335 -0.07510941 0.43909828
+v 0.03725640 -0.02034843 0.23273605
+v -0.05436093 -0.01170158 0.41890318
+v -0.03681745 0.10722757 0.25894398
+v -0.10045585 -0.02846888 0.21273476
+v 0.02910597 0.06822788 0.24511073
+v -0.25196751 -0.01343297 0.48666270
+v -0.05518681 -0.05378037 0.40391450
+v 0.00475641 -0.06401296 0.21747203
+v -0.03961558 0.00602990 0.39304297
+v -0.02799545 0.10899164 0.25710060
+v -0.15721902 -0.04511903 0.49123824
+v -0.24255459 -0.06642221 0.46654422
+v -0.25323191 -0.00862009 0.42480702
+v -0.05981257 -0.03090888 0.42340266
+v -0.10741403 -0.07733717 0.40751824
+v 0.03526666 -0.00422398 0.23130400
+v -0.18801416 0.01386834 0.47518114
+v -0.09914973 -0.01836750 0.21559295
+v 0.00046511 0.09642159 0.25767660
+v -0.10873463 -0.06768662 0.44805656
+v -0.22747678 -0.04117705 0.49443125
+v -0.18269956 -0.07955008 0.46365345
+v -0.19793782 -0.07880918 0.41833419
+v -0.24223841 0.01331159 0.45457211
+v -0.25082124 -0.03778606 0.43857813
+v -0.07885820 -0.02669525 0.44597012
+v -0.08157163 -0.06266503 0.42413956
+v -0.00824057 -0.06370377 0.21387103
+v -0.07084947 0.01674199 0.41686585
+v -0.21513002 0.00933896 0.48198498
+v -0.08315962 0.08903377 0.25997459
+v -0.11049733 -0.07495394 0.42637003
+v -0.20404127 -0.08002155 0.46236665
+v -0.19234543 -0.06629695 0.47586761
+v -0.14126199 -0.05379545 0.47642642
+v -0.16823235 -0.07995184 0.40344100
+v -0.25144179 -0.00076172 0.45727403
+v -0.24887428 -0.04312682 0.46975683
+v -0.25113376 -0.02687513 0.43079976
+v -0.22707574 -0.06346366 0.42147796
+v -0.08335286 -0.04075306 0.44406396
+v -0.19959673 0.00207501 0.49273457
+v -0.06975369 0.02681374 0.40442458
+v -0.06907966 -0.01240609 0.43381840
+v -0.22814484 -0.00541916 0.49425917
+v -0.10292829 0.06519512 0.26323497
+v -0.24243460 0.01301961 0.44046467
+v -0.16819906 -0.06252628 0.47714179
+v -0.23518845 -0.05360814 0.42545580
+v -0.07024582 -0.03787720 0.43366306
+v -0.23875876 -0.02589298 0.49221909
+v -0.25196262 -0.00106080 0.43748340
+f 9 2 8
+f 10 3 2
+f 10 2 6
+f 15 8 2
+f 15 2 3
+f 17 6 2
+f 17 2 9
+f 19 11 6
+f 19 6 5
+f 19 5 14
+f 20 10 6
+f 20 6 11
+f 23 1 21
+f 23 16 1
+f 26 7 14
+f 27 15 3
+f 28 16 9
+f 28 9 8
+f 29 17 9
+f 29 5 6
+f 29 6 17
+f 29 24 5
+f 30 10 20
+f 31 18 11
+f 31 11 4
+f 31 4 25
+f 32 4 11
+f 32 11 19
+f 32 25 4
+f 33 21 1
+f 33 1 16
+f 33 28 21
+f 33 16 28
+f 34 22 13
+f 34 13 24
+f 35 12 22
+f 35 34 23
+f 35 22 34
+f 36 21 12
+f 37 9 16
+f 37 34 24
+f 37 16 23
+f 37 23 34
+f 37 29 9
+f 37 24 29
+f 38 14 7
+f 38 7 25
+f 39 26 13
+f 39 13 7
+f 39 7 26
+f 40 26 14
+f 40 14 5
+f 41 24 13
+f 41 5 24
+f 42 27 12
+f 42 12 21
+f 43 12 27
+f 43 18 31
+f 43 30 18
+f 44 30 20
+f 44 20 11
+f 44 11 18
+f 44 18 30
+f 45 27 3
+f 45 3 10
+f 45 10 30
+f 45 43 27
+f 45 30 43
+f 46 31 25
+f 46 25 7
+f 46 43 31
+f 46 22 12
+f 46 12 43
+f 47 32 19
+f 47 19 14
+f 47 14 32
+f 48 32 14
+f 48 25 32
+f 49 36 12
+f 49 23 21
+f 49 21 36
+f 49 35 23
+f 49 12 35
+f 50 40 5
+f 50 5 41
+f 50 26 40
+f 50 41 13
+f 50 13 26
+f 51 8 15
+f 51 15 27
+f 51 27 42
+f 51 28 8
+f 51 42 21
+f 51 21 28
+f 52 46 7
+f 52 22 46
+f 52 7 13
+f 52 13 22
+f 53 38 25
+f 53 25 48
+f 53 48 14
+f 53 14 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9343d4aebdbdbe7897db08a1401ecca6700cf
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00060158 -0.00653334 0.25463678
+v 0.00444958 -0.01912414 0.00757575
+v 0.00444958 0.22330010 0.00757575
+v -0.30398780 0.25788125 0.00968113
+v -0.31938131 -0.03368153 0.01374657
+v 0.00472134 0.22168230 0.22126496
+v -0.09474123 -0.01033258 0.27244946
+v -0.25831764 0.21594618 0.20706955
+v -0.00174645 0.10644531 0.25099947
+v -0.28138817 0.05837039 0.17123694
+v -0.23281939 0.21745623 0.21811663
+v -0.26009838 -0.01974624 0.16315790
+v -0.26702145 0.10702923 0.20262902
+v -0.08478706 0.08704288 0.26053154
+v -0.22600855 -0.02003426 0.18832910
+v -0.24942137 0.20415424 0.21764731
+v -0.24807782 0.14934236 0.21624585
+v -0.10292829 0.06519512 0.26323497
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 9 7 1
+f 9 1 6
+f 10 8 4
+f 10 4 5
+f 11 6 4
+f 11 4 8
+f 12 10 5
+f 13 8 10
+f 13 10 12
+f 14 9 6
+f 14 6 11
+f 14 7 9
+f 15 12 5
+f 15 5 7
+f 15 13 12
+f 15 7 13
+f 16 11 8
+f 16 8 13
+f 17 16 13
+f 17 13 7
+f 17 7 16
+f 18 14 11
+f 18 11 16
+f 18 16 7
+f 18 7 14
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a92f171cf70cea43762e8a3f22da433a8327adb
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.19250812 -0.15546536 -0.41665030
+v -0.14237804 -0.11929376 -0.48194668
+v -0.14706557 -0.12518474 -0.35606061
+v -0.18822864 0.26046173 -0.34924534
+v -0.23893334 -0.00608240 -0.43073078
+v -0.15638112 0.24179532 -0.39201282
+v -0.20731967 -0.08529238 -0.46208519
+v -0.26717191 -0.11967664 -0.35166611
+v -0.14706557 -0.00397262 -0.35606061
+v -0.20504572 0.14666930 -0.44482102
+v -0.19627266 -0.14183491 -0.43256141
+v -0.21469529 0.24307705 -0.34645121
+v -0.25028619 -0.07319443 -0.42256328
+v -0.14266162 -0.00358175 -0.49398859
+v -0.16156298 0.26146100 -0.35235806
+v -0.19242867 -0.02017442 -0.47701311
+v -0.18511912 -0.08795151 -0.47625929
+v -0.18600248 -0.14330390 -0.43807429
+v -0.21804449 -0.14655470 -0.41014466
+v -0.27323206 0.14524061 -0.34925791
+v -0.19545076 0.20857153 -0.40403268
+v -0.14253387 -0.01872193 -0.49359445
+v -0.15690759 0.22819146 -0.40823468
+v -0.19531440 -0.04988022 -0.47618334
+v -0.15716417 -0.00294684 -0.48954350
+v -0.19325158 -0.12811588 -0.44465250
+v -0.26456143 -0.11846456 -0.36284270
+v -0.23735904 -0.08512930 -0.43152388
+v -0.21184928 -0.14399157 -0.41819454
+v -0.23709761 0.18652040 -0.38945461
+v -0.25022516 0.12831582 -0.38947199
+v -0.25009848 -0.05194272 -0.42189872
+v -0.25501740 0.19924033 -0.34766331
+v -0.19397579 0.23709693 -0.37220482
+v -0.15444914 -0.11741607 -0.47685951
+v -0.24990410 -0.11584801 -0.38984441
+v -0.26344879 -0.10277494 -0.37608562
+v -0.22300990 -0.13108013 -0.41715839
+v -0.22537229 0.18284385 -0.40289266
+v -0.23615877 0.14371229 -0.40534742
+v -0.26578923 0.07019658 -0.37546074
+v -0.25012282 0.17374726 -0.37425221
+v -0.16997105 0.22415646 -0.40491865
+v -0.24874583 -0.10010790 -0.40426020
+f 1 2 3
+f 8 1 3
+f 9 3 2
+f 12 8 3
+f 12 3 4
+f 14 6 9
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 5 10
+f 18 2 1
+f 18 1 11
+f 19 1 8
+f 22 14 9
+f 22 9 2
+f 22 2 17
+f 23 14 10
+f 23 6 14
+f 24 5 16
+f 24 7 13
+f 24 17 7
+f 24 22 17
+f 25 16 10
+f 25 10 14
+f 25 24 16
+f 25 14 22
+f 25 22 24
+f 26 7 17
+f 26 18 11
+f 27 19 8
+f 28 13 7
+f 29 11 1
+f 29 1 19
+f 29 26 11
+f 29 7 26
+f 30 12 21
+f 31 20 30
+f 32 24 13
+f 32 5 24
+f 32 31 5
+f 33 20 8
+f 33 8 12
+f 33 12 30
+f 34 21 12
+f 34 12 4
+f 35 26 17
+f 35 17 2
+f 35 2 18
+f 35 18 26
+f 36 19 27
+f 37 13 27
+f 37 27 8
+f 37 8 20
+f 38 28 7
+f 38 7 29
+f 38 29 19
+f 38 19 36
+f 38 13 28
+f 39 30 21
+f 39 21 10
+f 39 10 30
+f 40 10 5
+f 40 5 31
+f 40 31 30
+f 40 30 10
+f 41 32 13
+f 41 20 31
+f 41 31 32
+f 41 37 20
+f 41 13 37
+f 42 33 30
+f 42 30 20
+f 42 20 33
+f 43 21 34
+f 43 23 10
+f 43 10 21
+f 43 34 4
+f 43 4 6
+f 43 6 23
+f 44 36 27
+f 44 27 13
+f 44 38 36
+f 44 13 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d741847aabcc3e27c3e99a50e2d7e6a384a4133
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.22792774 -0.13217019 0.24158091
+v 0.28548489 -0.10177424 0.24424902
+v 0.16773722 0.03804896 0.29446214
+v 0.15372098 0.14183778 0.24172460
+v 0.07959776 -0.13736120 0.22921615
+v 0.28529879 0.08996431 0.25493630
+v 0.24179394 -0.05754966 0.29257912
+v 0.27196089 0.10824371 0.24242029
+v 0.06494850 -0.00392024 0.23558722
+v 0.22257224 0.10534316 0.27649391
+v 0.22455107 -0.09460041 0.27954358
+v 0.28012024 -0.04116375 0.27775780
+v 0.28973946 0.09634813 0.24487379
+v 0.10547577 -0.04800070 0.26288788
+v 0.11184126 0.11609943 0.24446008
+v 0.25894468 0.05000107 0.29257187
+v 0.21373522 0.13585721 0.24296990
+v 0.22244594 0.11639240 0.26682285
+v 0.28318811 -0.09996098 0.24791580
+v 0.19859937 -0.12981940 0.25367092
+v 0.27857857 0.05036240 0.27851655
+v 0.06534615 -0.12498653 0.23203663
+v 0.17430817 -0.05600832 0.29208732
+v 0.19421221 0.10867748 0.27562832
+v 0.26393999 -0.03031631 0.29396399
+v 0.28349193 0.07782612 0.26435998
+v 0.25208895 0.10049498 0.26529153
+v 0.21217842 0.12944165 0.25426170
+v 0.20453783 -0.10064951 0.27570356
+v 0.11115181 -0.13756410 0.23203106
+v 0.22474251 -0.12531543 0.24966529
+v 0.16360727 -0.03218719 0.29221368
+v 0.15914800 -0.08548098 0.27565579
+v 0.12687867 0.13134868 0.24493498
+v 0.22858359 0.06502759 0.29223200
+v 0.26717211 0.00985830 0.29202320
+v 0.13367440 -0.04572839 0.27672987
+v 0.07832767 -0.13116059 0.23262880
+v 0.15106842 0.13509364 0.24709296
+v 0.18961753 0.06528276 0.29174533
+v 0.10101463 -0.11565208 0.24608592
+f 5 2 1
+f 8 5 4
+f 8 2 5
+f 9 4 5
+f 13 2 8
+f 13 12 2
+f 14 3 9
+f 15 9 3
+f 15 4 9
+f 17 8 4
+f 18 13 8
+f 19 1 2
+f 19 7 11
+f 19 2 12
+f 22 14 9
+f 22 9 5
+f 23 11 7
+f 24 10 18
+f 25 16 3
+f 25 19 12
+f 25 7 19
+f 25 23 7
+f 25 3 23
+f 26 10 16
+f 26 16 21
+f 26 13 6
+f 26 21 12
+f 26 12 13
+f 27 18 10
+f 27 6 13
+f 27 13 18
+f 27 26 6
+f 27 10 26
+f 28 18 8
+f 28 8 17
+f 28 17 4
+f 28 24 18
+f 28 4 24
+f 29 20 11
+f 29 5 20
+f 29 11 23
+f 30 20 5
+f 30 5 1
+f 30 1 20
+f 31 20 1
+f 31 11 20
+f 31 19 11
+f 31 1 19
+f 32 23 3
+f 32 3 14
+f 32 22 23
+f 33 23 22
+f 33 29 23
+f 34 4 15
+f 34 15 3
+f 35 16 10
+f 35 10 24
+f 35 3 16
+f 36 21 16
+f 36 16 25
+f 36 25 12
+f 36 12 21
+f 37 32 14
+f 37 14 22
+f 37 22 32
+f 38 22 5
+f 38 5 29
+f 38 29 33
+f 39 34 24
+f 39 24 4
+f 39 4 34
+f 40 34 3
+f 40 24 34
+f 40 35 24
+f 40 3 35
+f 41 38 33
+f 41 33 22
+f 41 22 38
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_15.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d35e5a62cc187236992815ef50d832b18ba2c8b
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.11036286 -0.00438535 -0.45769772
+v 0.11236169 0.00121437 -0.45710869
+v 0.00444958 -0.00397262 -0.40151515
+v -0.15690759 0.22819146 -0.40823468
+v -0.16764128 0.13358090 -0.48985820
+v 0.10378251 0.23030087 -0.39406041
+v -0.09106012 0.11650116 -0.49019000
+v -0.18717075 -0.00371139 -0.48109169
+v -0.24184874 0.10107251 -0.40969632
+v 0.03145981 0.20822236 -0.44747487
+v -0.10587357 -0.00654609 -0.49072099
+v 0.07657261 0.24426219 -0.39260081
+v -0.24795433 -0.00468828 -0.41384465
+v -0.21554893 0.18713652 -0.40871617
+v -0.14503840 0.16297338 -0.47583138
+v -0.12031138 0.14132385 -0.48894418
+v 0.10491334 0.15744060 -0.44420439
+v -0.09079296 0.05899200 -0.48955172
+v -0.15716417 -0.00294684 -0.48954350
+v -0.04024615 0.24434858 -0.40926115
+v 0.10287421 0.19456050 -0.43395734
+v -0.24167630 -0.00555700 -0.42557057
+v -0.18011643 0.18068965 -0.44588689
+v -0.22115619 0.12679820 -0.43320787
+v -0.18493397 0.21357103 -0.40837722
+v 0.04827135 0.14498492 -0.46102441
+v -0.08831758 0.16698879 -0.47371007
+v -0.17144026 0.03016428 -0.48843644
+v 0.03165622 0.23805627 -0.41671806
+v 0.06253348 0.24712107 -0.39532913
+v -0.06930695 0.22377107 -0.43059064
+v 0.10012470 0.22445220 -0.40375619
+v 0.05970980 0.20059308 -0.44441574
+v -0.20657144 0.09795710 -0.46275307
+v -0.20819458 0.16605991 -0.43098112
+v -0.15359156 0.22178350 -0.41812003
+v -0.22942454 0.15985078 -0.40967047
+v -0.18375347 0.20635929 -0.41789592
+v -0.00949224 0.21176714 -0.44395550
+v -0.19217955 0.10036721 -0.47645653
+v -0.20779636 0.07233394 -0.46141273
+v -0.23511208 0.10046592 -0.42068404
+v -0.19254771 0.16566082 -0.44559122
+v -0.20472118 0.14152290 -0.44730915
+v -0.15608764 0.19244162 -0.44500322
+v 0.00607151 0.23204359 -0.42470351
+v -0.19215946 0.07268197 -0.47684196
+v -0.22245996 0.15753479 -0.41912317
+v -0.03964257 0.23698736 -0.41852219
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 11 1 3
+f 11 5 7
+f 12 9 3
+f 12 3 6
+f 13 3 9
+f 14 9 12
+f 16 7 5
+f 16 5 15
+f 17 6 2
+f 18 11 7
+f 18 7 1
+f 18 1 11
+f 19 11 8
+f 19 5 11
+f 21 6 17
+f 22 11 3
+f 22 3 13
+f 22 8 11
+f 22 13 9
+f 23 15 5
+f 25 14 12
+f 25 12 4
+f 26 16 10
+f 26 7 16
+f 26 17 2
+f 26 2 7
+f 27 16 15
+f 27 15 10
+f 27 10 16
+f 28 19 8
+f 28 8 5
+f 28 5 19
+f 29 21 10
+f 30 20 4
+f 30 4 12
+f 30 29 20
+f 30 12 21
+f 30 21 29
+f 32 21 12
+f 32 12 6
+f 32 6 21
+f 33 21 17
+f 33 10 21
+f 33 26 10
+f 33 17 26
+f 36 31 15
+f 36 4 20
+f 36 20 31
+f 36 25 4
+f 37 9 14
+f 37 14 35
+f 37 34 24
+f 38 23 14
+f 38 14 25
+f 38 36 23
+f 38 25 36
+f 39 10 15
+f 39 15 31
+f 40 34 5
+f 40 5 8
+f 41 8 22
+f 41 22 34
+f 42 34 22
+f 42 22 9
+f 42 24 34
+f 42 37 24
+f 42 9 37
+f 43 23 5
+f 43 5 35
+f 43 35 14
+f 43 14 23
+f 44 35 5
+f 44 5 34
+f 44 34 37
+f 45 36 15
+f 45 15 23
+f 45 23 36
+f 46 29 10
+f 46 10 39
+f 46 20 29
+f 46 39 31
+f 47 40 8
+f 47 34 40
+f 47 41 34
+f 47 8 41
+f 48 44 37
+f 48 37 35
+f 48 35 44
+f 49 46 31
+f 49 31 20
+f 49 20 46
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1feef45ce4aa98153ea4773fa622b97029b8798
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02591606 0.17787151 0.21813699
+v 0.10969649 0.22245337 0.18876223
+v 0.05902826 0.22836753 0.21818183
+v -0.23147976 0.27716740 0.18254593
+v -0.27050435 0.22494413 0.19221690
+v 0.04712955 0.27422499 0.18229437
+v 0.10106548 0.21337251 0.21205201
+v -0.07300566 0.17607912 0.20671483
+v -0.26213965 0.24723463 0.18292219
+v -0.19661181 0.24580558 0.21920996
+v 0.06395499 0.22038000 0.21968393
+v 0.06868443 0.25676413 0.19560002
+v -0.22086145 0.22144545 0.21917590
+v -0.23316329 0.25396121 0.20378522
+v 0.10382553 0.23149558 0.18420444
+v 0.04516376 0.26736591 0.19241586
+v -0.25831764 0.21594618 0.20706955
+v -0.25712889 0.24203574 0.19279055
+v -0.23183365 0.26977263 0.18948710
+v -0.21751000 0.23242878 0.21760422
+v 0.07306441 0.26132192 0.18384881
+v 0.04688568 0.25506221 0.20348588
+v -0.25476900 0.22847759 0.20257057
+v -0.20239680 0.24662600 0.21730216
+f 7 1 2
+f 8 2 1
+f 9 8 5
+f 9 4 6
+f 11 7 3
+f 11 1 7
+f 11 3 10
+f 12 3 7
+f 13 11 10
+f 13 1 11
+f 14 4 9
+f 15 2 8
+f 15 8 9
+f 15 9 6
+f 15 12 7
+f 15 7 2
+f 16 6 4
+f 16 4 10
+f 16 12 6
+f 17 8 1
+f 17 1 13
+f 17 5 8
+f 18 14 9
+f 18 9 5
+f 19 4 14
+f 20 13 10
+f 20 17 13
+f 20 14 17
+f 21 15 6
+f 21 6 12
+f 21 12 15
+f 22 16 10
+f 22 10 3
+f 22 3 12
+f 22 12 16
+f 23 17 14
+f 23 14 18
+f 23 18 5
+f 23 5 17
+f 24 19 14
+f 24 10 4
+f 24 4 19
+f 24 20 10
+f 24 14 20
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a518f6035126a181bfdee86b6f553b90c6f1e69
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.11051018 -0.00397262 -0.34090909
+v 0.20264632 0.16007078 -0.35102270
+v 0.17317699 0.21328674 -0.33282567
+v 0.00547605 0.29286715 -0.33747898
+v 0.11236169 0.00121437 -0.45710869
+v 0.00444958 -0.00397262 -0.34090909
+v 0.10558964 0.18888899 -0.43477206
+v 0.00444958 -0.00397262 -0.40151515
+v 0.17885680 0.14187375 -0.41209047
+v 0.09159306 0.27988502 -0.34596424
+v 0.00555873 0.22448917 -0.43252401
+v 0.14949866 0.14230780 -0.43208028
+v 0.08763677 0.28508454 -0.33662513
+v 0.11358956 0.26872823 -0.34319477
+v 0.11008488 0.14714332 -0.44560820
+v 0.00530230 0.25279271 -0.40337588
+v 0.03175443 0.25297323 -0.40133965
+v 0.14773573 0.15603210 -0.42802078
+v 0.04628011 0.28060597 -0.36149540
+v 0.09881542 0.23943464 -0.38855653
+v 0.16841908 0.20964733 -0.34503923
+v 0.11731005 0.26879347 -0.33627576
+v 0.11587569 0.18376080 -0.43210805
+v 0.07358317 0.26688220 -0.37011716
+v 0.00838639 0.28023159 -0.36027395
+v 0.09796713 0.26870994 -0.35731353
+v 0.17523026 0.15153633 -0.40599397
+v 0.07371373 0.25206624 -0.38558891
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 5 1
+f 8 1 6
+f 9 2 5
+f 11 5 8
+f 12 9 5
+f 13 4 3
+f 14 10 13
+f 15 11 7
+f 15 5 11
+f 15 12 5
+f 15 7 12
+f 16 11 8
+f 16 8 6
+f 16 6 4
+f 17 7 11
+f 17 11 16
+f 18 12 7
+f 18 9 12
+f 19 13 10
+f 19 4 13
+f 19 17 16
+f 20 7 17
+f 21 14 3
+f 21 3 2
+f 22 14 13
+f 22 13 3
+f 22 3 14
+f 23 9 18
+f 23 20 14
+f 23 18 7
+f 23 7 20
+f 24 19 10
+f 24 17 19
+f 25 19 16
+f 25 16 4
+f 25 4 19
+f 26 10 14
+f 26 14 20
+f 26 24 10
+f 26 20 24
+f 27 14 21
+f 27 23 14
+f 27 9 23
+f 27 21 2
+f 27 2 9
+f 28 24 20
+f 28 20 17
+f 28 17 24
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d19267c63855a92ae84b71c01167c45bd94ad16
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.25261696 -0.15446469 0.19378503
+v 0.33642096 -0.09431415 0.17367617
+v 0.20262496 -0.10640531 0.27266694
+v 0.00084989 -0.10411351 0.21891445
+v 0.16996046 -0.17101668 0.17051276
+v 0.29806052 -0.08733992 0.24322541
+v 0.27051743 -0.15395254 0.17059673
+v 0.20141927 -0.09488171 0.17424241
+v 0.00879456 -0.19523626 0.22137830
+v 0.15812555 -0.10365197 0.26686355
+v 0.22307165 -0.13800065 0.23719364
+v 0.29557019 -0.14286199 0.17247982
+v 0.31124095 -0.08576174 0.22665626
+v 0.19789042 -0.10550001 0.27234949
+v 0.00346709 -0.18365500 0.22419013
+v 0.28213241 -0.10765616 0.23833882
+v 0.23082255 -0.15234642 0.21207670
+v 0.19843490 -0.11405450 0.26815284
+v 0.26895417 -0.15173451 0.18360445
+v 0.32672236 -0.11345915 0.17260549
+v 0.32758986 -0.08968481 0.19955740
+v 0.29371736 -0.14052456 0.17880307
+v 0.29243985 -0.09799114 0.23918292
+v 0.29274619 -0.10952500 0.22372303
+v 0.32453813 -0.11110749 0.17939276
+v 0.32384960 -0.09887726 0.19452436
+f 8 5 4
+f 8 7 5
+f 9 4 5
+f 9 7 1
+f 9 5 7
+f 10 6 4
+f 13 8 4
+f 13 4 6
+f 14 3 6
+f 14 6 10
+f 14 9 3
+f 15 10 4
+f 15 4 9
+f 15 14 10
+f 15 9 14
+f 16 6 3
+f 17 11 9
+f 17 9 1
+f 17 16 11
+f 17 1 16
+f 18 3 9
+f 18 9 11
+f 18 16 3
+f 18 11 16
+f 19 1 7
+f 19 7 12
+f 19 16 1
+f 20 12 7
+f 20 8 2
+f 20 7 8
+f 21 2 8
+f 21 8 13
+f 21 20 2
+f 22 19 12
+f 22 16 19
+f 22 12 20
+f 23 6 16
+f 24 23 16
+f 24 16 22
+f 25 20 21
+f 25 23 24
+f 25 24 22
+f 25 22 20
+f 26 25 21
+f 26 23 25
+f 26 6 23
+f 26 21 13
+f 26 13 6
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e23de7794fb6cd27bc929d1335fc8398f02970
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13784422 -0.19510883 -0.37452200
+v 0.10131183 -0.16421255 -0.44701104
+v 0.11051018 -0.00397262 -0.35606061
+v -0.14706557 -0.00397262 -0.35606061
+v -0.16349746 -0.19589156 -0.36603606
+v -0.14266162 -0.00358175 -0.49398859
+v 0.11186198 -0.00018556 -0.45725594
+v 0.05514997 -0.16161621 -0.47498682
+v 0.10042395 -0.13328917 -0.46070403
+v -0.14257874 -0.12724862 -0.47567652
+v 0.07518780 -0.12683678 -0.47365555
+v 0.10855778 -0.04887549 -0.46009107
+v 0.06888543 -0.14757747 -0.47382600
+v -0.11221033 -0.15736091 -0.46028093
+v -0.14145109 -0.09202761 -0.48850571
+v -0.10174118 -0.09164058 -0.49023541
+v -0.10587357 -0.00654609 -0.49072099
+v 0.08453884 -0.16124694 -0.45848298
+v -0.03508698 -0.15921140 -0.47373107
+v -0.13998978 -0.15741201 -0.45246402
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 1 2
+f 12 7 1
+f 12 1 9
+f 12 11 7
+f 12 9 11
+f 13 9 2
+f 13 11 9
+f 13 8 11
+f 15 10 5
+f 15 5 6
+f 16 11 8
+f 16 15 6
+f 17 6 7
+f 17 7 11
+f 17 16 6
+f 17 11 16
+f 18 13 2
+f 18 2 8
+f 18 8 13
+f 19 14 10
+f 19 8 5
+f 19 5 14
+f 19 10 15
+f 19 16 8
+f 19 15 16
+f 20 14 5
+f 20 5 10
+f 20 10 14
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d02c611e31a53a49c8da52242cc77f8d62917c2
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11113882 0.16029390 0.22996036
+v 0.14278190 0.27017135 0.01435334
+v 0.12177463 0.25058307 0.13344146
+v 0.00472134 0.22168230 0.22126496
+v 0.00444958 0.16269404 0.00757575
+v 0.00444958 0.23845161 0.12878786
+v 0.10106548 0.21337251 0.21205201
+v 0.11051018 0.16269404 0.00757575
+v 0.00056780 0.15546303 0.21994456
+v 0.00444958 0.23845161 0.00757575
+v 0.10494097 0.19883103 0.21944873
+v 0.08889845 0.21249186 0.21698497
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 1
+f 9 1 4
+f 9 4 6
+f 9 8 1
+f 9 5 8
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 10 2 8
+f 11 1 3
+f 11 3 7
+f 12 11 7
+f 12 7 4
+f 12 4 1
+f 12 1 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce8fd229011468d6365389ae9a37c1eeb1dd330
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00346709 -0.18365500 0.22419013
+v 0.00444958 -0.18579080 0.00757575
+v 0.00444958 -0.01912414 0.00757575
+v -0.12163219 -0.01596332 0.20255279
+v -0.14706557 -0.18579080 0.00757575
+v 0.00569731 -0.02639142 0.22536300
+v -0.06803960 -0.18537533 0.21984896
+v -0.14706557 -0.01912414 0.00757575
+v 0.00561884 -0.11195608 0.22033799
+v -0.13877090 -0.17648346 0.20347184
+v -0.14618639 -0.08323792 0.20234637
+v -0.06982150 -0.14164231 0.21779826
+v -0.14676977 -0.02026553 0.19269560
+f 5 3 2
+f 6 3 4
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 5 7
+f 11 6 4
+f 11 10 7
+f 11 5 10
+f 12 11 7
+f 12 7 6
+f 12 6 11
+f 13 11 4
+f 13 4 8
+f 13 8 5
+f 13 5 11
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8667d581e31dfdd70387d8fd7dc43631cb8e5fd
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.14060579 -0.28328520 0.05126885
+v -0.14329161 -0.28849404 0.00812868
+v -0.14706557 -0.01912414 0.00757575
+v -0.28090096 -0.01926162 0.13294579
+v -0.28007664 -0.13089941 0.06631347
+v -0.14676977 -0.02026553 0.19269560
+v -0.26650200 -0.14290621 0.10366964
+v -0.32467605 -0.01792553 0.00706766
+v -0.13772628 -0.25102400 0.13649642
+v -0.15008541 -0.28105891 0.00935320
+v -0.14706196 -0.27734734 0.04975032
+v -0.31285905 -0.06001389 0.00564075
+v -0.31548784 -0.01728367 0.06318382
+v -0.14725105 -0.26275980 0.10795045
+v -0.19779906 -0.12925837 0.20038532
+v -0.17670175 -0.24640955 0.04960677
+v -0.28353152 -0.13092713 0.00690257
+v -0.22600855 -0.02003426 0.18832910
+v -0.26754399 -0.10197254 0.15262123
+v -0.29466929 -0.09226264 0.09137249
+v -0.20892983 -0.17233636 0.15747615
+v -0.14016204 -0.26892035 0.10813457
+v -0.14238774 -0.16558712 0.20787338
+v -0.30028371 -0.10317465 0.00621786
+v -0.29871448 -0.01924092 0.10429804
+v -0.22364935 -0.11418028 0.19063513
+v -0.27965526 -0.11558133 0.10592847
+v -0.31094792 -0.04519148 0.06507512
+v -0.19290425 -0.18504068 0.16056085
+v -0.24993360 -0.14185308 0.13313841
+v -0.14084742 -0.19396501 0.19238218
+v -0.20699084 -0.09810259 0.20230724
+v -0.29667073 -0.10133208 0.05130761
+v -0.28115586 -0.06471419 0.13310429
+v -0.29498723 -0.04683474 0.10590141
+v -0.25360580 -0.11391404 0.15999557
+v -0.28072143 -0.10097083 0.12151421
+v -0.15350910 -0.19117120 0.18751186
+v -0.14618639 -0.08323792 0.20234637
+f 1 2 3
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 11 2 1
+f 12 8 3
+f 12 3 2
+f 13 6 3
+f 13 3 8
+f 14 11 1
+f 14 7 11
+f 16 11 7
+f 16 7 2
+f 16 2 11
+f 17 2 10
+f 17 10 5
+f 18 13 4
+f 18 6 13
+f 19 18 4
+f 20 5 7
+f 21 7 14
+f 22 14 1
+f 22 1 9
+f 22 9 14
+f 24 12 2
+f 24 2 17
+f 24 17 5
+f 25 4 13
+f 26 18 19
+f 26 21 15
+f 27 20 7
+f 27 7 19
+f 28 20 13
+f 28 13 8
+f 29 21 14
+f 29 14 9
+f 29 15 21
+f 30 19 7
+f 30 7 21
+f 31 9 6
+f 31 6 23
+f 32 15 23
+f 32 26 15
+f 32 18 26
+f 32 6 18
+f 33 12 24
+f 33 20 28
+f 33 28 8
+f 33 8 12
+f 33 24 5
+f 33 5 20
+f 34 19 4
+f 34 4 25
+f 34 20 19
+f 35 25 13
+f 35 13 20
+f 35 34 25
+f 35 20 34
+f 36 26 19
+f 36 21 26
+f 36 30 21
+f 36 19 30
+f 37 27 19
+f 37 19 20
+f 37 20 27
+f 38 29 9
+f 38 9 31
+f 38 15 29
+f 38 31 23
+f 38 23 15
+f 39 32 23
+f 39 23 6
+f 39 6 32
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eada4150c164102e34125813bba9c5543b374c6
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02781633 -0.29551506 0.12385539
+v 0.14324425 -0.19016889 0.12998162
+v 0.01796206 -0.21253077 0.21706764
+v -0.12610921 -0.17927726 0.20834216
+v -0.17127018 -0.21306682 0.14807778
+v 0.10370647 -0.17827414 0.19784016
+v -0.07812012 -0.24508800 0.19082504
+v -0.14188289 -0.25570805 0.12465752
+v -0.14364122 -0.18194839 0.19784711
+v 0.13935197 -0.18116506 0.17059738
+v 0.04136771 -0.18205715 0.21944426
+v 0.03696713 -0.26235339 0.17430927
+v -0.06518798 -0.20661133 0.21568387
+v 0.12532127 -0.20373176 0.12410560
+v -0.12105752 -0.24527897 0.16307673
+v -0.08304298 -0.29585165 0.12098919
+v -0.12390505 -0.22017208 0.18594415
+v 0.06838754 -0.26060732 0.14810328
+v 0.03987771 -0.19655697 0.21675551
+v 0.03648541 -0.23151617 0.20405061
+v -0.02335364 -0.25927210 0.19172938
+v -0.06522539 -0.23697233 0.20064952
+v -0.06803960 -0.18537533 0.21984896
+v 0.05677689 -0.27834937 0.12310901
+v -0.13356968 -0.24633994 0.14833531
+v -0.10951475 -0.28130063 0.12163562
+v -0.08000854 -0.28954024 0.13134319
+v -0.10886309 -0.20517203 0.20135010
+v -0.13805361 -0.20598163 0.18691725
+v 0.02685544 -0.29049419 0.13690038
+v 0.05209684 -0.21687467 0.20458687
+v 0.01402876 -0.26149666 0.18704174
+v -0.10773013 -0.27553595 0.13194796
+v -0.06556982 -0.27312250 0.16114429
+v -0.12331541 -0.19129388 0.20287723
+v -0.05043512 -0.28832889 0.14603116
+v 0.01513491 -0.28730414 0.15080964
+f 9 2 5
+f 10 4 6
+f 10 9 4
+f 10 2 9
+f 11 6 4
+f 14 8 5
+f 14 5 2
+f 17 15 7
+f 17 5 15
+f 18 2 10
+f 18 10 12
+f 19 11 3
+f 19 6 11
+f 20 19 3
+f 20 12 10
+f 21 20 3
+f 22 13 4
+f 22 7 21
+f 22 21 3
+f 22 3 13
+f 23 11 4
+f 23 4 13
+f 23 13 3
+f 23 3 11
+f 24 14 2
+f 24 16 14
+f 24 1 16
+f 24 18 1
+f 24 2 18
+f 25 15 5
+f 25 5 8
+f 26 8 14
+f 26 14 16
+f 26 25 8
+f 26 15 25
+f 28 17 7
+f 28 22 4
+f 28 7 22
+f 29 9 5
+f 29 5 17
+f 29 4 9
+f 30 18 12
+f 30 1 18
+f 31 6 19
+f 31 19 20
+f 31 20 10
+f 31 10 6
+f 32 12 20
+f 32 20 21
+f 33 26 16
+f 33 15 26
+f 33 16 27
+f 33 27 7
+f 33 7 15
+f 34 21 7
+f 34 7 27
+f 35 28 4
+f 35 17 28
+f 35 29 17
+f 35 4 29
+f 36 21 34
+f 36 34 27
+f 36 27 16
+f 37 30 12
+f 37 12 32
+f 37 32 21
+f 37 21 36
+f 37 1 30
+f 37 36 16
+f 37 16 1
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_30.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06307301e6b0d55e690f3e3e5939dab3e8141069
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.17921672 -0.20797921 -0.23439357
+v 0.32432988 -0.04407171 -0.23098654
+v 0.29673482 -0.09975524 -0.23099334
+v 0.18626776 -0.00397262 -0.23484849
+v 0.18626776 -0.00397262 -0.34090909
+v 0.17856922 -0.17889904 -0.33570951
+v 0.33085960 -0.00436023 -0.23286980
+v 0.17767889 -0.20572410 -0.26307076
+v 0.27799571 -0.05534953 -0.33105826
+v 0.28947489 -0.00336878 -0.33245736
+v 0.21604453 -0.16885371 -0.27439269
+v 0.29025463 -0.09602930 -0.25898846
+v 0.32209099 -0.02740115 -0.25878669
+v 0.28905887 -0.01850634 -0.33226208
+v 0.17823848 -0.19226809 -0.30757912
+v 0.18680925 -0.19845447 -0.26161206
+v 0.26065156 -0.11161690 -0.29999049
+v 0.32285652 -0.00459822 -0.25904215
+v 0.29111172 -0.04225641 -0.31911845
+v 0.32094156 -0.04158139 -0.24401468
+v 0.18753435 -0.20074478 -0.23451814
+v 0.22958032 -0.12613768 -0.32980003
+v 0.18682869 -0.18517974 -0.30510558
+v 0.30415461 -0.04133264 -0.28796014
+v 0.30255157 -0.07037573 -0.25801526
+v 0.18700926 -0.17289090 -0.33117658
+v 0.26033396 -0.08448483 -0.32947537
+f 1 3 4
+f 3 2 4
+f 6 4 5
+f 7 4 2
+f 8 1 4
+f 8 4 6
+f 10 5 4
+f 10 4 7
+f 12 2 3
+f 12 3 11
+f 13 7 2
+f 14 9 6
+f 14 6 5
+f 14 5 10
+f 15 8 6
+f 16 11 3
+f 16 1 8
+f 16 15 11
+f 16 8 15
+f 17 9 12
+f 17 12 11
+f 18 10 7
+f 18 7 13
+f 18 14 10
+f 18 13 14
+f 19 12 9
+f 19 14 13
+f 19 9 14
+f 20 13 2
+f 20 2 12
+f 21 16 3
+f 21 3 1
+f 21 1 16
+f 22 6 9
+f 23 15 6
+f 23 17 11
+f 23 11 15
+f 24 19 13
+f 24 12 19
+f 25 20 12
+f 25 13 20
+f 25 24 13
+f 25 12 24
+f 26 22 17
+f 26 6 22
+f 26 23 6
+f 26 17 23
+f 27 22 9
+f 27 9 17
+f 27 17 22
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ce0a092eb23291eaf64194fb9f2776d085143
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20009015 -0.16880085 0.16995339
+v 0.20206653 -0.18990198 0.00790972
+v 0.22123413 0.19647772 0.01190632
+v 0.00614900 0.16198937 0.21658577
+v 0.00879456 -0.19523626 0.22137830
+v 0.00444958 0.16269404 0.00757575
+v 0.20343109 0.17263516 0.17910457
+v 0.00444958 -0.18579080 0.00757575
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd75106076cb8698f8f057bd67dd2f4fe515f4d
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00444958 -0.00397262 -0.23484849
+v 0.01128965 0.00317707 -0.46341147
+v 0.00699294 0.31914388 -0.23281662
+v -0.20432087 0.29862929 -0.23110853
+v -0.26942052 0.00037871 -0.37321901
+v -0.14525468 0.23510210 -0.40716338
+v -0.02160528 0.31229554 -0.23145466
+v 0.00846651 0.31366438 -0.26146414
+v -0.16221708 -0.00397262 -0.41666667
+v -0.23797466 -0.00397262 -0.23484849
+v -0.22612862 0.23826176 -0.34205527
+v -0.23019757 0.28736270 -0.23052939
+v 0.00530230 0.25279271 -0.40337588
+v 0.00501897 0.29873766 -0.32114601
+v -0.17006255 0.29488332 -0.27198987
+v -0.15690759 0.22819146 -0.40823468
+v -0.22575256 0.25256932 -0.32670093
+v -0.03812839 0.26457719 -0.37723106
+v -0.18888630 0.26755913 -0.33453113
+v -0.00931253 0.25180947 -0.40310708
+v -0.20081514 0.29607249 -0.24219837
+v -0.22680261 0.27962203 -0.25760208
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 12 7 4
+f 12 1 7
+f 12 10 1
+f 12 5 10
+f 13 8 2
+f 13 2 6
+f 14 8 13
+f 15 4 3
+f 15 3 8
+f 15 8 14
+f 16 6 2
+f 16 2 9
+f 16 9 5
+f 16 5 11
+f 17 11 5
+f 17 5 12
+f 17 16 11
+f 18 14 13
+f 19 15 14
+f 19 6 16
+f 19 16 17
+f 19 18 6
+f 19 14 18
+f 20 18 13
+f 20 13 6
+f 20 6 18
+f 21 4 15
+f 21 15 19
+f 22 19 17
+f 22 17 12
+f 22 12 4
+f 22 21 19
+f 22 4 21
\ No newline at end of file
diff --git a/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2cd69daec4da74660d0e9fdfacdd1d96bf25fc
--- /dev/null
+++ b/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21515499 -0.16769293 0.16967370
+v 0.35169370 -0.02743620 -0.15584116
+v 0.33852187 0.07642723 0.20747441
+v 0.19270938 0.21473918 0.03604956
+v 0.19425063 -0.19395227 -0.23551636
+v 0.32369645 0.12990002 -0.07866798
+v 0.19921164 0.13844491 0.24452670
+v 0.33472070 -0.10128568 0.17077791
+v 0.36481330 0.07683338 -0.03375321
+v 0.30007826 0.15952441 0.11297161
+v 0.19849831 0.20596917 -0.21933455
+v 0.19789042 -0.10550001 0.27234949
+v 0.32118535 -0.10951205 -0.09547146
+v 0.26988576 -0.16752126 0.10964486
+v 0.31871687 0.07488619 -0.21380705
+v 0.36508416 -0.04360647 0.12763685
+v 0.33700700 0.13337003 0.05123757
+v 0.30696461 0.12096558 0.20638728
+v 0.22481952 0.17281580 0.16936548
+v 0.19369900 0.21753977 -0.18843602
+v 0.20009015 -0.16880085 0.16995339
+v 0.29557019 -0.14286199 0.17247982
+v 0.30833692 -0.01484845 0.26233128
+v 0.19818074 0.14934813 0.22681934
+v 0.30616749 -0.09634135 -0.21380421
+v 0.28113130 -0.15149960 -0.08066127
+v 0.36450797 0.05230237 -0.07997084
+v 0.34815314 0.07532037 -0.10680875
+v 0.28946708 0.12100642 -0.21413242
+v 0.33085960 -0.00436023 -0.23286980
+v 0.36509541 -0.04695888 -0.03586722
+v 0.36698468 0.05081264 0.15351884
+v 0.33739241 0.13206484 0.02507430
+v 0.33706155 0.11606367 0.15243945
+v 0.25530292 0.17304622 0.12434424
+v 0.28078821 0.14293577 0.19687751
+v 0.29855738 0.15962642 0.06857311
+v 0.19897254 -0.18559018 0.06700637
+v 0.27051743 -0.15395254 0.17059673
+v 0.33732391 -0.11029526 0.03919024
+v 0.28542671 0.05348571 0.27180106
+v 0.34809774 -0.01370516 0.21125813
+v 0.29471216 -0.08623952 0.24664359
+v 0.19864069 0.17926708 0.16752713
+v 0.26901188 -0.16743831 0.02369182
+v 0.30734990 -0.10905419 -0.17034723
+v 0.31828560 0.12006817 -0.12276473
+v 0.36430302 0.06521822 -0.06447620
+v 0.20141927 -0.00397262 -0.23484849
+v 0.30531409 -0.08681421 -0.22869402
+v 0.33525403 0.01018903 -0.21464390
+v 0.36544800 -0.00157529 -0.08100021
+v 0.32075197 -0.09827400 -0.15630769
+v 0.36524394 0.07944758 0.09583117
+v 0.33477781 0.12057845 -0.05061032
+v 0.30899044 0.14560950 -0.06366402
+v 0.30801866 0.14450922 0.15184157
+v 0.34905384 0.09348209 0.14905963
+v 0.22722791 0.14417273 0.22370573
+v 0.23804976 0.13232398 0.23717709
+v 0.22655570 -0.18335657 0.03816393
+v 0.21378953 -0.18327673 0.06674675
+v 0.28381732 -0.08912077 0.25281401
+v 0.28476416 -0.15168538 0.15494989
+f 12 4 5
+f 20 11 5
+f 20 5 4
+f 20 4 10
+f 20 6 11
+f 21 1 12
+f 24 12 7
+f 24 4 12
+f 29 11 6
+f 30 29 15
+f 30 11 29
+f 32 16 31
+f 34 17 10
+f 34 18 3
+f 35 19 10
+f 35 10 4
+f 35 4 19
+f 36 10 19
+f 37 20 10
+f 37 10 17
+f 37 33 20
+f 37 17 33
+f 38 21 12
+f 38 12 5
+f 38 1 21
+f 39 12 1
+f 39 1 14
+f 40 8 22
+f 40 31 16
+f 40 16 8
+f 40 26 13
+f 40 22 14
+f 41 7 12
+f 41 12 23
+f 41 23 3
+f 41 3 18
+f 42 8 16
+f 42 16 32
+f 42 32 3
+f 42 3 23
+f 43 22 8
+f 43 42 23
+f 43 8 42
+f 44 24 19
+f 44 19 4
+f 44 4 24
+f 45 5 26
+f 45 40 14
+f 45 26 40
+f 46 13 26
+f 46 26 5
+f 46 5 25
+f 47 28 15
+f 47 6 28
+f 47 29 6
+f 47 15 29
+f 48 28 6
+f 48 6 9
+f 48 9 27
+f 48 27 15
+f 48 15 28
+f 49 30 5
+f 49 5 11
+f 49 11 30
+f 50 25 5
+f 50 5 30
+f 50 30 2
+f 50 2 25
+f 51 27 2
+f 51 2 30
+f 51 30 15
+f 51 15 27
+f 52 31 2
+f 52 2 27
+f 52 32 31
+f 52 27 9
+f 52 9 32
+f 53 25 2
+f 53 2 31
+f 53 46 25
+f 53 13 46
+f 53 40 13
+f 53 31 40
+f 54 32 9
+f 54 17 34
+f 54 33 17
+f 54 9 33
+f 55 33 9
+f 55 9 6
+f 55 6 33
+f 56 33 6
+f 56 6 20
+f 56 20 33
+f 57 34 10
+f 57 18 34
+f 57 36 18
+f 57 10 36
+f 58 34 3
+f 58 3 32
+f 58 54 34
+f 58 32 54
+f 59 36 19
+f 59 19 24
+f 59 24 7
+f 60 18 36
+f 60 41 18
+f 60 7 41
+f 60 59 7
+f 60 36 59
+f 61 38 5
+f 61 45 14
+f 61 5 45
+f 62 14 1
+f 62 1 38
+f 62 61 14
+f 62 38 61
+f 63 39 22
+f 63 12 39
+f 63 22 43
+f 63 43 23
+f 63 23 12
+f 64 39 14
+f 64 14 22
+f 64 22 39
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_0.obj b/new_drill/new_drill_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44b70030d74464403919764de30970e0aa1ab2d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01182149 -0.08407117 0.05232283
+v -0.01182149 -0.09262434 0.05727302
+v -0.01466522 -0.09230373 0.05749173
+v -0.01339955 -0.08407117 0.05288842
+v -0.00690239 -0.08407117 0.05265433
+v -0.01455392 -0.09662024 0.06188488
+v -0.00886823 -0.09209859 0.05743193
+v -0.01153244 -0.09524323 0.06026671
+v -0.01511405 -0.09389202 0.06026671
+v -0.01884107 -0.08407117 0.05919875
+v -0.01674417 -0.08407117 0.05540026
+v -0.00323282 -0.08407117 0.05523109
+v -0.01298124 -0.09662024 0.06188488
+v -0.01455392 -0.09662024 0.06305023
+v -0.01906907 -0.08407117 0.06029747
+v -0.00243033 -0.08407117 0.05583598
+v -0.00408917 -0.08680430 0.05737041
+v -0.00833503 -0.09304321 0.06029747
+v -0.01298124 -0.09662024 0.06305023
+v -0.01182149 -0.08407117 0.06977749
+v -0.01192023 -0.08407117 0.06975699
+v -0.01527203 -0.08407117 0.06845152
+v -0.01531691 -0.08407117 0.06841051
+v -0.01781596 -0.08407117 0.06542878
+v -0.01782314 -0.08407117 0.06540999
+v -0.00072839 -0.08407117 0.06029747
+v -0.00848763 -0.09286141 0.06369613
+v -0.00671927 -0.08407117 0.06944429
+v -0.00688265 -0.08407117 0.06951435
+v -0.00850738 -0.08700698 0.06805339
+v -0.00080020 -0.08407117 0.06108519
+v -0.00188097 -0.08407117 0.06544587
+v -0.00190969 -0.08407117 0.06548859
+v -0.00396171 -0.08407117 0.06802604
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 15
+f 1 15 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 29
+f 1 29 28
+f 1 28 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 26
+f 1 26 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 7
+f 6 8 13
+f 6 13 19
+f 6 19 14
+f 6 14 15
+f 6 15 10
+f 6 10 9
+f 7 12 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 13
+f 13 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 26 17
+f 17 26 18
+f 18 27 19
+f 18 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 29
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 28
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_1.obj b/new_drill/new_drill_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346a4efd5291dacbd6522ed2cbbd9efc4e23a411
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,312 @@
+# https://github.com/mikedh/trimesh
+v -0.00689508 -0.04027423 0.04050494
+v -0.00198183 -0.04027423 0.04070124
+v -0.00689930 -0.04515152 0.04126211
+v -0.01214180 -0.04515152 0.04211945
+v -0.01397794 -0.04515152 0.04255211
+v -0.01221355 -0.04027423 0.04193115
+v -0.00198605 -0.04515152 0.04164270
+v -0.00634635 -0.04515152 0.04130217
+v 0.00242913 -0.04027423 0.04171081
+v -0.01447179 -0.04027423 0.04295674
+v -0.01538775 -0.04515152 0.04322116
+v 0.00150051 -0.04515152 0.04268432
+v 0.00266973 -0.04027423 0.04181096
+v -0.01658230 -0.04027423 0.04432687
+v -0.02005197 -0.04515152 0.04673059
+v 0.00396136 -0.04515152 0.04371793
+v 0.00844829 -0.04027423 0.04517618
+v -0.02008152 -0.04027423 0.04705911
+v -0.02040654 -0.04515152 0.04701103
+v 0.00742259 -0.04515152 0.04617774
+v 0.00852427 -0.04027423 0.04524830
+v -0.02306999 -0.04515152 0.05049644
+v -0.02244950 -0.04027423 0.05048843
+v 0.00988344 -0.04515152 0.04851336
+v 0.01277905 -0.04027423 0.04963110
+v -0.02369470 -0.04515152 0.05162219
+v -0.02385932 -0.04027423 0.05321666
+v 0.01009026 -0.04515152 0.04878979
+v 0.01304919 -0.04027423 0.05008781
+v 0.01151697 -0.04515152 0.05097318
+v -0.02468242 -0.04515152 0.05368539
+v -0.02399439 -0.04027423 0.05348508
+v 0.01607988 -0.04027423 0.05643365
+v 0.01374144 -0.04515152 0.05576862
+v -0.02524381 -0.04515152 0.05505552
+v -0.02469086 -0.04027423 0.05591285
+v 0.01686499 -0.04027423 0.05991906
+v 0.01453921 -0.04515152 0.05999118
+v -0.02615555 -0.04515152 0.05975080
+v -0.02625686 -0.04515152 0.06030366
+v -0.02592762 -0.04317005 0.06029965
+v -0.02543798 -0.04027423 0.06029965
+v 0.01647243 -0.04027423 0.06390124
+v 0.01412133 -0.04515152 0.06521127
+v 0.01449278 -0.04515152 0.06092462
+v -0.02592762 -0.04317005 0.06030366
+v -0.02583476 -0.04515152 0.06521127
+v -0.02550552 -0.04317005 0.06533146
+v -0.02581365 -0.04317005 0.06173388
+v -0.02509186 -0.04027423 0.06464239
+v 0.01632892 -0.04027423 0.06521528
+v 0.01393138 -0.04515152 0.06576413
+v 0.01566200 -0.04027423 0.06756292
+v 0.01477981 -0.04027423 0.07013491
+v -0.02497789 -0.04515152 0.06845230
+v -0.02435740 -0.04027423 0.06811578
+v -0.02501166 -0.04027423 0.06557584
+v 0.01238227 -0.04515152 0.07013491
+v 0.01441680 -0.04027423 0.07081196
+v 0.01223454 -0.04515152 0.07045141
+v -0.02483437 -0.04515152 0.06892905
+v -0.02478372 -0.04460244 0.06886093
+v -0.02438695 -0.04317005 0.06914938
+v -0.02363983 -0.04027423 0.06960208
+v 0.01217544 -0.04027423 0.07442557
+v 0.01074030 -0.04515152 0.07310352
+v -0.02352586 -0.04515152 0.07111644
+v -0.02329371 -0.04027423 0.07020702
+v -0.02357229 -0.04027423 0.06973830
+v 0.01164360 -0.04027423 0.07487828
+v 0.01038574 -0.04515152 0.07342402
+v -0.02334858 -0.04515152 0.07139287
+v -0.02331059 -0.04460244 0.07132476
+v -0.02253392 -0.04317005 0.07216606
+v -0.02095949 -0.04027423 0.07387271
+v 0.00879442 -0.04027423 0.07700558
+v 0.00686541 -0.04515152 0.07639663
+v -0.02116632 -0.04515152 0.07426132
+v -0.02065980 -0.04027423 0.07426132
+v 0.00666703 -0.04027423 0.07828757
+v 0.00393603 -0.04515152 0.07824750
+v -0.02085396 -0.04515152 0.07465793
+v -0.01857040 -0.04515152 0.07708169
+v -0.01822849 -0.04027423 0.07672114
+v 0.00324801 -0.04027423 0.07995015
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+v -0.01653587 -0.04515152 0.07815536
+v -0.01606312 -0.04027423 0.07840374
+v 0.00276259 -0.04027423 0.08011039
+v 0.00277103 -0.04515152 0.07874027
+v -0.01613487 -0.04515152 0.07831962
+v -0.01181678 -0.04027423 0.08042288
+v -0.01232330 -0.04027423 0.08021455
+v -0.01251747 -0.04027423 0.08012241
+v -0.01576342 -0.04027423 0.07855999
+v -0.00185097 -0.04027423 0.08117605
+v -0.00198605 -0.04515152 0.08030670
+v -0.01181678 -0.04515152 0.08008235
+v -0.00821204 -0.04027423 0.08125617
+v -0.00198183 -0.04027423 0.08119207
+v -0.00253478 -0.04515152 0.08036679
+v -0.00744803 -0.04515152 0.08075139
+v -0.00720744 -0.04027423 0.08143245
+v -0.00794189 -0.04027423 0.08131626
+v -0.00689930 -0.04515152 0.08082350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 23
+f 1 23 27
+f 1 27 32
+f 1 32 36
+f 1 36 42
+f 1 42 50
+f 1 50 57
+f 1 57 56
+f 1 56 64
+f 1 64 69
+f 1 69 68
+f 1 68 75
+f 1 75 79
+f 1 79 84
+f 1 84 88
+f 1 88 95
+f 1 95 94
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_10.obj b/new_drill/new_drill_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403dca80e51fa870d986ec9900ffcf48b77234ea
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00994553 -0.00559331 0.02969214
+v 0.00700114 -0.01002377 0.02969214
+v 0.00671102 -0.00919573 0.02587538
+v 0.00902811 -0.00559331 0.02587538
+v -0.01008102 -0.00559331 0.02969214
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+v -0.00940472 -0.00559331 0.02587538
+v -0.00919104 -0.00678699 0.02587538
+v -0.00857354 -0.01165730 0.02969214
+v 0.00556619 -0.01165730 0.02969214
+v -0.00775413 -0.01165730 0.02587538
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+f 1 6 2
+f 2 6 3
+f 3 6 7
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+f 3 12 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 10
+f 7 10 12
+f 9 12 10
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_100.obj b/new_drill/new_drill_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3853674ddb0cd7999f3ec5e4b5f89555b29af0
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v 0.01812331 -0.02777594 -0.07293108
+v 0.01928891 -0.02586406 -0.07293108
+v 0.01928674 -0.02586406 -0.07257641
+v 0.01812331 -0.02776919 -0.07257641
+v 0.01812331 0.04124097 -0.07293108
+v 0.02070148 -0.02340496 -0.07293108
+v 0.02070040 -0.02340496 -0.07257641
+v 0.02053574 -0.02310095 -0.06765704
+v 0.01907875 -0.02556005 -0.06765704
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+v 0.01812331 0.04124097 -0.07257641
+v 0.01893251 0.04065998 -0.07293108
+v 0.02114129 -0.02254698 -0.07293108
+v 0.02244445 -0.01998654 -0.07257567
+v 0.02114129 -0.02191869 -0.06765704
+v 0.02034075 -0.02275641 -0.06535095
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+v 0.02014360 -0.02308744 -0.06535095
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+v 0.01910908 0.04053162 -0.07293108
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+v 0.02258311 -0.01970280 -0.07293108
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+v 0.02436941 -0.01576419 -0.07257567
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+v 0.02784344 0.00214535 -0.06535095
+v 0.02799510 0.00461796 -0.06535095
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_101.obj b/new_drill/new_drill_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf169cd76a1bea856718c277f3992fc77ae666e
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01884178 -0.01913303 -0.10234765
+v -0.01519185 -0.01913828 -0.10234765
+v -0.01884178 -0.01913303 -0.10080484
+v -0.01884178 0.02904020 -0.10234765
+v -0.01519185 -0.01913828 -0.10080484
+v 0.00626882 -0.01913828 -0.10234765
+v -0.01884178 0.02972239 -0.10080484
+v -0.01884178 0.02915564 -0.10210466
+v -0.01828285 0.03003200 -0.10234765
+v 0.00626882 -0.01913828 -0.10080484
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+v -0.01884178 0.02971189 -0.10083338
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+v -0.01830160 0.03010546 -0.10210466
+v -0.01567951 0.03411465 -0.10234765
+v 0.01947308 -0.01913303 -0.10080484
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_102.obj b/new_drill/new_drill_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acedc7464c6452cbdf4b57c79f9f640f50e3f0bb
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.02319610 0.02021123 -0.06535095
+v -0.02319610 0.02149213 -0.06682467
+v -0.02432916 0.01869046 -0.06535095
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+f 16 24 17
+f 17 24 25
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 34
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 43 33
+f 29 33 30
+f 29 42 43
+f 30 33 44
+f 30 44 31
+f 32 44 33
+f 33 45 34
+f 33 43 56
+f 33 56 45
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 43
+f 46 57 47
+f 47 58 48
+f 47 57 51
+f 47 51 50
+f 47 50 58
+f 51 57 52
+f 52 57 53
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_103.obj b/new_drill/new_drill_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80af03e3eef9ca98098df395d986f231dee5ffcd
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00847003 0.00036513 0.00957584
+v 0.01059757 0.00036513 0.00957584
+v -0.00847003 0.00036513 0.01072066
+v -0.00847003 0.03133999 0.00957584
+v 0.01059757 0.00036513 0.01072066
+v 0.01059757 0.03559072 0.00957584
+v -0.00847003 0.03143979 0.01072066
+v -0.00640388 0.03366126 0.00957584
+v 0.01059757 0.03555007 0.01072066
+v 0.00989952 0.03635585 0.00957584
+v 0.01059757 0.03556115 0.01042818
+v -0.00643187 0.03365756 0.01072066
+v -0.00559757 0.03441530 0.00957584
+v 0.00981926 0.03631150 0.01072066
+v 0.00743954 0.03743517 0.00957584
+v 0.00735928 0.03739451 0.01072066
+v 0.00963821 0.03639281 0.01072066
+v -0.00623776 0.03383868 0.01072066
+v -0.00356875 0.03612299 0.00957584
+v 0.00293954 0.03812268 0.00957584
+v 0.00293954 0.03804506 0.01072066
+v -0.00352769 0.03611559 0.01072066
+v -0.00110691 0.03728732 0.00957584
+v 0.00017161 0.03757932 0.00957584
+v -0.00075788 0.03732058 0.01072066
+v -0.00106585 0.03724666 0.01072066
+v -0.00005983 0.03752758 0.00957584
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 27
+f 1 27 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 17
+f 3 17 16
+f 3 16 21
+f 3 21 25
+f 3 25 26
+f 3 26 22
+f 3 22 18
+f 3 18 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 11 10
+f 9 10 14
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 12 18 13
+f 13 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 25 27
+f 23 26 25
+f 24 27 25
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_104.obj b/new_drill/new_drill_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63452f266bccb3717868010c03afb58f140b495c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.02229073 0.00460060 -0.05929637
+v -0.01817026 0.00471015 -0.05613000
+v -0.01818749 0.00952484 -0.05613000
+v -0.02207622 0.00786517 -0.05929637
+v -0.02227867 0.00286972 -0.05929637
+v -0.02214170 -0.00030173 -0.05929637
+v -0.01816078 0.00460608 -0.05613000
+v -0.01817026 0.00973299 -0.05613000
+v -0.02188067 0.00952484 -0.05929637
+v -0.01765078 0.01444909 -0.05613000
+v -0.02199611 -0.00166014 -0.05929637
+v -0.01771970 0.00006526 -0.05613000
+v -0.02112428 0.01367676 -0.05929637
+v -0.02094337 0.01444909 -0.05929637
+v -0.01640680 0.01936785 -0.05613000
+v -0.02155589 -0.00522050 -0.05929637
+v -0.02112945 -0.00522050 -0.05900965
+v -0.02073403 -0.00998042 -0.05929637
+v -0.01691680 -0.00426194 -0.05613000
+v -0.01945731 0.01936785 -0.05929637
+v -0.01512405 0.02269267 -0.05613000
+v -0.02070646 -0.01012831 -0.05929637
+v -0.01581582 -0.00827693 -0.05613000
+v -0.01970111 -0.01443360 -0.05929637
+v -0.01812546 0.02277484 -0.05929637
+v -0.01349068 0.02621469 -0.05613000
+v -0.01553584 -0.00908759 -0.05613000
+v -0.01868629 -0.01768174 -0.05929637
+v -0.01731825 0.02439617 -0.05929637
+v -0.01349068 0.02824135 -0.05723350
+v -0.01349068 -0.01271367 -0.05613000
+v -0.01399464 -0.01211115 -0.05613000
+v -0.01740440 -0.02058480 -0.05929637
+v -0.01349068 0.02921086 -0.05776666
+v -0.01392056 0.02921086 -0.05824433
+v -0.01486474 0.02921086 -0.05929637
+v -0.01349068 -0.01667936 -0.05712563
+v -0.01717955 -0.02036570 -0.05916216
+v -0.01683926 -0.02131330 -0.05929637
+v -0.01551861 -0.01870602 -0.05824433
+v -0.01349068 0.02995580 -0.05824433
+v -0.01363627 0.03139637 -0.05929637
+v -0.01530065 -0.02312086 -0.05929637
+v -0.01471312 -0.02381102 -0.05929637
+v -0.01363627 -0.02238688 -0.05863892
+v -0.01349068 -0.02094631 -0.05824433
+v -0.01363627 -0.02456143 -0.05929637
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 14
+f 1 14 20
+f 1 20 25
+f 1 25 29
+f 1 29 36
+f 1 36 42
+f 1 42 47
+f 1 47 44
+f 1 44 43
+f 1 43 39
+f 1 39 33
+f 1 33 28
+f 1 28 24
+f 1 24 22
+f 1 22 18
+f 1 18 16
+f 1 16 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 12
+f 2 12 19
+f 2 19 23
+f 2 23 27
+f 2 27 32
+f 2 32 31
+f 2 31 26
+f 2 26 21
+f 2 21 15
+f 2 15 10
+f 2 10 8
+f 2 8 3
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 6 11 12
+f 6 12 7
+f 9 10 13
+f 10 14 13
+f 10 15 14
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 14 15 20
+f 15 21 20
+f 16 18 17
+f 18 22 19
+f 19 22 24
+f 19 24 23
+f 20 21 25
+f 21 26 25
+f 23 24 28
+f 23 28 27
+f 25 26 29
+f 26 30 29
+f 26 31 37
+f 26 37 46
+f 26 46 41
+f 26 41 34
+f 26 34 30
+f 27 28 33
+f 27 33 32
+f 29 30 34
+f 29 34 35
+f 29 35 36
+f 31 32 37
+f 32 33 38
+f 32 38 39
+f 32 39 40
+f 32 40 37
+f 33 39 38
+f 34 41 42
+f 34 42 35
+f 35 42 36
+f 37 40 39
+f 37 39 43
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 41 46 47
+f 41 47 42
+f 44 47 45
+f 45 47 46
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_105.obj b/new_drill/new_drill_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d67370c3ea5f461e1b00716c22afc1b00df7b25
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01059829 0.00036513 0.00957584
+v 0.01284186 0.00036513 0.00957584
+v 0.01059829 0.00036513 0.01072066
+v 0.01059829 0.03558791 0.00957584
+v 0.01298162 0.00036513 0.01072066
+v 0.01492454 0.00295813 0.00957584
+v 0.01059829 0.03554997 0.01072066
+v 0.01059829 0.03556032 0.01042818
+v 0.01238033 0.03389487 0.00957584
+v 0.01495876 0.00282710 0.01072066
+v 0.01561974 0.00466152 0.00957584
+v 0.01238324 0.03385348 0.01072066
+v 0.01408666 0.03193632 0.00957584
+v 0.01588763 0.00510633 0.01072066
+v 0.01587962 0.00541666 0.00957584
+v 0.01595023 0.00528563 0.01072066
+v 0.01466102 0.03123635 0.01072066
+v 0.01484301 0.03100532 0.01072066
+v 0.01484010 0.03097084 0.00957584
+v 0.01701378 0.00953374 0.00957584
+v 0.01716228 0.00953374 0.01072066
+v 0.01606743 0.02854335 0.01072066
+v 0.01602812 0.02851231 0.00957584
+v 0.01766748 0.01445424 0.00957584
+v 0.01785602 0.01445424 0.01072066
+v 0.01737412 0.02459867 0.01072066
+v 0.01700650 0.02555381 0.00957584
+v 0.01772717 0.01568867 0.00957584
+v 0.01787349 0.01481629 0.01072066
+v 0.01745783 0.02429179 0.01072066
+v 0.01735592 0.02429179 0.00957584
+v 0.01706983 0.02532623 0.00957584
+v 0.01774028 0.01596108 0.00957584
+v 0.01803437 0.01937129 0.01072066
+v 0.01801253 0.01973679 0.01072066
+v 0.01777085 0.02088158 0.00957584
+v 0.01786039 0.01937129 0.00957584
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 23
+f 1 23 27
+f 1 27 32
+f 1 32 31
+f 1 31 36
+f 1 36 37
+f 1 37 33
+f 1 33 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 14
+f 3 14 16
+f 3 16 21
+f 3 21 25
+f 3 25 29
+f 3 29 34
+f 3 34 35
+f 3 35 30
+f 3 30 26
+f 3 26 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 5 6 10
+f 6 11 10
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 10 11 14
+f 11 15 16
+f 11 16 14
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 33 29
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 33 37 34
+f 34 37 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_106.obj b/new_drill/new_drill_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c86af37536937762db6827751b3540eeea75e19
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.02523723 -0.01238594 -0.06535094
+v 0.02516727 -0.01238594 -0.06506814
+v 0.02511230 -0.01269620 -0.06514373
+v 0.02521224 -0.01248782 -0.06535094
+v -0.02581515 -0.01238594 -0.06535094
+v 0.02335325 -0.01238594 -0.06320756
+v 0.02512729 -0.01272398 -0.06535094
+v 0.02230382 -0.01435167 -0.06297362
+v 0.02215889 -0.01498607 -0.06311193
+v 0.02098453 -0.01999647 -0.06420559
+v 0.02030490 -0.02271236 -0.06498844
+v 0.02055476 -0.02234422 -0.06535094
+v 0.02504234 -0.01292542 -0.06535094
+v -0.02545034 -0.01507637 -0.06535094
+v -0.02502058 -0.01498607 -0.06398218
+v -0.02548033 -0.01238594 -0.06431538
+v 0.02287850 -0.01238594 -0.06272449
+v 0.02253869 -0.01320094 -0.06272449
+v 0.02197399 -0.01454153 -0.06272449
+v 0.01941038 -0.01999647 -0.06272449
+v 0.02033488 -0.02276561 -0.06535094
+v 0.01751641 -0.02333056 -0.06272449
+v 0.01728153 -0.02423354 -0.06299109
+v 0.01603221 -0.02858406 -0.06427244
+v 0.01554747 -0.02998253 -0.06535094
+v 0.02013999 -0.02309902 -0.06535094
+v -0.02461080 -0.01934123 -0.06535094
+v -0.02453084 -0.01897309 -0.06460717
+v -0.02501058 -0.01507637 -0.06399221
+v -0.02528044 -0.01238594 -0.06370015
+v -0.02498060 -0.01498607 -0.06393745
+v -0.02436093 -0.01238594 -0.06272449
+v 0.01695171 -0.02427753 -0.06272449
+v 0.01725155 -0.02427753 -0.06298852
+v 0.01685177 -0.02443729 -0.06272449
+v 0.01315377 -0.02974173 -0.06272449
+v 0.01270401 -0.03026037 -0.06272449
+v 0.01161460 -0.03344859 -0.06411407
+v 0.01312378 -0.03271926 -0.06535094
+v -0.02385621 -0.02210343 -0.06535094
+v -0.02110769 -0.02491656 -0.06319882
+v -0.02158743 -0.02214973 -0.06272449
+v -0.02217711 -0.02041554 -0.06272449
+v -0.02336647 -0.01658829 -0.06272449
+v -0.02380623 -0.01498607 -0.06272449
+v 0.00785663 -0.03342544 -0.06272449
+v 0.00785663 -0.03428443 -0.06336311
+v 0.00801655 -0.03550461 -0.06535094
+v 0.01034529 -0.03468730 -0.06535094
+v 0.01205936 -0.03359909 -0.06535094
+v -0.02038309 -0.02941295 -0.06535094
+v -0.02017320 -0.02889895 -0.06413078
+v -0.02085283 -0.02427753 -0.06272449
+v -0.02077787 -0.02447896 -0.06272449
+v 0.00293430 -0.03383525 -0.06272449
+v 0.00293430 -0.03441640 -0.06319008
+v 0.00293430 -0.03603946 -0.06535094
+v 0.00470834 -0.03594221 -0.06535094
+v -0.01890888 -0.03205013 -0.06535094
+v -0.01678503 -0.02988528 -0.06272449
+v -0.01689497 -0.02977646 -0.06272449
+v -0.01926869 -0.02724811 -0.06272449
+v -0.00197804 -0.03343702 -0.06272449
+v -0.00197804 -0.03413625 -0.06330963
+v -0.00690038 -0.03380747 -0.06354770
+v -0.01181772 -0.03344628 -0.06389194
+v -0.01181772 -0.03413162 -0.06535094
+v -0.01618036 -0.03311518 -0.06535094
+v -0.01575559 -0.03293690 -0.06445112
+v -0.01668509 -0.02995243 -0.06272449
+v -0.00539620 -0.03301331 -0.06272449
+v -0.00690038 -0.03281882 -0.06272449
+v -0.00976883 -0.03236501 -0.06272449
+v -0.01181772 -0.03195057 -0.06272449
+v -0.01350181 -0.03142498 -0.06272449
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 12
+f 1 12 21
+f 1 21 26
+f 1 26 25
+f 1 25 39
+f 1 39 50
+f 1 50 49
+f 1 49 48
+f 1 48 58
+f 1 58 57
+f 1 57 67
+f 1 67 68
+f 1 68 59
+f 1 59 51
+f 1 51 40
+f 1 40 27
+f 1 27 14
+f 1 14 5
+f 1 5 16
+f 1 16 30
+f 1 30 32
+f 1 32 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 7
+f 5 14 15
+f 5 15 16
+f 6 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 21
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 30 16
+f 15 29 31
+f 15 31 30
+f 17 32 45
+f 17 45 44
+f 17 44 43
+f 17 43 42
+f 17 42 53
+f 17 53 54
+f 17 54 62
+f 17 62 61
+f 17 61 60
+f 17 60 70
+f 17 70 75
+f 17 75 74
+f 17 74 73
+f 17 73 72
+f 17 72 71
+f 17 71 63
+f 17 63 55
+f 17 55 46
+f 17 46 37
+f 17 37 36
+f 17 36 35
+f 17 35 33
+f 17 33 22
+f 17 22 20
+f 17 20 19
+f 17 19 18
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 33
+f 24 33 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 31
+f 30 31 32
+f 31 45 32
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 40 51 52
+f 40 52 41
+f 41 53 42
+f 41 52 54
+f 41 54 53
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 52 61 62
+f 52 62 54
+f 55 63 56
+f 56 63 64
+f 56 64 57
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 59 68 69
+f 59 69 70
+f 59 70 60
+f 63 71 64
+f 64 71 65
+f 65 72 66
+f 65 71 72
+f 66 72 73
+f 66 73 74
+f 66 74 69
+f 66 69 67
+f 67 69 68
+f 69 74 75
+f 69 75 70
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_107.obj b/new_drill/new_drill_0/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40debe1546a367ff145c3d46c0b0c762509a2fa5
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_107.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01652143 -0.00305690 0.08251885
+v -0.01652143 -0.00243233 0.08246471
+v -0.01687170 -0.00305690 0.08224814
+v -0.01652143 -0.00305690 0.03769379
+v -0.01652143 -0.00029974 0.08222558
+v -0.01795959 -0.00305690 0.08135479
+v -0.01813287 -0.00305690 0.03942182
+v -0.01652143 -0.00219561 0.03729675
+v -0.01779187 -0.00029974 0.08117883
+v -0.01652143 -0.00029974 0.03642596
+v -0.01934863 -0.00305690 0.07998320
+v -0.01652143 -0.00031297 0.03643047
+v -0.01998524 -0.00305690 0.04188077
+v -0.02026880 -0.00029974 0.07871989
+v -0.01846646 -0.00031135 0.03930902
+v -0.01846739 -0.00029974 0.03931354
+v -0.02044301 -0.00305690 0.07889585
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+v -0.02498821 -0.00029974 0.06510769
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_108.obj b/new_drill/new_drill_0/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b831f7b96d13438ee8797e9586b341a67757fe46
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_108.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.02319403 -0.02644877 -0.07293108
+v -0.02164367 -0.02983489 -0.07293108
+v -0.02319403 -0.02644877 -0.07288656
+v -0.02319403 0.02255276 -0.07293108
+v -0.02163954 -0.02983489 -0.07257712
+v -0.01975385 -0.03283217 -0.07293108
+v -0.01975178 -0.03283217 -0.07257712
+v -0.02319403 -0.02644067 -0.07257712
+v -0.02319403 0.02219632 -0.06765652
+v -0.02239298 0.02426202 -0.07293108
+v -0.02073292 -0.03025613 -0.06735079
+v -0.02319403 -0.02520935 -0.06742500
+v -0.02319403 -0.02540377 -0.06814406
+v -0.01954065 -0.03262155 -0.06878742
+v -0.01674421 -0.03446853 -0.07293108
+v -0.01674421 -0.03446853 -0.07257712
+v -0.02319403 0.02149156 -0.06682467
+v -0.02050730 0.02670035 -0.06535095
+v -0.02220876 0.02429442 -0.06765652
+v -0.02011609 0.02840151 -0.06765652
+v -0.02037068 0.02821519 -0.07293108
+v -0.02038517 -0.02941365 -0.06535095
+v -0.01903767 -0.03217601 -0.06550603
+v -0.02319403 -0.02472331 -0.06697976
+v -0.01713542 -0.03351264 -0.06735079
+v -0.01217800 -0.03583756 -0.07293108
+v -0.01182405 -0.03593477 -0.07257712
+v -0.01182405 -0.03521380 -0.06765652
+v -0.02319403 0.02145105 -0.06677718
+v -0.02319403 0.02021163 -0.06535095
+v -0.01986977 0.02795597 -0.06535095
+v -0.01944544 0.02870934 -0.06535095
+v -0.01872925 0.03085604 -0.06765652
+v -0.01880791 0.03098565 -0.07257712
+v -0.02019267 0.02853112 -0.07257712
+v -0.02019267 0.02853112 -0.07293108
+v -0.01891347 -0.03204640 -0.06535095
+v -0.02229776 -0.02480431 -0.06535095
+v -0.01618534 -0.03311570 -0.06535095
+v -0.02319403 -0.02264141 -0.06535095
+v -0.01182405 -0.03594287 -0.07293108
+v -0.00725784 -0.03660713 -0.07293108
+v -0.00690181 -0.03664763 -0.07257712
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+v -0.01182405 -0.03412830 -0.06535095
+v -0.01488958 0.03639697 -0.06535095
+v -0.01665727 0.03413685 -0.06765652
+v -0.01880791 0.03098565 -0.07293108
+v -0.01680424 0.03413685 -0.07257712
+v -0.00690181 -0.03665573 -0.07293108
+v -0.00204996 -0.03665573 -0.06800084
+v -0.00352787 -0.03710938 -0.07293108
+v -0.00349889 -0.03710127 -0.07257712
+v -0.00204996 -0.03663143 -0.06788508
+v -0.00690181 -0.03473585 -0.06535095
+v -0.01452941 0.03694782 -0.06535095
+v -0.01467017 0.03715844 -0.06765652
+v -0.01680424 0.03413685 -0.07293108
+v -0.01473847 0.03724754 -0.07257712
+v -0.01473847 0.03725565 -0.07293108
+v -0.00204996 -0.03727949 -0.07257712
+v -0.00204996 -0.03728759 -0.07293108
+v -0.00204996 -0.03527050 -0.06539398
+v -0.00204996 -0.03524620 -0.06535095
+v -0.01419409 0.03740146 -0.06535095
+v -0.01283416 0.03961297 -0.06765652
+v -0.01291696 0.03971017 -0.07257712
+v -0.01291696 0.03971017 -0.07293108
+v -0.00204996 0.04538071 -0.07293108
+v -0.00204996 0.04458683 -0.06535095
+v -0.01084705 0.04134653 -0.06535095
+v -0.01037718 0.04246444 -0.06765652
+v -0.01045791 0.04254544 -0.07257712
+v -0.01063592 0.04234292 -0.07293108
+v -0.00654786 0.04459494 -0.07293108
+v -0.00204996 0.04546982 -0.07292663
+v -0.00204996 0.04534020 -0.06765652
+v -0.00690181 0.04437622 -0.06765652
+v -0.00677348 0.04359044 -0.06535095
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+v -0.00690181 0.04453013 -0.07257712
+v -0.01045791 0.04254544 -0.07293108
+v -0.01020331 0.04269126 -0.07293108
+v -0.00690181 0.04453013 -0.07293108
+v -0.00204996 0.04546172 -0.07250737
+v -0.00905245 0.04278037 -0.06535095
+f 1 2 3
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+f 1 29 17
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_109.obj b/new_drill/new_drill_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32bad5dd5c5b40bd6e31be119352ce80e0fdd4c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01884588 0.00299555 -0.10080484
+v -0.01498591 0.00299555 -0.10080484
+v -0.01884588 0.00299555 -0.09935369
+v -0.01884588 0.02849093 -0.10080484
+v -0.01498591 0.00299555 -0.09935369
+v -0.01498591 0.03447498 -0.10080484
+v -0.01884588 0.02949238 -0.09935369
+v -0.01884550 0.02972657 -0.10080484
+v -0.01498591 0.03447498 -0.09935369
+v -0.01579599 0.03447498 -0.10080484
+v -0.01884550 0.03023192 -0.09935369
+v -0.01598529 0.03418841 -0.10080484
+v -0.01611337 0.03447498 -0.09935369
+v -0.01631589 0.03416684 -0.09935369
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 14
+f 3 14 11
+f 3 11 7
+f 4 7 8
+f 6 10 13
+f 6 13 9
+f 7 11 8
+f 8 11 12
+f 10 12 13
+f 11 14 12
+f 12 14 13
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_11.obj b/new_drill/new_drill_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c1c6902b624968f42239779c0dda003fba0ef6
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00556670 -0.01165731 0.02969214
+v 0.00448703 -0.01495654 0.02969214
+v 0.00511961 -0.01121715 0.02092608
+v 0.00502410 -0.01121715 0.02587535
+v -0.00857428 -0.01165731 0.02969214
+v 0.00444550 -0.01507667 0.02969214
+v 0.00340458 -0.01507571 0.02092608
+v 0.00129091 -0.01824521 0.01747046
+v 0.00385860 -0.01121715 0.01568603
+v 0.00304608 -0.01853640 0.02969214
+v -0.00785449 -0.01121715 0.02587535
+v -0.00813549 -0.01507667 0.02969214
+v -0.00801091 -0.01121715 0.02109595
+v 0.00169094 -0.01859022 0.02092608
+v 0.00256853 -0.01955702 0.02969214
+v -0.00197857 -0.01844414 0.01711235
+v -0.00197857 -0.01507571 0.01516570
+v 0.00308760 -0.01121715 0.01482136
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+v -0.00197857 -0.01202634 0.01405770
+v -0.00010298 -0.01121715 0.01405770
+v -0.00241459 -0.02088998 0.02969214
+f 1 2 3
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+f 1 5 12
+f 1 12 21
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+f 1 28 19
+f 1 19 15
+f 1 15 10
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+f 1 6 2
+f 2 6 3
+f 3 7 8
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+f 8 17 18
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+f 8 14 15
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+f 19 23 20
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+f 22 24 23
+f 23 24 25
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_110.obj b/new_drill/new_drill_0/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22ce32b0c5ed9f9cead3fa7733c3bfec993249f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_110.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.01537963 0.03447498 -0.10234521
+v -0.01560754 0.03447498 -0.10181700
+v -0.01458563 0.03703861 -0.10026155
+v -0.01405997 0.03631031 -0.10234521
+v 0.02093116 0.03447498 -0.10234521
+v -0.01658533 0.03447498 -0.09717988
+v -0.01474369 0.03726411 -0.09717988
+v -0.01378060 0.03856534 -0.09717988
+v -0.01292044 0.03972523 -0.09717988
+v -0.01008997 0.04220577 -0.10087740
+v -0.01189853 0.03912532 -0.10234521
+v -0.01196837 0.03903901 -0.10234521
+v 0.02093116 0.03567480 -0.10234521
+v 0.02093116 0.03447498 -0.07747759
+v -0.01661106 0.03447498 -0.09226039
+v -0.01474369 0.03727058 -0.09226039
+v -0.01378795 0.03856534 -0.09226039
+v -0.01378428 0.03856534 -0.09485766
+v -0.01662209 0.03447498 -0.08734334
+v -0.01292411 0.03973063 -0.09226039
+v -0.01046492 0.04256075 -0.09226039
+v -0.01045757 0.04255427 -0.09717988
+v -0.00689559 0.04451907 -0.09717988
+v -0.00715658 0.04310563 -0.10234521
+v -0.00957534 0.04177634 -0.10234521
+v 0.01932478 0.03856534 -0.10182673
+v 0.02093116 0.03710442 -0.10125226
+v 0.01883221 0.03856534 -0.10234521
+v -0.01658166 0.03447498 -0.07747759
+v 0.02093116 0.03829021 -0.07747759
+v -0.01474369 0.03726735 -0.08734334
+v -0.01378795 0.03856534 -0.08993331
+v -0.01660004 0.03447498 -0.08189077
+v -0.01474002 0.03725980 -0.07747759
+v -0.01292411 0.03972847 -0.08734334
+v -0.01046492 0.04255859 -0.08734334
+v -0.00689559 0.04454928 -0.08734334
+v -0.00197721 0.04549769 -0.08734334
+v -0.00197721 0.04545130 -0.09717988
+v -0.00197721 0.04451691 -0.10210180
+v -0.00698382 0.04315310 -0.10234521
+v -0.00714556 0.04310887 -0.10234521
+v 0.02078412 0.03759211 -0.10103075
+v 0.01836904 0.03919870 -0.10234521
+v 0.01793896 0.03959899 -0.10234521
+v 0.01617819 0.04203745 -0.10067536
+v 0.02093116 0.03711521 -0.10123279
+v 0.02093116 0.03830531 -0.08734334
+v 0.01912260 0.04055711 -0.08734334
+v 0.01910790 0.04054740 -0.07747759
+v -0.01378428 0.03856534 -0.08502113
+v -0.01292779 0.03970904 -0.07747759
+v -0.01045757 0.04255104 -0.07747759
+v -0.00689559 0.04453741 -0.07747759
+v -0.00197721 0.04548798 -0.07747759
+v 0.00291545 0.04512437 -0.07747759
+v 0.00294118 0.04512868 -0.08734334
+v 0.00294118 0.04509524 -0.09717988
+v 0.00294118 0.04418459 -0.10210180
+v -0.00173460 0.04443167 -0.10234521
+v -0.00197721 0.04444786 -0.10234521
+v 0.02093116 0.03782517 -0.09923676
+v 0.02093116 0.03736553 -0.10077759
+v 0.02023641 0.03856534 -0.09976498
+v 0.01271914 0.04238811 -0.10234521
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_111.obj b/new_drill/new_drill_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf5e5cfc39db41d469807a1aeed7f9eb8e62962
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_112.obj b/new_drill/new_drill_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c00ad64684538f05cac0313ed03eb6536956a2
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00746402 0.03527413 0.03200594
+v -0.01376782 0.03527413 0.04023665
+v -0.01463931 0.03772171 0.04242135
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+v -0.00566293 0.03772171 0.03294079
+v -0.00427823 0.03772171 0.03200594
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+v 0.02995691 0.03772171 0.06660880
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_113.obj b/new_drill/new_drill_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17bd86c5e18650e0facf7790582d479e07c1b41
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.02436301 -0.01036992 0.06030130
+v 0.02435319 -0.01036992 0.06052003
+v 0.02434694 -0.01271934 0.06030130
+v 0.02379074 -0.01036992 0.05559882
+v 0.02410589 -0.01036992 0.06520989
+v 0.02408982 -0.01271934 0.06520989
+v 0.02421927 -0.01271934 0.06274508
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_114.obj b/new_drill/new_drill_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f6ee9e09906c26b8cf8c5fa2dcf981fd8217e2
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,393 @@
+# https://github.com/mikedh/trimesh
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+v -0.00690212 -0.05925700 0.04081788
+v -0.00198025 -0.05925700 0.04163829
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+v -0.00730333 -0.06144598 0.04109928
+v -0.01565740 -0.06144598 0.04233979
+v -0.01585602 -0.05936649 0.04220504
+v -0.01585205 -0.05925700 0.04220900
+v 0.00107457 -0.05925700 0.04283125
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+v -0.01811635 -0.06144598 0.04379830
+v -0.01831497 -0.05936649 0.04369525
+v -0.01831100 -0.05925700 0.04369921
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+v -0.00690212 -0.05925700 0.08130712
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_115.obj b/new_drill/new_drill_0/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e84dfe32a4f940e4c24b136adbd90f4012dfa19f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_115.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01884615 0.03092386 -0.07747601
+v -0.01884615 0.03121483 -0.08609137
+v -0.02024739 0.02950064 -0.08609137
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+v -0.02024739 -0.03215959 -0.07748107
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+f 14 16 15
+f 17 21 18
+f 19 21 20
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_116.obj b/new_drill/new_drill_0/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a190fa802fe2204cb3bfe71fc5c74249fcacd41
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_116.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00852787 -0.01082419 -0.06076932
+v 0.02146055 -0.01082419 -0.06076932
+v 0.00852787 -0.01082419 -0.05929683
+v 0.00852787 0.04185405 -0.06076932
+v 0.02300805 -0.00672998 -0.06076932
+v 0.02057791 -0.01082419 -0.05999675
+v 0.01937852 -0.01082419 -0.05929683
+v 0.00852787 0.04101355 -0.05929683
+v 0.01003577 0.04145185 -0.06036358
+v 0.00964642 0.04172514 -0.06076932
+v 0.02351124 -0.00522429 -0.06076932
+v 0.02157274 -0.00523976 -0.05933358
+v 0.02070660 -0.01014354 -0.05991013
+v 0.01968538 -0.01014354 -0.05929683
+v 0.01960289 -0.01032917 -0.05929683
+v 0.00918448 0.04093620 -0.05929683
+v 0.01173340 0.04110121 -0.06076932
+v 0.01039378 0.04158075 -0.06076932
+v 0.01002587 0.04060619 -0.05929683
+v 0.02155789 -0.00522429 -0.05931888
+v 0.02447141 -0.00173338 -0.06076932
+v 0.02465784 -0.00030505 -0.06061423
+v 0.02288432 -0.00030505 -0.05929683
+v 0.02157274 -0.00506444 -0.05929683
+v 0.02152324 -0.00522429 -0.05929683
+v 0.01239497 0.04083823 -0.06076932
+v 0.01271668 0.03949755 -0.05929683
+v 0.01277442 0.04068354 -0.06076932
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_117.obj b/new_drill/new_drill_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189854e0dfdf2f1a0d2e95a8be0298aa91008122
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,405 @@
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_118.obj b/new_drill/new_drill_0/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18732a60901fb389e677f1d757b116c4b29eccbd
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_118.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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+f 1 71 66
+f 1 66 59
+f 1 59 53
+f 1 53 52
+f 1 52 50
+f 1 50 45
+f 1 45 40
+f 1 40 39
+f 1 39 31
+f 1 31 27
+f 1 27 26
+f 1 26 22
+f 1 22 21
+f 1 21 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 11
+f 2 11 16
+f 2 16 23
+f 2 23 28
+f 2 28 33
+f 2 33 41
+f 2 41 46
+f 2 46 51
+f 2 51 58
+f 2 58 65
+f 2 65 72
+f 2 72 73
+f 2 73 68
+f 2 68 60
+f 2 60 55
+f 2 55 47
+f 2 47 42
+f 2 42 34
+f 2 34 29
+f 2 29 24
+f 2 24 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 24 25
+f 17 25 18
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 29 25
+f 25 29 30
+f 27 31 32
+f 27 32 33
+f 27 33 28
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 34 42 35
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 37 44 38
+f 40 45 46
+f 40 46 41
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 45 50 46
+f 46 50 52
+f 46 52 53
+f 46 53 54
+f 46 54 51
+f 47 55 56
+f 47 56 48
+f 48 57 49
+f 48 56 57
+f 51 54 53
+f 51 53 59
+f 51 59 67
+f 51 67 70
+f 51 70 64
+f 51 64 58
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 58 64 65
+f 59 66 67
+f 60 68 69
+f 60 69 61
+f 64 70 65
+f 65 70 67
+f 65 67 66
+f 65 66 71
+f 65 71 72
+f 68 73 69
+f 69 73 74
+f 71 74 72
+f 72 74 73
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_119.obj b/new_drill/new_drill_0/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f710b7ba533af7429ca64bcffb347a3c6d08e9
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_119.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02309052 -0.01515255 0.05343415
+v 0.02309052 -0.01271958 0.05294746
+v 0.02368632 -0.01515255 0.05537593
+v 0.02309052 -0.01515255 0.06947663
+v 0.02311266 -0.01271958 0.05302030
+v 0.02309052 -0.01271958 0.06985737
+v 0.02369062 -0.01507490 0.05537593
+v 0.02432492 -0.01515255 0.06029744
+v 0.02406990 -0.01515255 0.06521729
+v 0.02309052 -0.01507490 0.06950312
+v 0.02372704 -0.01271958 0.05537593
+v 0.02407457 -0.01507490 0.06521729
+v 0.02409081 -0.01271958 0.06521729
+v 0.02406006 -0.01271958 0.05794180
+v 0.02432923 -0.01507490 0.06029744
+v 0.02421445 -0.01271958 0.06286166
+v 0.02434731 -0.01271958 0.06029744
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 16
+f 2 16 17
+f 2 17 14
+f 2 14 11
+f 2 11 5
+f 3 5 7
+f 3 7 15
+f 3 15 8
+f 4 9 10
+f 5 11 7
+f 6 10 12
+f 6 12 13
+f 7 11 14
+f 7 14 15
+f 8 15 12
+f 8 12 9
+f 9 12 10
+f 12 16 13
+f 12 15 17
+f 12 17 16
+f 14 17 15
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_12.obj b/new_drill/new_drill_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6c394c3ca2a57af89a8ac6ecbc076ea51fb274
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01363495 -0.02455758 -0.05929668
+v -0.01240894 -0.02548702 -0.05929668
+v -0.01363495 -0.02359519 -0.05900417
+v -0.01363495 0.03139324 -0.05929668
+v -0.01182253 -0.02568477 -0.05929668
+v -0.01182253 -0.02491354 -0.05902436
+v -0.01182253 -0.02234276 -0.05824448
+v -0.01298862 -0.02153197 -0.05824448
+v -0.01363495 -0.02238890 -0.05863895
+v -0.01363495 -0.02326560 -0.05890427
+v -0.01363495 0.02971234 -0.05824932
+v -0.01295642 0.03261271 -0.05929668
+v -0.00690202 -0.02491354 -0.05850516
+v -0.00940946 -0.02640328 -0.05929668
+v -0.01002284 -0.02311399 -0.05824448
+v -0.01363495 -0.02077392 -0.05824448
+v -0.01363495 -0.02149901 -0.05842111
+v -0.01363495 -0.02198021 -0.05853873
+v -0.01363495 0.02919818 -0.05824448
+v -0.01149974 0.03340372 -0.05824448
+v -0.01145405 0.03348942 -0.05824448
+v -0.01143083 0.03352897 -0.05824448
+v -0.01201650 0.03401016 -0.05929668
+v -0.00690202 -0.02702949 -0.05929668
+v -0.00598383 -0.02716792 -0.05929668
+v -0.00598383 -0.02491354 -0.05845356
+v -0.00624146 -0.02425436 -0.05824448
+v -0.00690202 -0.02411594 -0.05824448
+v -0.01138215 0.03358829 -0.05824448
+v -0.01036061 0.03642934 -0.05929668
+v -0.00598383 0.04017345 -0.05929668
+v -0.00598383 -0.02429392 -0.05824448
+v -0.00655152 0.03878259 -0.05824448
+v -0.00916755 0.03772133 -0.05929668
+v -0.00956449 0.03729285 -0.05929668
+v -0.00709075 0.03950769 -0.05929668
+v -0.00598383 0.03969225 -0.05880941
+v -0.00598383 0.03903968 -0.05824448
+v -0.00650883 0.03881555 -0.05824448
+v -0.00647662 0.03883533 -0.05824448
+v -0.00598383 0.03966589 -0.05878490
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 23
+f 1 23 30
+f 1 30 35
+f 1 35 34
+f 1 34 36
+f 1 36 31
+f 1 31 25
+f 1 25 24
+f 1 24 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 12
+f 5 13 6
+f 5 14 13
+f 6 13 15
+f 6 15 7
+f 7 15 28
+f 7 28 27
+f 7 27 32
+f 7 32 38
+f 7 38 40
+f 7 40 39
+f 7 39 33
+f 7 33 29
+f 7 29 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 13 14 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 15
+f 22 29 30
+f 22 30 23
+f 25 31 37
+f 25 37 41
+f 25 41 38
+f 25 38 32
+f 25 32 26
+f 26 32 27
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 31 36 37
+f 33 39 36
+f 33 36 34
+f 36 39 40
+f 36 40 37
+f 37 40 41
+f 38 41 40
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_120.obj b/new_drill/new_drill_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca93e314962dcfd33e8a58dbd3da141d450dc22a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00294478 0.04021572 0.03398823
+v 0.00294478 0.04168113 0.03497172
+v 0.00785990 0.04168113 0.03516744
+v 0.00785990 0.04021572 0.03445633
+v -0.00199308 0.04021572 0.03482493
+v -0.00207947 0.04168113 0.03566653
+v 0.01272047 0.04168113 0.03641842
+v 0.01267500 0.04021572 0.03575297
+v -0.00681727 0.04021572 0.03673973
+v -0.00685819 0.04168113 0.03759763
+v 0.01568500 0.04168113 0.03788143
+v 0.01600328 0.04021572 0.03761721
+v -0.01185062 0.04021572 0.04077482
+v -0.01152779 0.04168113 0.04113853
+v 0.01800843 0.04168113 0.03937706
+v 0.01840401 0.04021572 0.03922537
+v -0.01232803 0.04021572 0.04120704
+v -0.01308735 0.04021572 0.04189532
+v -0.01277817 0.04168113 0.04227208
+v 0.02145948 0.04168113 0.04190673
+v 0.02165954 0.04021572 0.04171591
+v -0.01506068 0.04021572 0.04419829
+v -0.01412403 0.04112494 0.04324416
+v -0.01399672 0.04168113 0.04337953
+v 0.02260983 0.04168113 0.04305333
+v 0.02354193 0.04021572 0.04359645
+v -0.01588366 0.04021572 0.04538729
+v -0.01437866 0.04168113 0.04385904
+v -0.01571088 0.04168113 0.04578199
+v 0.02296448 0.04168113 0.04342030
+v 0.02411937 0.04021572 0.04419666
+v -0.01637926 0.04021572 0.04625172
+v -0.01701582 0.04168113 0.04805234
+v -0.01672027 0.04168113 0.04753695
+v 0.02391931 0.04168113 0.04441684
+v 0.02585626 0.04168113 0.04687639
+v 0.02600176 0.04021572 0.04665784
+v -0.01830257 0.04021572 0.05064889
+v -0.01815253 0.04168113 0.05064889
+v 0.02687021 0.04168113 0.04873084
+v 0.02766590 0.04021572 0.04969313
+v 0.02813877 0.04021572 0.05064889
+v 0.02785687 0.04168113 0.05064889
+v 0.02711574 0.04168113 0.04919405
+v 0.02777957 0.04168113 0.05045318
+v 0.02806602 0.04021572 0.05045318
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 37
+f 1 37 41
+f 1 41 46
+f 1 46 42
+f 1 42 38
+f 1 38 32
+f 1 32 27
+f 1 27 22
+f 1 22 18
+f 1 18 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 24
+f 2 24 28
+f 2 28 29
+f 2 29 34
+f 2 34 33
+f 2 33 39
+f 2 39 43
+f 2 43 45
+f 2 45 44
+f 2 44 40
+f 2 40 36
+f 2 36 35
+f 2 35 30
+f 2 30 25
+f 2 25 20
+f 2 20 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 22 27 23
+f 23 28 24
+f 23 27 29
+f 23 29 28
+f 25 30 26
+f 26 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 29
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 32 38 39
+f 32 39 33
+f 36 40 41
+f 36 41 37
+f 38 42 43
+f 38 43 39
+f 40 44 41
+f 41 45 46
+f 41 44 45
+f 42 46 43
+f 43 46 45
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_121.obj b/new_drill/new_drill_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf29858a8e82ae48fba619d7c68788360ab0d5
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00166754 -0.02786421 -0.05929668
+v 0.00294188 -0.02791933 -0.05929668
+v 0.00166754 -0.02500775 -0.05824448
+v 0.00166754 -0.00232142 -0.05929668
+v 0.00786324 -0.02702982 -0.05929668
+v 0.00294188 -0.02502779 -0.05824448
+v 0.00166754 -0.00232142 -0.05824448
+v 0.02233200 -0.00232142 -0.05929668
+v 0.01087512 -0.02460934 -0.05929668
+v 0.00786324 -0.02491504 -0.05856150
+v 0.00350420 -0.02491504 -0.05824448
+v 0.02077852 -0.00232142 -0.05824448
+v 0.02158560 -0.00503005 -0.05929668
+v 0.02193756 -0.00232142 -0.05900386
+v 0.01263491 -0.02300572 -0.05929668
+v 0.00786324 -0.02391277 -0.05824448
+v 0.01990469 -0.00528061 -0.05824448
+v 0.02152492 -0.00523551 -0.05929668
+v 0.01465160 -0.01999390 -0.05929668
+v 0.01278258 -0.01999390 -0.05842740
+v 0.01274414 -0.01944265 -0.05824448
+v 0.01214945 -0.01999390 -0.05824448
+v 0.01793251 -0.01015414 -0.05824448
+v 0.01968623 -0.01015414 -0.05929668
+v 0.01760280 -0.01465182 -0.05929668
+v 0.01550723 -0.01469441 -0.05824448
+v 0.01770798 -0.01064525 -0.05824448
+v 0.01774035 -0.01439874 -0.05929668
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 24
+f 1 24 28
+f 1 28 25
+f 1 25 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 16
+f 3 16 22
+f 3 22 21
+f 3 21 26
+f 3 26 27
+f 3 27 23
+f 3 23 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 14
+f 4 14 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 8 14 13
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 12 17 13
+f 12 13 14
+f 13 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 21
+f 19 21 20
+f 23 27 24
+f 24 27 28
+f 25 28 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_122.obj b/new_drill/new_drill_0/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cafdab890097a04df05b703f1a0d288d5559a36
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_122.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00759098 -0.03769982 -0.07747515
+v 0.00781691 -0.03768679 -0.07747515
+v 0.00774981 -0.03767376 -0.07575462
+v 0.00759098 -0.03768028 -0.07575462
+v 0.00759098 0.02885281 -0.07747515
+v 0.01026535 -0.03721123 -0.07747515
+v 0.00781691 -0.03766073 -0.07575462
+v 0.00759098 0.02885281 -0.07575462
+v 0.01103586 0.02885281 -0.07747515
+v 0.01028996 -0.03719820 -0.07747515
+v 0.01021004 -0.03719168 -0.07575462
+v 0.01103586 0.02885281 -0.07575462
+v 0.01103586 -0.03648160 -0.07747515
+v 0.01103586 -0.03647509 -0.07696026
+v 0.01103586 -0.03646206 -0.07600997
+v 0.01103586 -0.03644903 -0.07575462
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 11
+f 6 11 7
+f 9 12 16
+f 9 16 15
+f 9 15 14
+f 9 14 13
+f 10 13 14
+f 10 14 15
+f 10 15 11
+f 11 15 16
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_123.obj b/new_drill/new_drill_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3ef6d4ba16914213acf87ee9bdb92b8eaeff9b
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01224859 -0.01614960 0.03848058
+v 0.01149441 -0.01991823 0.03848058
+v 0.00902644 -0.01614960 0.03569113
+v -0.01611189 -0.01614960 0.03848058
+v 0.01005922 -0.02091567 0.03748325
+v -0.01650023 -0.01991823 0.03848058
+v 0.00840172 -0.02091567 0.03614331
+v 0.00865780 -0.01614960 0.03539682
+v -0.01231286 -0.01614960 0.03539682
+v -0.01476393 -0.02091567 0.03748325
+v -0.01190481 -0.01979180 0.03539682
+v -0.01498906 -0.01998448 0.03748325
+v 0.00855368 -0.01651862 0.03539682
+v 0.00768412 -0.02091567 0.03568901
+v 0.00759688 -0.01989350 0.03539682
+v -0.01156149 -0.02091567 0.03539682
+v 0.00720010 -0.02091567 0.03539682
+v 0.00755186 -0.02001434 0.03539682
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 7
+f 3 7 8
+f 4 9 6
+f 5 10 16
+f 5 16 17
+f 5 17 14
+f 5 14 7
+f 6 9 11
+f 6 11 12
+f 6 12 10
+f 7 13 8
+f 7 14 15
+f 7 15 13
+f 8 13 15
+f 8 15 18
+f 8 18 17
+f 8 17 16
+f 8 16 11
+f 8 11 9
+f 10 12 11
+f 10 11 16
+f 14 17 18
+f 14 18 15
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_124.obj b/new_drill/new_drill_0/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2183b711f5ab05b363b086db006be1caf6f83964
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_124.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.01784837 0.04021572 0.07214448
+v -0.01690193 0.04021572 0.07511957
+v -0.01706264 0.04402897 0.07294642
+v -0.01762069 0.04168130 0.07214448
+v 0.02775952 0.04021572 0.07214448
+v -0.01647781 0.04168130 0.07519128
+v -0.01630817 0.04021572 0.07604591
+v -0.01636620 0.04402897 0.07424446
+v 0.02667468 0.04402897 0.07294642
+v 0.02747380 0.04168130 0.07214448
+v 0.02669701 0.04397970 0.07294642
+v 0.02609432 0.04397970 0.07419324
+v 0.02620146 0.04168130 0.07475666
+v 0.02626396 0.04021572 0.07511373
+v -0.01458046 0.04234838 0.07786200
+v -0.01580369 0.04398492 0.07530543
+v -0.01486618 0.04021572 0.07817224
+v -0.01579476 0.04402897 0.07528787
+v 0.02608093 0.04402897 0.07418007
+v 0.02442018 0.04402897 0.07660201
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_125.obj b/new_drill/new_drill_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00315d13c7668b9a096a64c2e9ae902c910439fd
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
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+v -0.01573776 -0.01514350 0.08394603
+v -0.01573776 -0.01480219 0.08393261
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_126.obj b/new_drill/new_drill_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1d97a8a8eb4103883691c29eb948865a2ac379
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01103717 -0.03648580 -0.07747515
+v 0.01278348 -0.03481652 -0.07747515
+v 0.01278348 -0.03479093 -0.07575462
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+v 0.01529544 -0.03236696 -0.07747515
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+v 0.01116696 -0.03633230 -0.07575462
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_127.obj b/new_drill/new_drill_0/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95f6e8677bff19a883f9ae259256ea88653a343d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_127.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v 0.02892087 0.04631597 0.06029826
+v 0.02865815 0.04631597 0.05847408
+v 0.02714333 0.04890117 0.05537722
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_128.obj b/new_drill/new_drill_0/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08123416b246d324ce871b875a2c117172e21f10
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_128.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00940361 -0.02461694 0.03539682
+v -0.00929897 -0.02479720 0.03539682
+v -0.01181917 -0.02561389 0.03652399
+v -0.01180123 -0.02461694 0.03630388
+v 0.00493133 -0.02461694 0.03539682
+v -0.00875188 -0.02561389 0.03539682
+v -0.01471007 -0.02561389 0.03791311
+v -0.01485058 -0.02491754 0.03783368
+v -0.01486852 -0.02461694 0.03782016
+v 0.00781625 -0.02461694 0.03664144
+v 0.00433640 -0.02561389 0.03539682
+v -0.01649484 -0.02561389 0.03890128
+v -0.01731099 -0.02491754 0.03919617
+v -0.01732892 -0.02461694 0.03919744
+v 0.00822582 -0.02461694 0.03688817
+v 0.00888651 -0.02561389 0.03740106
+v -0.01714955 -0.02561389 0.03926842
+v -0.01776540 -0.02561389 0.03971287
+v -0.01802549 -0.02491754 0.03971287
+v -0.01802250 -0.02461694 0.03971287
+v 0.00893733 -0.02461694 0.03733980
+v 0.01170865 -0.02561389 0.03920800
+v 0.01229760 -0.02561389 0.03971287
+v 0.01250089 -0.02461694 0.03971287
+v 0.01180731 -0.02461694 0.03917843
+v 0.01244408 -0.02461694 0.03965668
+v 0.01237532 -0.02507369 0.03965330
+v 0.01243810 -0.02513557 0.03971287
+v 0.01251583 -0.02462289 0.03971287
+v 0.01245006 -0.02507037 0.03971287
+f 1 2 3
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+f 1 14 20
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+f 1 21 15
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+f 1 5 11
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+f 15 21 16
+f 16 21 22
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+f 18 29 24
+f 18 24 20
+f 18 20 19
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 26
+f 26 29 27
+f 27 29 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_129.obj b/new_drill/new_drill_0/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11039b609a65f8253a53771f0e0f10c95ef59f2
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_129.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v 0.01524312 -0.01036992 0.08223560
+v 0.01512392 -0.01036992 0.08234883
+v 0.01505582 -0.01135973 0.08229468
+v 0.01524312 -0.01125739 0.08212239
+v 0.01524312 -0.01036992 0.03927931
+v 0.01308066 -0.01036992 0.08359922
+v 0.01270180 -0.01271934 0.08364845
+v 0.01405547 -0.01271934 0.08281157
+v 0.01495365 -0.01271934 0.08221592
+v 0.01524312 -0.01239577 0.08197470
+v 0.01524312 -0.01080296 0.03939745
+v 0.01316154 -0.01036992 0.03744311
+v 0.01267201 -0.01036992 0.08380106
+v 0.01026691 -0.01271934 0.08486930
+v 0.01524312 -0.01271934 0.08193040
+v 0.01524312 -0.01243256 0.08196978
+v 0.01524312 -0.01097820 0.03944669
+v 0.01294019 -0.01095681 0.03744311
+v -0.01468221 -0.01036992 0.03744311
+v 0.01438324 -0.01131948 0.03878703
+v 0.01524312 -0.01264046 0.03992912
+v 0.01524312 -0.01271934 0.03995373
+v 0.00785756 -0.01036992 0.08600154
+v 0.00785756 -0.01271934 0.08597201
+v 0.01279971 -0.01126222 0.03744311
+v 0.01322965 -0.01271934 0.03825537
+v -0.01737676 -0.01271934 0.03952545
+v -0.01737251 -0.01036992 0.03960914
+v -0.01466092 -0.01271934 0.03744311
+v 0.00769580 -0.01036992 0.08605078
+v 0.00595477 -0.01271934 0.08659228
+v 0.01212288 -0.01271934 0.03744311
+v -0.02030970 -0.01271934 0.04198192
+v -0.02017774 -0.01036992 0.04206561
+v 0.00384766 -0.01036992 0.08705502
+v 0.00402644 -0.01271934 0.08709441
+v -0.02276587 -0.01271934 0.04490606
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+v 0.00280048 -0.01271934 0.08732086
+v -0.02454096 -0.01271934 0.04736746
+v -0.02435792 -0.01036992 0.04763329
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+v 0.00156601 -0.01271934 0.08754731
+v -0.02600104 -0.01271934 0.05045898
+v -0.02560516 -0.01036992 0.05045898
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+v -0.00671347 -0.01271934 0.08730116
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+v -0.02735471 -0.01271934 0.06768875
+v -0.02754626 -0.01036992 0.06519782
+v -0.01181738 -0.01036992 0.08565202
+v -0.01181738 -0.01271934 0.08578002
+v -0.02688646 -0.01271934 0.06955449
+v -0.02635862 -0.01036992 0.07013046
+v -0.02640970 -0.01036992 0.06991877
+v -0.01201319 -0.01036992 0.08555357
+v -0.01412882 -0.01271934 0.08461824
+v -0.02674173 -0.01271934 0.07013046
+v -0.02491556 -0.01036992 0.07368963
+v -0.01594648 -0.01036992 0.08354015
+v -0.01609972 -0.01271635 0.08360907
+v -0.01609972 -0.01271934 0.08360907
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+v -0.02483042 -0.01036992 0.07387178
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+v -0.01609972 -0.01044282 0.08344661
+v -0.01609972 -0.01062427 0.08346138
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+v -0.02430684 -0.01271934 0.07531909
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+v -0.01856015 -0.01271934 0.08192547
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+v -0.02229337 -0.01271934 0.07810539
+v -0.02102058 -0.01036992 0.07921301
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+f 74 80 81
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+f 78 84 85
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+f 80 86 81
+f 81 86 87
+f 81 87 83
+f 81 83 82
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+f 86 90 91
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+f 88 93 89
+f 89 93 94
+f 90 94 93
+f 90 93 91
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_13.obj b/new_drill/new_drill_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aaa779881352c9eeff04df45a95ded50695fe69
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00832647 -0.00288905 0.01072066
+v -0.00688204 -0.00522857 0.01072066
+v -0.00688409 -0.01121688 0.01607139
+v -0.00950584 -0.00795801 0.01744653
+v -0.00971337 -0.00300799 0.01556257
+v -0.00999074 -0.00300799 0.01686058
+v -0.00833263 -0.00288905 0.01077703
+v 0.01005045 -0.00288905 0.01072066
+v -0.00197756 -0.00799557 0.01072066
+v -0.00592046 -0.00875484 0.01258682
+v -0.00801005 -0.01121688 0.02109429
+v -0.00197756 -0.01202534 0.01405838
+v -0.00950584 -0.00795801 0.01967168
+v -0.01043866 -0.00300799 0.02339212
+v -0.01019827 -0.00300799 0.01899227
+v -0.00863878 -0.00288905 0.01405838
+v 0.01015729 -0.00288905 0.01250819
+v 0.00658834 -0.00922346 0.01600612
+v 0.00621644 -0.00886395 0.01405838
+v 0.00597810 -0.00863232 0.01281526
+v 0.00829782 -0.00472060 0.01072066
+v 0.00293925 -0.00777289 0.01072066
+v -0.00785389 -0.01121688 0.02587538
+v 0.00293925 -0.00947387 0.01225453
+v 0.00304404 -0.01069907 0.01405838
+v 0.00308719 -0.01121688 0.01482086
+v 0.00385769 -0.01121688 0.01568570
+v 0.00511925 -0.01121688 0.02092517
+v 0.00502268 -0.01121688 0.02587538
+v -0.00919148 -0.00678735 0.02587538
+v -0.01020443 -0.00300799 0.02586500
+v 0.01053329 -0.00300799 0.02587538
+v 0.01012441 -0.00288905 0.01405838
+v 0.01055178 -0.00300799 0.02587538
+v 0.00917310 -0.00523304 0.02092517
+v 0.00683901 -0.00927980 0.02092517
+v 0.00387207 -0.00732484 0.01072066
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+v 0.00670751 -0.00919484 0.02587538
+v -0.00965173 -0.00430296 0.02587538
+v 0.00949363 -0.00493076 0.02587538
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
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+f 1 17 8
+f 1 8 21
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+f 12 22 24
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+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 23
+f 13 30 31
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+f 14 16 15
+f 16 31 32
+f 16 32 34
+f 16 34 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 28
+f 18 28 27
+f 18 27 19
+f 19 27 20
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 37
+f 20 37 38
+f 20 38 21
+f 22 37 24
+f 23 29 39
+f 23 39 41
+f 23 41 34
+f 23 34 32
+f 23 32 40
+f 23 40 30
+f 28 36 29
+f 29 36 39
+f 30 40 31
+f 31 40 32
+f 34 41 35
+f 35 41 36
+f 36 41 39
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_130.obj b/new_drill/new_drill_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a912155deeb19233fe193b5766a1c1da8ac587f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v -0.00690363 -0.05710821 0.04077193
+v -0.00690363 -0.05925679 0.04081561
+v -0.01182250 -0.05925679 0.04113726
+v -0.01182250 -0.05710821 0.04119682
+v -0.00198077 -0.05710821 0.04147876
+v -0.00198077 -0.05925679 0.04163760
+v -0.01584957 -0.05925679 0.04220545
+v -0.01572560 -0.05710821 0.04223722
+v 0.00129848 -0.05710821 0.04273756
+v 0.00107053 -0.05925679 0.04282492
+v -0.01830901 -0.05925679 0.04369457
+v -0.01818904 -0.05710821 0.04380973
+v 0.00375791 -0.05710821 0.04398445
+v 0.00353396 -0.05925679 0.04415123
+v -0.01846497 -0.05925679 0.04381369
+v -0.01964870 -0.05710821 0.04493748
+v 0.00541353 -0.05710821 0.04531472
+v 0.00652128 -0.05925679 0.04655764
+v -0.02143629 -0.05925679 0.04615657
+v -0.02134031 -0.05710821 0.04626776
+v 0.00672523 -0.05710821 0.04644645
+v 0.00658526 -0.05925679 0.04661323
+v -0.02389972 -0.05925679 0.04835649
+v -0.02379974 -0.05710821 0.04850738
+v 0.00918466 -0.05710821 0.04938497
+v 0.00904470 -0.05925679 0.04957955
+v -0.02395571 -0.05925679 0.04847562
+v -0.02435162 -0.05710821 0.04963911
+v 0.01110022 -0.05710821 0.05184697
+v 0.01085628 -0.05925679 0.05192242
+v -0.02501547 -0.05925679 0.05081452
+v -0.02495548 -0.05710821 0.05096939
+v 0.01223596 -0.05710821 0.05537717
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_131.obj b/new_drill/new_drill_0/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4f7be98e3338274f2329c13f630f6c702bf4d4
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_131.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00598383 -0.02716442 -0.05929668
+v -0.00531051 -0.02726661 -0.05929668
+v -0.00598383 -0.02491634 -0.05845356
+v -0.00598383 0.04016903 -0.05929668
+v -0.00198064 -0.02774347 -0.05929668
+v -0.00203007 -0.02495040 -0.05824448
+v -0.00226300 -0.02491634 -0.05824448
+v -0.00598383 -0.02429641 -0.05824448
+v -0.00598383 0.03969216 -0.05880941
+v -0.00553071 0.04044152 -0.05929668
+v 0.00166754 -0.02786610 -0.05929668
+v -0.00198064 -0.02495721 -0.05824448
+v -0.00598383 0.03903817 -0.05824448
+v -0.00598383 0.03966491 -0.05878490
+v -0.00551722 0.04044834 -0.05929668
+v 0.00166754 -0.02500490 -0.05824448
+v 0.00166754 0.04172906 -0.05929668
+v -0.00198064 0.04075489 -0.05824448
+v -0.00198064 0.04156557 -0.05929668
+v 0.00166754 0.04104101 -0.05824448
+f 1 2 3
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+f 1 13 14
+f 1 14 9
+f 1 9 4
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+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 6 12 16
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+f 9 15 10
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+f 11 17 20
+f 11 20 16
+f 13 18 14
+f 14 18 15
+f 15 18 19
+f 17 19 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_132.obj b/new_drill/new_drill_0/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bf3f89f22f1d0ba3fc44991595ca8df72f6dde
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_132.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01677800 -0.02996547 -0.07293182
+v 0.01677432 -0.02996547 -0.07257696
+v 0.01539023 -0.03215925 -0.07293182
+v -0.00204996 -0.02996547 -0.07293182
+v 0.01677247 -0.02996547 -0.07244911
+v 0.01527228 -0.03233950 -0.07257696
+v 0.01527413 -0.03234104 -0.07293182
+v -0.00204996 -0.03728706 -0.07293182
+v -0.00204996 -0.02996547 -0.06813012
+v 0.01640941 -0.02996547 -0.06813012
+v 0.01524832 -0.03230637 -0.07008539
+v 0.01278241 -0.03474434 -0.07257696
+v 0.01278241 -0.03474973 -0.07293182
+v 0.01509351 -0.03251743 -0.07293182
+v -0.00106396 -0.03740568 -0.07293182
+v -0.00103631 -0.03740260 -0.07257696
+v -0.00204996 -0.03728321 -0.07273253
+v -0.00204996 -0.03667391 -0.06813012
+v 0.01634490 -0.03007100 -0.06813012
+v 0.01306807 -0.03393861 -0.06813012
+v 0.01008612 -0.03716535 -0.07257696
+v 0.01260179 -0.03492150 -0.07293182
+v 0.00294085 -0.03783473 -0.07293182
+v 0.00294085 -0.03782780 -0.07257696
+v -0.00026042 -0.03731017 -0.06968635
+v -0.00204996 -0.03728013 -0.07257696
+v -0.00204996 -0.03669009 -0.06824105
+v -0.00170900 -0.03674324 -0.06813012
+v 0.00843111 -0.03684953 -0.06813012
+v 0.00675584 -0.03747424 -0.06896817
+v 0.00762573 -0.03764601 -0.07257696
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+v 0.00754648 -0.03710065 -0.06813012
+v 0.00763863 -0.03764909 -0.07293182
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+f 30 37 35
+f 30 35 34
+f 31 33 38
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_133.obj b/new_drill/new_drill_0/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330d67f56396cc32ba3f0bf7a13a6ac9474905a0
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_133.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01448511 -0.01614930 0.08462121
+v -0.01448511 -0.01515255 0.08457503
+v -0.01625538 -0.01515255 0.08368383
+v -0.01629904 -0.01614930 0.08369768
+v -0.02018885 -0.01614940 0.08070548
+v -0.01448511 -0.01614930 0.03744772
+v -0.01448511 -0.01515255 0.03744772
+v -0.01723840 -0.01515255 0.08303737
+v -0.01723840 -0.01614930 0.08310663
+v -0.01683702 -0.01614930 0.08336522
+v -0.01875939 -0.01614930 0.08209076
+v -0.01931850 -0.01614930 0.08155512
+v -0.01889741 -0.01515255 0.08188296
+v -0.02122538 -0.01515255 0.07959725
+v -0.02127889 -0.01614940 0.07963419
+v -0.02018885 -0.01614940 0.04159895
+v -0.01462735 -0.01614930 0.03744772
+v -0.01463721 -0.01515255 0.03744772
+v -0.01871573 -0.01515255 0.08205843
+v -0.02126481 -0.01515255 0.07955569
+v -0.02181547 -0.01614940 0.07908931
+v -0.02050572 -0.01614940 0.04185291
+v -0.01739190 -0.01515255 0.03944252
+v -0.01744260 -0.01614930 0.03940096
+v -0.01498225 -0.01614930 0.03769245
+v -0.02140283 -0.01515255 0.07940331
+v -0.02373925 -0.01614940 0.07695597
+v -0.02296466 -0.01614940 0.04453575
+v -0.02044516 -0.01515255 0.04189909
+v -0.02039587 -0.01515255 0.04185754
+v -0.02022405 -0.01515255 0.04171900
+v -0.02368432 -0.01515255 0.07687286
+v -0.02370826 -0.01515255 0.07683592
+v -0.02379417 -0.01515255 0.07669739
+v -0.02407161 -0.01614940 0.07641571
+v -0.02479408 -0.01614940 0.04699693
+v -0.02290411 -0.01515255 0.04463271
+v -0.02518842 -0.01515255 0.07441167
+v -0.02524616 -0.01614940 0.07449479
+v -0.02654182 -0.01614940 0.05046014
+v -0.02472789 -0.01515255 0.04709390
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+v -0.02573626 -0.01614940 0.07347430
+v -0.02782622 -0.01614940 0.05430661
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+v -0.02533348 -0.01515255 0.07409767
+v -0.02725444 -0.01614940 0.07013577
+v -0.02819098 -0.01614940 0.05540098
+v -0.02805437 -0.01515255 0.05538251
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+v -0.02715304 -0.01515255 0.07007574
+v -0.02749808 -0.01614940 0.06930921
+v -0.02883177 -0.01614940 0.05951988
+v -0.02819943 -0.01515255 0.05643532
+v -0.02838814 -0.01515255 0.06513952
+v -0.02849799 -0.01542091 0.06487170
+v -0.02855151 -0.01614940 0.06510258
+v -0.02887261 -0.01614940 0.06067429
+v -0.02873741 -0.01542091 0.06009247
+v -0.02868812 -0.01515255 0.06010170
+v -0.02844729 -0.01515255 0.06488555
+v -0.02872614 -0.01614940 0.06414211
+v -0.02887261 -0.01614940 0.06121916
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 6
+f 1 6 7
+f 1 7 2
+f 2 7 18
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+f 2 23 31
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+f 59 64 61
+f 59 61 60
+f 61 64 63
+f 61 63 62
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_134.obj b/new_drill/new_drill_0/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1133bd42bdfbd75d06517fc94c3fa9eecff01fa
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_134.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02004513 0.04402897 0.06233564
+v -0.01997110 0.04168130 0.06233564
+v -0.01999578 0.04021572 0.06234913
+v -0.01991681 0.04021572 0.06521753
+v -0.01985265 0.04402897 0.06517183
+v 0.02961095 0.04402897 0.06233564
+v 0.03022296 0.04168130 0.06233564
+v 0.03036609 0.04021572 0.06234913
+v -0.01989707 0.04021572 0.06543457
+v -0.01969965 0.04168130 0.06738387
+v -0.01981810 0.04402897 0.06556335
+v 0.02945795 0.04402897 0.06450925
+v 0.03016866 0.04216248 0.06382591
+v 0.03018841 0.04223452 0.06233564
+v 0.03019828 0.04168130 0.06406165
+v 0.03027725 0.04021572 0.06477823
+v -0.01982797 0.04021572 0.06610857
+v -0.01956146 0.04168130 0.06873395
+v -0.01956146 0.04269779 0.06873395
+v -0.01934923 0.04402897 0.06793948
+v 0.02944315 0.04387368 0.06536707
+v 0.02937898 0.04402897 0.06536292
+v 0.03008970 0.04168130 0.06484989
+v 0.03013412 0.04168130 0.06452899
+v 0.02991202 0.04062075 0.06710658
+v 0.03002060 0.04021572 0.06666833
+v -0.01932455 0.04021572 0.06918674
+v -0.01955652 0.04069429 0.06873499
+v -0.01784390 0.04021572 0.07214236
+v -0.01705915 0.04402897 0.07294514
+v -0.01859903 0.04402897 0.07010895
+v 0.02805133 0.04402897 0.07008817
+v 0.02805627 0.04397970 0.07013802
+v 0.02972941 0.04021572 0.06777747
+v 0.02858437 0.04168130 0.06997082
+v 0.02891998 0.04021572 0.06986385
+v -0.01718748 0.04168130 0.07294514
+v -0.01710358 0.04326035 0.07294514
+v 0.02775521 0.04021572 0.07214236
+v 0.02667433 0.04402897 0.07294514
+v 0.02803653 0.04402897 0.07013594
+v 0.02669407 0.04397970 0.07294514
+v 0.02707411 0.04168130 0.07294514
+v 0.02692604 0.04258169 0.07294514
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 31
+f 1 31 30
+f 1 30 40
+f 1 40 41
+f 1 41 32
+f 1 32 22
+f 1 22 12
+f 1 12 6
+f 1 6 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 16
+f 3 16 26
+f 3 26 34
+f 3 34 36
+f 3 36 39
+f 3 39 29
+f 3 29 27
+f 3 27 17
+f 3 17 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 7 14 8
+f 8 14 13
+f 8 13 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 20
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+f 12 22 21
+f 13 23 24
+f 13 24 15
+f 13 21 23
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 22 32
+f 21 32 33
+f 21 33 25
+f 21 25 23
+f 23 25 24
+f 25 34 26
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 27 29 28
+f 29 37 38
+f 29 38 30
+f 29 39 43
+f 29 43 37
+f 30 38 37
+f 30 37 43
+f 30 43 44
+f 30 44 42
+f 30 42 40
+f 32 41 33
+f 33 41 40
+f 33 40 42
+f 33 42 35
+f 35 42 36
+f 36 42 39
+f 39 42 44
+f 39 44 43
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_135.obj b/new_drill/new_drill_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf4889f88b87640d6add959748a042e7b7a53a1
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v 0.00036646 0.04631597 0.08470160
+v 0.00036646 0.04890143 0.08361678
+v -0.00159477 0.04890169 0.08326445
+v -0.00179866 0.04631597 0.08431218
+v 0.00036646 0.04631597 0.03734055
+v 0.00036646 0.04894571 0.08359360
+v -0.00156176 0.04894571 0.08325054
+v -0.00163167 0.04894571 0.08322736
+v -0.00409195 0.04894571 0.08239288
+v -0.00526674 0.04726180 0.08286112
+v -0.00570171 0.04631597 0.08299556
+v 0.00024024 0.04631597 0.03735910
+v -0.00075785 0.04717967 0.03780879
+v 0.00036646 0.04735860 0.03772534
+v 0.00036646 0.04894571 0.03864326
+v -0.00679884 0.04894571 0.08096501
+v -0.00690564 0.04890169 0.08093719
+v -0.00803772 0.04631597 0.08163722
+v -0.00673670 0.04631597 0.08245315
+v 0.00000140 0.04631597 0.03740082
+v -0.00119282 0.04631597 0.03761408
+v -0.00388611 0.04631597 0.03834656
+v -0.00223169 0.04885225 0.03912540
+v -0.00188022 0.04894571 0.03909758
+v -0.00690564 0.04894571 0.08090473
+v -0.01041644 0.04894571 0.07845695
+v -0.01043197 0.04890117 0.07847085
+v -0.01108442 0.04631597 0.07918943
+v -0.00427836 0.04631597 0.03852736
+v -0.00695612 0.04894571 0.04134603
+v -0.00232489 0.04894571 0.03921812
+v -0.00222586 0.04894571 0.03918103
+v -0.01076014 0.04894571 0.07808143
+v -0.01320294 0.04631597 0.07739067
+v -0.00697748 0.04631597 0.04010823
+v -0.01008633 0.04747367 0.04247720
+v -0.00703768 0.04894571 0.04139239
+v -0.01377578 0.04631597 0.07676482
+v -0.01315634 0.04894571 0.07545748
+v -0.00895231 0.04631597 0.04126722
+v -0.01039508 0.04631597 0.04222223
+v -0.01275827 0.04631597 0.04462829
+v -0.01438357 0.04631597 0.04632970
+v -0.01476805 0.04730608 0.04734033
+v -0.01182037 0.04894571 0.04526805
+v -0.00720273 0.04894571 0.04148974
+v -0.01354082 0.04894571 0.07496606
+v -0.01510592 0.04786472 0.07382562
+v -0.01538554 0.04631597 0.07441438
+v -0.01496611 0.04631597 0.04706217
+v -0.01205921 0.04894571 0.04552303
+v -0.01194659 0.04894571 0.04540250
+v -0.01680889 0.04631597 0.05058551
+v -0.01560497 0.04892820 0.05046034
+v -0.01558555 0.04894571 0.05044643
+v -0.01478552 0.04894571 0.07332957
+v -0.01582440 0.04894571 0.07122484
+v -0.01745940 0.04631597 0.07035328
+v -0.01653121 0.04631597 0.07232820
+v -0.01854099 0.04631597 0.05472079
+v -0.01559914 0.04894571 0.05047425
+v -0.01779728 0.04848824 0.05571289
+v -0.01751377 0.04894571 0.05567580
+v -0.01618751 0.04894571 0.07045063
+v -0.01873906 0.04631597 0.06715446
+v -0.01917791 0.04631597 0.05687188
+v -0.01926529 0.04657289 0.05757655
+v -0.01797981 0.04894571 0.05869382
+v -0.01632538 0.04894571 0.07010293
+v -0.01772155 0.04894571 0.06557823
+v -0.01891965 0.04631597 0.06656569
+v -0.01930218 0.04631597 0.05740038
+v -0.01946918 0.04631597 0.06029786
+v -0.01933908 0.04673225 0.06029786
+v -0.01820312 0.04894571 0.06029786
+v -0.01782446 0.04894571 0.06517026
+v -0.01805942 0.04856290 0.06516563
+v -0.01932354 0.04669723 0.06349205
+v -0.01940316 0.04631597 0.06374702
+v -0.01944588 0.04631597 0.06304235
+v -0.01819923 0.04894571 0.06061311
+v -0.01806913 0.04894571 0.06220324
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 28
+f 1 28 34
+f 1 34 38
+f 1 38 49
+f 1 49 59
+f 1 59 58
+f 1 58 65
+f 1 65 71
+f 1 71 79
+f 1 79 80
+f 1 80 73
+f 1 73 72
+f 1 72 66
+f 1 66 60
+f 1 60 53
+f 1 53 50
+f 1 50 43
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+f 1 42 41
+f 1 41 40
+f 1 40 35
+f 1 35 29
+f 1 29 22
+f 1 22 21
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+f 1 20 12
+f 1 12 5
+f 1 5 14
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+f 1 6 2
+f 2 6 7
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+f 5 12 13
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+f 6 15 24
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+f 6 32 31
+f 6 31 30
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+f 6 46 45
+f 6 45 52
+f 6 52 51
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+f 6 55 61
+f 6 61 63
+f 6 63 68
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+f 6 75 81
+f 6 81 82
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+f 6 70 69
+f 6 69 64
+f 6 64 57
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+f 12 20 13
+f 13 20 21
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+f 13 24 15
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+f 16 25 17
+f 17 25 26
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+f 18 27 28
+f 22 29 30
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+f 22 31 23
+f 23 31 32
+f 23 32 24
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+f 26 38 34
+f 26 34 27
+f 27 34 28
+f 29 35 36
+f 29 36 37
+f 29 37 30
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+f 35 40 36
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+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 36 40 41
+f 38 39 47
+f 38 47 48
+f 38 48 49
+f 43 50 44
+f 44 51 52
+f 44 52 45
+f 44 50 53
+f 44 53 54
+f 44 54 55
+f 44 55 51
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 53 60 54
+f 54 61 55
+f 54 60 62
+f 54 62 63
+f 54 63 61
+f 57 64 58
+f 58 64 65
+f 60 66 67
+f 60 67 62
+f 62 67 63
+f 63 67 68
+f 64 69 65
+f 65 69 70
+f 65 70 71
+f 66 72 67
+f 67 72 73
+f 67 73 74
+f 67 74 75
+f 67 75 68
+f 70 76 77
+f 70 77 71
+f 71 77 78
+f 71 78 79
+f 73 80 78
+f 73 78 74
+f 74 78 75
+f 75 78 81
+f 76 82 77
+f 77 82 81
+f 77 81 78
+f 78 80 79
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_136.obj b/new_drill/new_drill_0/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a636906bdae7a7f79ed4b51a60a414d5d253e587
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_136.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01573776 -0.01515255 0.05021706
+v -0.01573776 -0.01515255 0.07322720
+v -0.01573776 -0.01271958 0.05021706
+v 0.02202631 -0.01515255 0.05021706
+v -0.01573776 -0.01271958 0.07322720
+v 0.02165384 -0.01515255 0.07322720
+v 0.02222775 -0.01271958 0.05021706
+v 0.02206812 -0.01514683 0.05021706
+v 0.02217074 -0.01515255 0.05045584
+v 0.02177546 -0.01271958 0.07322720
+v 0.02293849 -0.01515255 0.07013891
+v 0.02166144 -0.01507490 0.07322720
+v 0.02232277 -0.01271958 0.05045584
+v 0.02210233 -0.01478623 0.05021706
+v 0.02217834 -0.01507490 0.05045584
+v 0.02219735 -0.01515255 0.05053243
+v 0.02294229 -0.01507490 0.07013891
+v 0.02303351 -0.01271958 0.07013891
+v 0.02309052 -0.01515255 0.06947664
+v 0.02309052 -0.01514207 0.06948115
+v 0.02309052 -0.01507490 0.06950368
+v 0.02228476 -0.01515255 0.05080949
+v 0.02309052 -0.01271958 0.05294945
+v 0.02309052 -0.01276221 0.05295621
+v 0.02309052 -0.01271958 0.06985733
+v 0.02309052 -0.01515255 0.05343600
+v 0.02309052 -0.01512182 0.05342925
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 26
+f 1 26 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 25
+f 3 25 23
+f 3 23 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 12 17
+f 10 17 18
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 11 17 12
+f 13 22 15
+f 13 15 14
+f 13 23 24
+f 13 24 22
+f 15 22 16
+f 17 21 18
+f 18 21 25
+f 19 26 27
+f 19 27 24
+f 19 24 23
+f 19 23 25
+f 19 25 21
+f 19 21 20
+f 22 24 27
+f 22 27 26
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_137.obj b/new_drill/new_drill_0/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0c1a629c88f267f820e48c7f4a1e230eace8ed
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_137.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00028446 -0.01082419 -0.06076932
+v 0.00852532 -0.01082419 -0.06076932
+v -0.00028446 -0.01082419 -0.05929683
+v -0.00028446 0.04251318 -0.06076932
+v 0.00852532 -0.01082419 -0.05929683
+v 0.00852532 0.04185915 -0.06076932
+v -0.00028446 0.04163940 -0.05929683
+v -0.00028446 0.04193240 -0.05967681
+v 0.00294160 0.04262829 -0.06076932
+v 0.00852532 0.04101676 -0.05929683
+v 0.00729475 0.04214692 -0.06076932
+v 0.00675405 0.04177020 -0.05983696
+v 0.00852532 0.04115803 -0.05954289
+v 0.00294160 0.04182252 -0.05929683
+v -0.00028446 0.04170741 -0.05938404
+v 0.00294160 0.04197949 -0.05955010
+v 0.00718351 0.04134116 -0.05929683
+v 0.00600381 0.04151905 -0.05929683
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 18
+f 3 18 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 8 16 9
+f 8 15 14
+f 8 14 16
+f 9 16 12
+f 9 12 11
+f 10 13 12
+f 10 12 17
+f 12 16 18
+f 12 18 17
+f 14 18 16
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_138.obj b/new_drill/new_drill_0/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b053c5bdd8f083eba0a16e33d6dc97d548bc14f2
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_138.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.02413282 0.00396341 -0.06076932
+v -0.02387924 0.00461139 -0.06047251
+v -0.02413282 0.00401941 -0.06076932
+v -0.02410382 -0.00030848 -0.06076932
+v -0.02229231 0.00461139 -0.05929683
+v -0.02207602 0.00787931 -0.05929683
+v -0.02362401 0.00953126 -0.06074092
+v -0.02365467 0.00946327 -0.06076932
+v -0.02412951 0.00461139 -0.06076932
+v -0.02385190 -0.00030848 -0.06047972
+v -0.02406984 -0.00084846 -0.06076932
+v -0.02227905 0.00287144 -0.05929683
+v -0.02188128 0.00953126 -0.05929683
+v -0.02112469 0.01367916 -0.05929683
+v -0.02094404 0.01445113 -0.05929683
+v -0.02250031 0.01445113 -0.06076932
+v -0.02360080 0.00975526 -0.06076932
+v -0.02364721 0.00953126 -0.06076932
+v -0.02406155 -0.00094446 -0.06076932
+v -0.02359086 -0.00523234 -0.06066596
+v -0.02214315 -0.00030848 -0.05929683
+v -0.01945820 0.01937100 -0.05929683
+v -0.02196995 0.01618309 -0.06076932
+v -0.02368533 -0.00523234 -0.06076932
+v -0.02366130 -0.00541234 -0.06076932
+v -0.02365218 -0.00547634 -0.06076932
+v -0.02346241 -0.00676830 -0.06076932
+v -0.02284919 -0.01015221 -0.06076932
+v -0.02071946 -0.01015221 -0.05930706
+v -0.02155644 -0.00523234 -0.05929683
+v -0.02199647 -0.00166444 -0.05929683
+v -0.01985680 0.01937100 -0.05969252
+v -0.01812734 0.02277891 -0.05929683
+v -0.01931650 0.02207493 -0.06016749
+v -0.02003331 0.02148695 -0.06076932
+v -0.02266853 -0.01082420 -0.06076932
+v -0.02064488 -0.01082420 -0.05935463
+v -0.02070703 -0.01013221 -0.05929683
+v -0.02073355 -0.00998022 -0.05929683
+v -0.01808176 0.02287091 -0.05929683
+v -0.01879194 0.02429087 -0.06076932
+v -0.01566780 -0.01082420 -0.06076932
+v -0.02056036 -0.01082420 -0.05930547
+v -0.02054544 -0.01082420 -0.05929683
+v -0.01731854 0.02440287 -0.05929683
+v -0.01833948 0.02519885 -0.06076932
+v -0.01566780 -0.01082420 -0.05929683
+v -0.01566780 0.03003872 -0.06076932
+v -0.01566780 0.02761879 -0.05929683
+v -0.01566780 0.02853476 -0.05978160
+v -0.01788950 0.02607483 -0.06076932
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 23
+f 1 23 35
+f 1 35 41
+f 1 41 46
+f 1 46 51
+f 1 51 48
+f 1 48 42
+f 1 42 36
+f 1 36 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 4 10
+f 2 10 5
+f 4 11 10
+f 5 10 12
+f 5 12 21
+f 5 21 31
+f 5 31 30
+f 5 30 39
+f 5 39 38
+f 5 38 44
+f 5 44 47
+f 5 47 49
+f 5 49 45
+f 5 45 40
+f 5 40 33
+f 5 33 22
+f 5 22 15
+f 5 15 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 10 11 19
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 15 22 16
+f 16 22 23
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 22 32 23
+f 22 33 34
+f 22 34 32
+f 23 32 34
+f 23 34 35
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 33 40 34
+f 34 40 41
+f 34 41 35
+f 36 42 47
+f 36 47 44
+f 36 44 43
+f 36 43 37
+f 37 43 38
+f 38 43 44
+f 40 45 41
+f 41 45 46
+f 42 48 50
+f 42 50 49
+f 42 49 47
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 48 51 50
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_139.obj b/new_drill/new_drill_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f56a9afc27c962acd4de923eec84983a2c63660
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_14.obj b/new_drill/new_drill_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14cc39db30130af3fb30c239fd21ca2eb865d18
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,357 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_140.obj b/new_drill/new_drill_0/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98834ecfe76cc70592bb193d91b49c22e820ef5
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_140.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00166754 -0.00231710 -0.05929668
+v 0.00585856 -0.00231710 -0.05929668
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_141.obj b/new_drill/new_drill_0/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63ce8f13cb4a2adb3b61d53df193cffe40df709
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_141.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.02456420 -0.02561389 0.07363523
+v -0.02456420 -0.02561389 0.07598501
+v -0.02456420 -0.02461694 0.07363523
+v 0.02018357 -0.02561389 0.07363523
+v -0.02404874 -0.02561389 0.07682519
+v -0.02390336 -0.02491754 0.07726831
+v -0.02456420 -0.02491754 0.07618557
+v -0.02456420 -0.02461694 0.07619099
+v 0.02044351 -0.02461694 0.07363523
+v 0.02036861 -0.02500489 0.07363523
+v 0.01887951 -0.02561389 0.07570856
+v -0.02381525 -0.02561389 0.07717345
+v -0.02375357 -0.02461694 0.07742279
+v -0.02390336 -0.02461694 0.07726966
+v -0.02456420 -0.02474889 0.07618963
+v -0.02144062 -0.02491754 0.07946360
+v -0.02128643 -0.02461694 0.07963299
+v 0.01906014 -0.02461694 0.07583730
+v 0.02039504 -0.02491754 0.07363523
+v 0.01903371 -0.02491754 0.07579936
+v 0.01849623 -0.02561389 0.07624926
+v -0.02170055 -0.02561389 0.07905707
+v -0.02135251 -0.02561389 0.07936468
+v -0.01862103 -0.02491754 0.08192314
+v -0.01863866 -0.02461694 0.08194212
+v 0.01678244 -0.02461694 0.07876301
+v 0.01657538 -0.02491754 0.07896221
+v 0.01646965 -0.02561389 0.07885244
+v -0.01892943 -0.02561389 0.08147596
+v -0.01851530 -0.02561389 0.08182422
+v -0.01605697 -0.02561389 0.08365770
+v -0.01615830 -0.02491754 0.08371326
+v -0.01617592 -0.02461694 0.08371733
+v 0.01674720 -0.02461694 0.07880637
+v 0.01659741 -0.02461694 0.07898525
+v 0.01402894 -0.02461694 0.08144479
+v 0.01400251 -0.02491754 0.08142175
+v 0.01388355 -0.02561389 0.08129030
+v -0.01232982 -0.02561389 0.08547763
+v -0.01181877 -0.02491754 0.08583267
+v -0.01589396 -0.02461694 0.08385555
+v 0.01175124 -0.02461694 0.08315089
+v 0.01153977 -0.02491754 0.08326607
+v 0.01144285 -0.02561389 0.08319967
+v 0.01346943 -0.02561389 0.08167922
+v -0.01181877 -0.02561389 0.08569987
+v -0.00691092 -0.02524234 0.08707261
+v -0.01153241 -0.02461694 0.08593024
+v -0.01159849 -0.02461694 0.08591262
+v -0.01181877 -0.02461694 0.08584486
+v 0.01171599 -0.02461694 0.08317663
+v 0.01156620 -0.02461694 0.08328233
+v 0.00786108 -0.02461694 0.08515646
+v 0.00786108 -0.02491754 0.08512530
+v 0.00790955 -0.02561389 0.08492338
+v -0.00730743 -0.02561389 0.08689644
+v -0.00691092 -0.02561389 0.08699536
+v -0.00555400 -0.02561389 0.08712952
+v -0.00619281 -0.02461694 0.08725825
+v -0.00706512 -0.02461694 0.08708209
+v 0.00276379 -0.02461694 0.08684630
+v 0.00716500 -0.02561389 0.08519034
+v 0.00269330 -0.02494769 0.08683411
+v -0.00198105 -0.02561389 0.08737887
+v -0.00198105 -0.02461694 0.08747779
+v 0.00232323 -0.02461694 0.08696013
+v 0.00272855 -0.02561389 0.08666336
+v 0.00079889 -0.02561389 0.08701569
+v 0.00205449 -0.02561389 0.08680158
+v -0.00112195 -0.02561389 0.08733143
+v -0.00072985 -0.02461694 0.08741003
+v -0.00024524 -0.02461694 0.08738292
+f 1 2 7
+f 1 7 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 28
+f 1 28 38
+f 1 38 45
+f 1 45 44
+f 1 44 55
+f 1 55 62
+f 1 62 67
+f 1 67 69
+f 1 69 68
+f 1 68 70
+f 1 70 64
+f 1 64 58
+f 1 58 57
+f 1 57 56
+f 1 56 46
+f 1 46 39
+f 1 39 31
+f 1 31 30
+f 1 30 29
+f 1 29 23
+f 1 23 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 14
+f 3 14 13
+f 3 13 17
+f 3 17 25
+f 3 25 33
+f 3 33 41
+f 3 41 50
+f 3 50 49
+f 3 49 48
+f 3 48 60
+f 3 60 59
+f 3 59 65
+f 3 65 71
+f 3 71 72
+f 3 72 66
+f 3 66 61
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+f 3 52 51
+f 3 51 42
+f 3 42 36
+f 3 36 35
+f 3 35 34
+f 3 34 26
+f 3 26 18
+f 3 18 9
+f 4 10 11
+f 5 12 6
+f 6 13 14
+f 6 14 8
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+f 6 15 7
+f 6 12 16
+f 6 16 17
+f 6 17 13
+f 9 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 12 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 27
+f 18 27 20
+f 18 20 19
+f 20 27 21
+f 21 27 28
+f 23 29 24
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 24 29 30
+f 25 32 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 31 39 40
+f 31 40 32
+f 32 41 33
+f 32 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 39 46 40
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 42 51 43
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 43 51 52
+f 44 54 55
+f 46 56 47
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 47 56 57
+f 53 61 54
+f 54 62 55
+f 54 61 63
+f 54 63 62
+f 58 64 59
+f 59 64 65
+f 61 66 63
+f 62 63 67
+f 63 66 68
+f 63 68 69
+f 63 69 67
+f 64 70 71
+f 64 71 65
+f 66 72 68
+f 68 72 70
+f 70 72 71
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_142.obj b/new_drill/new_drill_0/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988f9db71e9d0a68a51e25ccaac34f28bf9c0bb6
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_142.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01802520 -0.02491754 0.03971287
+v -0.02063851 -0.02561389 0.04171466
+v -0.02071005 -0.02491754 0.04165750
+v -0.01802520 -0.02485449 0.03971287
+v -0.01776292 -0.02561389 0.03971287
+v -0.02275110 -0.02561389 0.04396641
+v -0.02317075 -0.02491754 0.04428024
+v -0.02086265 -0.02461694 0.04181106
+v -0.02071005 -0.02461694 0.04165862
+v -0.01802043 -0.02461694 0.03971287
+v 0.01229493 -0.02561389 0.03971287
+v -0.02314214 -0.02561389 0.04445957
+v -0.02492568 -0.02561389 0.04685029
+v -0.02499721 -0.02491754 0.04673933
+v -0.02500198 -0.02461694 0.04673261
+v -0.02328521 -0.02461694 0.04442370
+v -0.02317075 -0.02461694 0.04427351
+v 0.01249999 -0.02461694 0.03971287
+v 0.01243799 -0.02513557 0.03971287
+v 0.01290533 -0.02561389 0.04017129
+v -0.02659953 -0.02561389 0.04990455
+v -0.02703350 -0.02491754 0.05045375
+v -0.02703350 -0.02461694 0.05045375
+v 0.01565694 -0.02461694 0.04223472
+v 0.01251429 -0.02462289 0.03971287
+v 0.01245230 -0.02507037 0.03971287
+v 0.01587154 -0.02491754 0.04244208
+v 0.01580477 -0.02561389 0.04250821
+v -0.02686182 -0.02561389 0.05039547
+v -0.02709549 -0.02546915 0.05116324
+v -0.02722425 -0.02488084 0.05116324
+v -0.02724332 -0.02461694 0.05116324
+v -0.02712887 -0.02461694 0.05073620
+v 0.01589061 -0.02461694 0.04242414
+v 0.01861838 -0.02461694 0.04586845
+v 0.01861361 -0.02489782 0.04591664
+v 0.01837517 -0.02561389 0.04581577
+v -0.02706211 -0.02561389 0.05116324
+v 0.02147490 -0.02461694 0.05116324
+v 0.01889497 -0.02461694 0.04623944
+v 0.01923355 -0.02561389 0.04695229
+v 0.02127937 -0.02561389 0.05116324
+v 0.02143675 -0.02490163 0.05116324
+v 0.02108385 -0.02489782 0.05012759
+v 0.02112200 -0.02461694 0.05014664
+v 0.02094556 -0.02461694 0.04973418
+v 0.02061651 -0.02561389 0.04930939
+v 0.02101232 -0.02561389 0.05037866
+v 0.02140813 -0.02503904 0.05116324
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 26
+f 1 26 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 11
+f 2 11 20
+f 2 20 28
+f 2 28 37
+f 2 37 41
+f 2 41 47
+f 2 47 48
+f 2 48 42
+f 2 42 38
+f 2 38 29
+f 2 29 21
+f 2 21 13
+f 2 13 12
+f 2 12 6
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 10
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 12 13
+f 8 17 16
+f 8 16 15
+f 8 15 23
+f 8 23 33
+f 8 33 32
+f 8 32 39
+f 8 39 45
+f 8 45 46
+f 8 46 40
+f 8 40 35
+f 8 35 34
+f 8 34 24
+f 8 24 18
+f 8 18 10
+f 8 10 9
+f 11 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 18 24 25
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 21 29 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 22 29 30
+f 24 26 25
+f 24 34 27
+f 24 27 26
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 29 38 30
+f 30 38 42
+f 30 42 49
+f 30 49 43
+f 30 43 39
+f 30 39 32
+f 30 32 31
+f 35 40 36
+f 36 40 41
+f 36 41 37
+f 39 43 44
+f 39 44 45
+f 40 46 41
+f 41 46 47
+f 42 48 49
+f 43 49 44
+f 44 48 47
+f 44 47 46
+f 44 46 45
+f 44 49 48
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_143.obj b/new_drill/new_drill_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579d373e4b2b56f82cbf156ec239fa9261d93a36
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02456421 -0.02461694 0.07618809
+v -0.02531513 -0.02461694 0.07495828
+v -0.02456421 -0.02474889 0.07618809
+v -0.02456421 -0.02461694 0.05116324
+v -0.02540754 -0.02461694 0.07480639
+v -0.02540383 -0.02491754 0.07480639
+v -0.02456421 -0.02491754 0.07618319
+v -0.02456421 -0.02561389 0.05116324
+v -0.02724329 -0.02461694 0.05116324
+v -0.02750567 -0.02461694 0.07048982
+v -0.02534021 -0.02561389 0.07471086
+v -0.02456421 -0.02561389 0.07598476
+v -0.02456421 -0.02523746 0.07609255
+v -0.02767239 -0.02491754 0.07013705
+v -0.02706357 -0.02561389 0.05116324
+v -0.02840891 -0.02461694 0.05550186
+v -0.02722889 -0.02488084 0.05116324
+v -0.02753771 -0.02461694 0.07042368
+v -0.02754654 -0.02561389 0.07013705
+v -0.02767471 -0.02461694 0.07013705
+v -0.02876928 -0.02461694 0.06688859
+v -0.02885566 -0.02491754 0.06662402
+v -0.02793291 -0.02561389 0.05452683
+v -0.02839080 -0.02465832 0.05546266
+v -0.02816464 -0.02561389 0.05544796
+v -0.02925875 -0.02561389 0.06117318
+v -0.02930566 -0.02461694 0.06053623
+v -0.02877997 -0.02561389 0.06639618
+v -0.02878554 -0.02461694 0.06683960
+v -0.02885380 -0.02461694 0.06660687
+v -0.02923646 -0.02461694 0.06433099
+v -0.02926897 -0.02491754 0.06416195
+v -0.02923925 -0.02561389 0.06397087
+v -0.02892486 -0.02561389 0.06584252
+v -0.02930798 -0.02465832 0.06061462
+v -0.02930798 -0.02461694 0.06060972
+v -0.02924204 -0.02461694 0.06429669
+v -0.02926619 -0.02461694 0.06414726
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 27
+f 1 27 36
+f 1 36 38
+f 1 38 37
+f 1 37 31
+f 1 31 30
+f 1 30 29
+f 1 29 21
+f 1 21 20
+f 1 20 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 15
+f 4 15 17
+f 4 17 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 6 10 14
+f 6 14 11
+f 8 12 11
+f 8 11 19
+f 8 19 28
+f 8 28 34
+f 8 34 33
+f 8 33 26
+f 8 26 25
+f 8 25 23
+f 8 23 15
+f 9 17 16
+f 10 18 14
+f 11 14 19
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 14 18 20
+f 15 23 24
+f 15 24 17
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 17 24
+f 19 22 28
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 28
+f 23 25 24
+f 26 35 27
+f 26 33 35
+f 27 35 36
+f 31 37 32
+f 32 37 38
+f 32 38 36
+f 32 36 35
+f 32 35 33
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_144.obj b/new_drill/new_drill_0/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34720bce0b39be4c5be4f818111563fb1b301bda
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_144.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.01649955 -0.01991862 0.03848067
+v -0.01763203 -0.01991862 0.03922250
+v -0.01611171 -0.01614960 0.03848067
+v 0.01149709 -0.01991862 0.03848067
+v -0.02072955 -0.01991862 0.04168426
+v -0.01744070 -0.01614960 0.03938918
+v 0.01224690 -0.01614960 0.03848067
+v 0.01203489 -0.01721581 0.03848067
+v 0.01315186 -0.01991862 0.03968591
+v -0.02050202 -0.01614960 0.04185094
+v -0.02319102 -0.01991862 0.04417716
+v 0.01351901 -0.01614960 0.03940749
+v 0.01614078 -0.01991862 0.04210737
+v -0.02296349 -0.01614960 0.04453433
+v -0.02322205 -0.01991862 0.04421562
+v 0.01418091 -0.01614960 0.03994600
+v 0.01618732 -0.01991862 0.04214584
+v -0.02504230 -0.01991862 0.04663709
+v -0.02479408 -0.01614960 0.04699609
+v 0.01645622 -0.01614960 0.04186925
+v 0.01891769 -0.01614960 0.04474497
+v 0.01864879 -0.01991862 0.04506918
+v -0.02703319 -0.01991862 0.05045245
+v -0.02654193 -0.01614960 0.05045245
+v 0.01931587 -0.01614960 0.04528165
+v 0.02042250 -0.01991862 0.04748148
+v -0.02706939 -0.01991862 0.05055319
+v -0.02819153 -0.01614960 0.05539429
+v 0.02063969 -0.01614960 0.04720490
+v 0.02045870 -0.01991862 0.04753094
+v -0.02736415 -0.01991862 0.05143972
+v -0.02866210 -0.01960171 0.05546023
+v -0.02888446 -0.01844363 0.05719298
+v -0.02843457 -0.01614960 0.05719298
+v 0.02093445 -0.01614960 0.04784049
+v 0.02180837 -0.01991862 0.05045245
+v -0.02856902 -0.01991862 0.05516167
+v -0.02878104 -0.01991862 0.05585038
+v -0.02896203 -0.01991862 0.05719298
+v 0.02386649 -0.01614960 0.05719298
+v 0.02209278 -0.01614960 0.05045245
+v 0.02244959 -0.01614960 0.05152764
+v 0.02339592 -0.01991862 0.05529721
+v 0.02365447 -0.01991862 0.05719298
+v 0.02362862 -0.01614960 0.05537414
+v 0.02341660 -0.01991862 0.05537414
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 36
+f 1 36 43
+f 1 43 46
+f 1 46 44
+f 1 44 39
+f 1 39 38
+f 1 38 37
+f 1 37 31
+f 1 31 27
+f 1 27 23
+f 1 23 18
+f 1 18 15
+f 1 15 11
+f 1 11 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 24
+f 3 24 28
+f 3 28 34
+f 3 34 40
+f 3 40 45
+f 3 45 42
+f 3 42 41
+f 3 41 35
+f 3 35 29
+f 3 29 25
+f 3 25 21
+f 3 21 20
+f 3 20 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 5 11 10
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 10 11 14
+f 11 15 14
+f 12 16 13
+f 13 16 17
+f 14 15 18
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 29 35 30
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 44
+f 33 44 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 40 44 46
+f 40 46 45
+f 42 45 43
+f 43 45 46
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_145.obj b/new_drill/new_drill_0/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f024a26184fd580ac41fca5a6893aa00783e4d2a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_145.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01566780 -0.01082419 -0.06076932
+v -0.00028446 -0.01082419 -0.06076932
+v -0.01566780 -0.01082419 -0.05929683
+v -0.01566780 0.03003831 -0.06076932
+v -0.00028446 -0.01082419 -0.05929683
+v -0.00028446 0.04251334 -0.06076932
+v -0.01566780 0.02761436 -0.05929683
+v -0.01566780 0.02853379 -0.05978160
+v -0.01505794 0.03122417 -0.06076932
+v -0.00028446 0.04164093 -0.05929683
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_146.obj b/new_drill/new_drill_0/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08baf06af35dd891fe2eef472200a72de2e461a8
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_146.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00959529 -0.00821982 -0.09935321
+v 0.01947812 -0.00821982 -0.09935321
+v 0.00959529 -0.00821982 -0.09438111
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_15.obj b/new_drill/new_drill_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e9aa159b56c9ff46b8bd8fc3a8e360f54b1139
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,312 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_16.obj b/new_drill/new_drill_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d326188e0852303f6342e0a866f2e9467f943fe
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,306 @@
+# https://github.com/mikedh/trimesh
+v -0.01399190 0.00922728 0.00957584
+v -0.01378612 0.00781492 0.00957584
+v -0.01395761 0.01371152 0.00957584
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_17.obj b/new_drill/new_drill_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a695869c1ea39166b96a1902ef99fc1d767e77d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_18.obj b/new_drill/new_drill_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61dc9d03565d7ae392637efcb02781813fb363ff
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,711 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_19.obj b/new_drill/new_drill_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9991ffa574417b1d4686245f2bd6a3f1e78e5460
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02455950 -0.02561389 0.06128367
+v -0.02455950 -0.02561389 0.07363402
+v -0.02455950 -0.02461694 0.06128367
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_2.obj b/new_drill/new_drill_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d364aa35d69c72bc5c7f5dc86d8472da6d6ab5b
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
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+f 83 89 87
+f 85 90 91
+f 85 91 86
+f 88 91 89
+f 89 91 92
+f 90 93 91
+f 91 93 92
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_20.obj b/new_drill/new_drill_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590490bb7f83ffe95003645f559fe541ba56c33e
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01298102 0.00036373 0.01072066
+v 0.01209073 -0.00075420 0.01072066
+v 0.01222091 -0.00064290 0.00957584
+v 0.01284454 0.00036373 0.00959982
+v -0.00847003 0.00036373 0.01072066
+v 0.01217262 -0.00069937 0.00957584
+v 0.01202353 -0.00082868 0.01072066
+v 0.01094006 -0.00209065 0.00957584
+v 0.01284034 0.00036373 0.00957584
+v -0.00847003 0.00036373 0.00957584
+v -0.00847003 -0.00265943 0.01072066
+v 0.00829858 -0.00471852 0.01072066
+v 0.00961302 -0.00347619 0.00957584
+v -0.00847003 -0.00258987 0.00957584
+v -0.00688262 -0.00522756 0.01072066
+v 0.00810960 -0.00488301 0.01072066
+v 0.00954583 -0.00353511 0.00957584
+v -0.00694352 -0.00496322 0.00957584
+v -0.00197760 -0.00799619 0.01072066
+v 0.00804661 -0.00483718 0.00957584
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+v 0.00293791 -0.00777277 0.01072066
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+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 21 24
+f 20 24 23
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_21.obj b/new_drill/new_drill_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfee8524ba2300f86b5a9b22f8bde97f2286835
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,324 @@
+# https://github.com/mikedh/trimesh
+v 0.02405886 -0.01991862 0.06030535
+v 0.02377647 -0.01991862 0.06521505
+v 0.02377647 -0.01999631 0.06521505
+v 0.02395577 -0.02091567 0.06030535
+v 0.02341338 -0.01999631 0.05537597
+v 0.02341787 -0.01991862 0.05537597
+v 0.02255722 -0.01991862 0.07013459
+v 0.02254826 -0.01999631 0.07013459
+v 0.02366440 -0.02091567 0.06521505
+v 0.02343580 -0.02091567 0.05630085
+v 0.02331029 -0.02091567 0.05537597
+v 0.02200139 -0.02091567 0.05137639
+v 0.02179968 -0.01999631 0.05046136
+v 0.02339545 -0.01991862 0.05530710
+v 0.02092559 -0.01991862 0.07395215
+v 0.02092559 -0.01999631 0.07394231
+v 0.02242723 -0.02091567 0.07013459
+v 0.02085835 -0.02091567 0.07382916
+v 0.02218069 -0.02091567 0.07072493
+v 0.02166520 -0.02091567 0.05039741
+v 0.02180416 -0.01991862 0.05046136
+v 0.02040114 -0.02091567 0.04762279
+v 0.02045493 -0.01991862 0.04753424
+v 0.01941947 -0.01991862 0.07640700
+v 0.01941499 -0.01999631 0.07640208
+v 0.01934327 -0.02091567 0.07628893
+v 0.01910569 -0.02091567 0.04585175
+v 0.02041907 -0.01991862 0.04748504
+v 0.01696305 -0.01991862 0.07932920
+v 0.01888157 -0.02091567 0.07688419
+v 0.01863503 -0.02091567 0.04524173
+v 0.01864399 -0.01991862 0.04507939
+v 0.01443044 -0.01991862 0.08178897
+v 0.01688237 -0.02091567 0.07925541
+v 0.01612034 -0.02091567 0.04221129
+v 0.01859469 -0.01991862 0.04502035
+v 0.01388805 -0.02091567 0.08205954
+v 0.01434527 -0.02091567 0.08171026
+v 0.01200988 -0.01991862 0.08349605
+v 0.01365048 -0.02091567 0.04020904
+v 0.01614275 -0.01991862 0.04211290
+v 0.01618758 -0.01991862 0.04215226
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+v -0.01511378 -0.02091567 0.03765581
+v -0.01763295 -0.01999631 0.03922514
+v -0.01762846 -0.01991862 0.03923006
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+v -0.00197554 -0.01991862 0.08774161
+v -0.00197554 -0.02091567 0.08769241
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+v -0.01182361 -0.02091567 0.08599517
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+f 88 96 89
+f 90 97 91
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+f 94 108 103
+f 94 103 95
+f 95 109 96
+f 95 103 109
+f 100 107 101
+f 101 107 106
+f 101 106 105
+f 102 109 103
+f 103 108 104
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_22.obj b/new_drill/new_drill_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78622537921545d9a904f51e48763edfdc0a463d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01947812 0.00299555 -0.09935369
+v 0.01947812 -0.02482069 -0.09935369
+v 0.01947812 0.00299555 -0.10080484
+v -0.01884381 0.00299555 -0.09935369
+v 0.01911801 -0.02542754 -0.09935369
+v 0.01947812 -0.02433579 -0.10080484
+v -0.01884381 0.00299555 -0.10080484
+v -0.01884381 -0.02666736 -0.09935369
+v 0.01835652 -0.02666736 -0.09935369
+v 0.01806393 -0.02666736 -0.10080484
+v -0.01884381 -0.02666736 -0.10080484
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 10
+f 5 10 6
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_23.obj b/new_drill/new_drill_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c508967d7975eba58c65146d82e3d284f456cc
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,318 @@
+# https://github.com/mikedh/trimesh
+v -0.00198255 -0.03776799 0.03926039
+v 0.00274930 -0.03776799 0.04012672
+v -0.00198255 -0.04027376 0.04069713
+v -0.00690123 -0.04027376 0.04050842
+v -0.00690123 -0.03776799 0.03928184
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+v -0.01221532 -0.04027376 0.04192801
+v -0.01203283 -0.03776799 0.04087726
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+v -0.01405765 -0.03776799 0.04194516
+v 0.01150039 -0.03776799 0.04515745
+v 0.01460281 -0.03776799 0.04745194
+v 0.01278220 -0.03852892 0.04677003
+v 0.00845011 -0.04027376 0.04517461
+v -0.01658217 -0.04027376 0.04432114
+v -0.01521346 -0.03776799 0.04260563
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+v -0.02008435 -0.04027376 0.04705738
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+v -0.02245244 -0.04027376 0.05048410
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+v -0.02518118 -0.03776799 0.06566206
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+f 102 106 103
+f 103 106 105
+f 104 105 107
+f 105 106 107
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_24.obj b/new_drill/new_drill_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3833e163ef877fd1d9326ca5152afe982d627bb4
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02456420 -0.02561389 0.05116324
+v -0.02456420 -0.02561389 0.06128367
+v -0.02456420 -0.02461694 0.05116324
+v 0.02127794 -0.02561389 0.05116324
+v -0.02456420 -0.02461694 0.06128367
+v 0.02330877 -0.02561389 0.06128367
+v 0.02147113 -0.02461694 0.05116324
+v 0.02143815 -0.02490163 0.05116324
+v 0.02272921 -0.02561389 0.05537546
+v 0.02350196 -0.02461694 0.06128367
+v 0.02337945 -0.02561389 0.06029600
+v 0.02346898 -0.02491754 0.06128367
+v 0.02279518 -0.02461694 0.05500100
+v 0.02146642 -0.02467530 0.05116324
+v 0.02288470 -0.02491754 0.05537546
+v 0.02353966 -0.02491754 0.06029600
+v 0.02357264 -0.02461694 0.06029600
+v 0.02291768 -0.02461694 0.05537546
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
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+f 3 17 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 6 11 16
+f 6 16 12
+f 7 13 14
+f 8 14 13
+f 8 13 15
+f 8 15 9
+f 9 15 16
+f 9 16 11
+f 10 12 16
+f 10 16 17
+f 13 18 15
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_25.obj b/new_drill/new_drill_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de8db9de27945d840b8aff150bfe3e8d324fff0
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v -0.02264853 0.02416985 -0.07747759
+v -0.02188037 0.02410833 -0.07747759
+v -0.02188037 0.02554017 -0.07748733
+v -0.02448421 0.02251988 -0.08242142
+v -0.02617559 0.01937095 -0.08242142
+v -0.02502739 0.01953316 -0.07747759
+v -0.02188037 -0.02945703 -0.07747759
+v -0.02188037 0.02642389 -0.08041565
+v -0.02347495 0.02559610 -0.08734334
+v -0.02690879 0.01937095 -0.08734334
+v -0.02868352 0.01594796 -0.08734334
+v -0.02837967 0.01438189 -0.08217070
+v -0.02711315 0.01447138 -0.07747759
+v -0.02357802 -0.02572083 -0.07747759
+v -0.02188037 -0.02946263 -0.08734334
+v -0.02188037 0.02726285 -0.08463652
+v -0.02188037 0.02767675 -0.08734334
+v -0.02188037 0.02725726 -0.09226039
+v -0.02331181 0.02517662 -0.09226039
+v -0.02648662 0.01937095 -0.09226039
+v -0.02941941 0.01327445 -0.09124533
+v -0.02951980 0.01348699 -0.08734334
+v -0.02930468 0.01269835 -0.08364338
+v -0.02895959 0.01155176 -0.08036453
+v -0.02711943 0.01444900 -0.07747759
+v -0.02357982 -0.02572083 -0.08734334
+v -0.02438293 -0.02325985 -0.07747759
+v -0.02885831 -0.01171004 -0.08734334
+v -0.02356010 -0.02571523 -0.09717988
+v -0.02188037 -0.02940110 -0.09717988
+v -0.02188037 0.02594847 -0.09712632
+v -0.02298645 0.02397969 -0.09708494
+v -0.02855983 0.01472866 -0.09263525
+v -0.02392042 0.02137329 -0.09866229
+v -0.02898917 0.01168041 -0.09452418
+v -0.02981469 0.00983468 -0.09263525
+v -0.03043585 0.00952705 -0.08734334
+v -0.02967218 0.00975637 -0.08217070
+v -0.02926972 0.00827419 -0.07929349
+v -0.02837429 0.00975078 -0.07747759
+v -0.02834650 0.00986264 -0.07747759
+v -0.02532497 -0.01999346 -0.07747759
+v -0.02924015 -0.00870094 -0.08414239
+v -0.02934233 -0.00924907 -0.08734334
+v -0.02924821 -0.00875128 -0.09104330
+v -0.02870593 -0.01029498 -0.09251354
+v -0.02429778 -0.02299138 -0.10006925
+v -0.02188037 -0.02706317 -0.10234521
+v -0.02188037 0.02419782 -0.10060234
+v -0.02462583 0.01809013 -0.10097477
+v -0.02714811 0.01444900 -0.09717988
+v -0.02188037 0.02312394 -0.10234521
+v -0.02534111 0.01471747 -0.10216995
+v -0.02527836 0.01472306 -0.10234521
+v -0.02669367 0.00952705 -0.10234521
+v -0.02929572 0.00840283 -0.09537371
+v -0.03056671 0.00460510 -0.09226039
+v -0.03037490 0.00460510 -0.08242142
+v -0.03103639 0.00460510 -0.08734334
+v -0.02947498 0.00460510 -0.07872390
+v -0.02904923 0.00460510 -0.07747759
+v -0.02652605 -0.01507151 -0.07747759
+v -0.02755504 -0.01014956 -0.07747759
+v -0.02925269 -0.00351612 -0.07924237
+v -0.02952518 -0.00518287 -0.08247011
+v -0.03024045 -0.00031125 -0.08242142
+v -0.03084906 -0.00031125 -0.08734334
+v -0.03007104 -0.00522761 -0.08734334
+v -0.03040806 -0.00031125 -0.09226039
+v -0.02958613 -0.00536744 -0.09251354
+v -0.02897842 -0.00709572 -0.09432214
+v -0.02790013 -0.01014956 -0.09717988
+v -0.02674207 -0.01507151 -0.09717988
+v -0.02454785 -0.01924399 -0.10234521
+v -0.02291474 -0.02475881 -0.10234521
+v -0.02276505 -0.02511677 -0.10234521
+v -0.02568171 -0.01507151 -0.10210180
+v -0.02562435 -0.01508829 -0.10234521
+v -0.02436500 0.01744692 -0.10234521
+v -0.02345433 0.01961705 -0.10234521
+v -0.02349915 0.01951637 -0.10234521
+v -0.02672683 0.00928655 -0.10234521
+v -0.02736323 0.00460510 -0.10234521
+v -0.02947588 0.00460510 -0.09586054
+v -0.02747617 -0.00031125 -0.10234521
+v -0.02946243 -0.00031125 -0.07868495
+v -0.02908149 -0.00031125 -0.07747759
+v -0.02849709 -0.00518287 -0.07747759
+v -0.02723953 -0.00522761 -0.10234521
+v -0.02860913 -0.00536744 -0.09699244
+v -0.02661210 -0.01014956 -0.10234521
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+f 1 6 13
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+f 1 41 40
+f 1 40 61
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+f 1 14 7
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+f 28 42 43
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_26.obj b/new_drill/new_drill_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfeb92366afbeb94351af163f90c2fc9daf4619c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01538985 0.00953307 -0.05290604
+v -0.01440840 0.00953307 -0.05164236
+v -0.01534952 0.01072795 -0.05290604
+v -0.01515875 0.00621870 -0.05290604
+v -0.01428791 0.01309535 -0.05164236
+v -0.01433092 0.00842354 -0.05164236
+v -0.01427670 0.01342455 -0.05164236
+v -0.01419822 0.01445076 -0.05164236
+v -0.01506454 0.01445076 -0.05290604
+v -0.01493117 0.00461131 -0.05290604
+v -0.01379175 0.00461131 -0.05164236
+v -0.01425478 0.00788503 -0.05164236
+v -0.01368046 0.01704779 -0.05164236
+v -0.01368046 0.01721646 -0.05169122
+v -0.01368046 0.01867551 -0.05211526
+v -0.01463565 0.01660276 -0.05290604
+v -0.01449274 0.00211792 -0.05290604
+v -0.01371326 0.00416628 -0.05164236
+v -0.01368046 0.00406467 -0.05164236
+v -0.01368046 0.01883808 -0.05216263
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+v -0.01368046 -0.00038970 -0.05290604
+v -0.01368046 0.01937252 -0.05236809
+v -0.01368046 0.02037029 -0.05290604
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 21
+f 1 21 24
+f 1 24 22
+f 1 22 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 12
+f 2 12 11
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+f 2 18 19
+f 2 19 13
+f 2 13 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 8 13 14
+f 8 14 15
+f 8 15 9
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+f 10 17 11
+f 11 17 18
+f 13 19 22
+f 13 22 24
+f 13 24 23
+f 13 23 20
+f 13 20 15
+f 13 15 14
+f 15 20 16
+f 16 20 21
+f 17 22 19
+f 17 19 18
+f 20 23 21
+f 21 23 24
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_27.obj b/new_drill/new_drill_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a1d4ddf34faedc01a1ad35ab4f603b3db35697
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01772190 -0.00269231 -0.05612979
+v 0.01582449 -0.00269231 -0.05464943
+v 0.01692191 -0.00484206 -0.05612979
+v -0.01720410 -0.00269231 -0.05612979
+v 0.01407067 -0.00631237 -0.05464943
+v -0.01508789 -0.00269231 -0.05464943
+v 0.01621423 -0.00618841 -0.05612979
+v -0.01691351 -0.00426932 -0.05612979
+v -0.01631865 -0.00269231 -0.05544279
+v 0.01151002 -0.00986809 -0.05464943
+v 0.01167412 -0.01402637 -0.05612979
+v 0.01363649 -0.01096180 -0.05612979
+v 0.01411170 -0.01015525 -0.05612979
+v -0.01627420 -0.00269231 -0.05541410
+v -0.01457508 -0.00469456 -0.05464943
+v -0.01581267 -0.00828638 -0.05612979
+v 0.01117841 -0.01015525 -0.05464943
+v 0.01052542 -0.01289814 -0.05526151
+v 0.00785879 -0.01721334 -0.05612979
+v -0.01553233 -0.00909136 -0.05612979
+v -0.01366911 -0.00722876 -0.05464943
+v 0.00785879 -0.01292639 -0.05464943
+v 0.00293920 -0.01459284 -0.05464943
+v 0.00293920 -0.01869777 -0.05612979
+v -0.01399047 -0.01211356 -0.05612979
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+v -0.01168623 -0.01488156 -0.05612979
+v -0.01360074 -0.00730722 -0.05464943
+v -0.00198038 -0.01464462 -0.05464943
+v -0.00198038 -0.01872287 -0.05612979
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+v -0.01165546 -0.00952444 -0.05464943
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+v -0.00411369 -0.01830391 -0.05612979
+v -0.00798372 -0.01713645 -0.05612979
+v -0.00896832 -0.01215750 -0.05464943
+v -0.01148111 -0.00969705 -0.05464943
+v -0.00640426 -0.01348030 -0.05464943
+v -0.00689997 -0.01758366 -0.05612979
+f 1 2 3
+f 1 3 7
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+f 1 13 12
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+f 1 24 30
+f 1 30 34
+f 1 34 39
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+f 1 31 27
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+f 1 4 9
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+f 1 14 6
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+f 2 15 21
+f 2 21 28
+f 2 28 32
+f 2 32 37
+f 2 37 36
+f 2 36 38
+f 2 38 33
+f 2 33 29
+f 2 29 23
+f 2 23 22
+f 2 22 17
+f 2 17 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 6 14 15
+f 8 16 9
+f 9 16 15
+f 9 15 14
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 15 16 20
+f 15 20 21
+f 17 22 18
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 23 29 24
+f 24 29 30
+f 25 27 26
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 39
+f 33 39 34
+f 35 39 38
+f 35 38 36
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_28.obj b/new_drill/new_drill_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26cd65336148edb3a58867b006853eff82263e59
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01733618 0.00119561 -0.05464943
+v 0.01657111 0.00119561 -0.05374992
+v 0.01693076 -0.00031153 -0.05464943
+v -0.01606526 0.00119561 -0.05464943
+v 0.01571777 0.00119561 -0.05290622
+v 0.01509983 -0.00031153 -0.05290622
+v 0.01687845 -0.00042782 -0.05464943
+v -0.01562714 -0.00087128 -0.05464943
+v -0.01484245 0.00119561 -0.05347551
+v -0.01419182 0.00119561 -0.05290622
+v 0.01406993 -0.00631220 -0.05464943
+v 0.01601856 -0.00229780 -0.05464943
+v 0.01259537 -0.00494616 -0.05290622
+v -0.01457435 -0.00469342 -0.05464943
+v -0.01330251 -0.00186829 -0.05290622
+v 0.01150989 -0.00986609 -0.05464943
+v 0.00786111 -0.00908925 -0.05290622
+v -0.01366870 -0.00722703 -0.05464943
+v -0.01167102 -0.00510896 -0.05290622
+v 0.01117967 -0.01015294 -0.05464943
+v 0.00786111 -0.01292689 -0.05464943
+v 0.00269853 -0.01130501 -0.05290622
+v -0.01360003 -0.00730611 -0.05464943
+v -0.01165794 -0.00952186 -0.05464943
+v -0.01141272 -0.00540047 -0.05290622
+v 0.00294048 -0.01459219 -0.05464943
+v 0.00106050 -0.01131896 -0.05290622
+v -0.00198015 -0.01464336 -0.05464943
+v 0.00279989 -0.01459374 -0.05464943
+v -0.01148138 -0.00969552 -0.05464943
+v -0.00899001 -0.00777748 -0.05290622
+v -0.00172840 -0.01130190 -0.05290622
+v -0.00214363 -0.01460460 -0.05464943
+v -0.00897039 -0.01215781 -0.05464943
+v -0.00690078 -0.00904894 -0.05290622
+v -0.00316372 -0.01093442 -0.05290622
+v -0.00640382 -0.01347889 -0.05464943
+v -0.00605725 -0.00951721 -0.05290622
+f 1 2 3
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+f 1 12 11
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+f 1 16 20
+f 1 20 21
+f 1 21 26
+f 1 26 29
+f 1 29 28
+f 1 28 33
+f 1 33 37
+f 1 37 34
+f 1 34 30
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+f 1 23 18
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+f 1 8 4
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+f 1 10 5
+f 1 5 2
+f 2 5 3
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+f 5 31 35
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+f 5 38 36
+f 5 36 32
+f 5 32 27
+f 5 27 22
+f 5 22 17
+f 5 17 13
+f 5 13 6
+f 6 11 12
+f 6 12 7
+f 6 13 11
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 11 13 16
+f 13 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 17 21 20
+f 17 22 21
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 21 22 26
+f 22 27 28
+f 22 28 29
+f 22 29 26
+f 24 30 25
+f 25 30 31
+f 27 32 28
+f 28 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 37
+f 34 37 38
+f 34 38 35
+f 36 38 37
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_29.obj b/new_drill/new_drill_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8bfb5118b400ecec6a70eeeb9196accedfaff61
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00083075 -0.03751054 -0.07747515
+v 0.00294155 -0.03791834 -0.07747515
+v -0.00083075 -0.03750239 -0.07681574
+v -0.00083075 0.04540306 -0.07747515
+v 0.00759016 -0.03769813 -0.07747515
+v 0.00759016 -0.03768182 -0.07581155
+v 0.00460100 -0.03782047 -0.07575462
+v 0.00294155 -0.03788572 -0.07575462
+v 0.00011397 -0.03758394 -0.07575462
+v -0.00083075 -0.03747792 -0.07575462
+v -0.00083075 0.04539491 -0.07575462
+v 0.00121121 0.04524810 -0.07575462
+v 0.00294155 0.04511760 -0.07575462
+v 0.00294155 0.04511760 -0.07747515
+v 0.00759016 0.04452222 -0.07747515
+v 0.00759016 -0.03767366 -0.07575462
+v 0.00613185 0.04470980 -0.07575462
+v 0.00759016 0.04452222 -0.07575462
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 18
+f 5 18 16
+f 5 16 6
+f 6 16 7
+f 7 16 18
+f 7 18 17
+f 7 17 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 13 17 14
+f 14 17 15
+f 15 17 18
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_3.obj b/new_drill/new_drill_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5b9e3fa219df638bf2fa76b69747880fdb9ecd
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.01583294 0.00953270 0.03200571
+v -0.01532417 0.01445336 0.03200571
+v -0.01502710 0.01445336 0.02587598
+v -0.01519783 0.00955901 0.02587598
+v -0.01519783 0.00953270 0.02587598
+v -0.01556319 0.00459010 0.03200571
+v -0.01467882 0.01844427 0.03200571
+v -0.01454223 0.01904949 0.02587598
+v -0.01468564 0.00605052 0.02587598
+v -0.01477101 0.00186225 0.03200571
+v -0.01433736 0.02024238 0.03200571
+v -0.01340176 0.02401401 0.02587598
+v -0.01467882 0.00603297 0.02587598
+v -0.01441931 0.00105968 0.03200571
+v -0.01313201 0.02548319 0.03200571
+v -0.01176276 0.02921974 0.03200571
+v -0.01333347 0.02419382 0.02587598
+v -0.00940329 -0.00559330 0.02587598
+v -0.01131204 -0.00559330 0.03200571
+v -0.01121643 0.03039508 0.03200571
+v -0.01069742 0.02964953 0.02587598
+v 0.00902862 -0.00559330 0.02587598
+v 0.01121736 -0.00559330 0.03200571
+v -0.01002816 0.03265806 0.03200571
+v -0.01063254 0.02977233 0.02587598
+v 0.01468316 -0.00218568 0.03200571
+v 0.01389439 -0.00301456 0.03200571
+v 0.01554705 0.00172191 0.02587598
+v -0.00939646 0.03172392 0.02587598
+v -0.00719064 0.03567975 0.03200571
+v 0.01618558 0.00031412 0.03200571
+v 0.01677288 0.00461203 0.02587598
+v -0.00696869 0.03396498 0.02587598
+v -0.00531604 0.03736383 0.03200571
+v 0.01711776 0.00313846 0.03200571
+v 0.01752409 0.00461203 0.03200571
+v 0.01802262 0.00950638 0.02587598
+v -0.00686967 0.03405269 0.02587598
+v -0.00197999 0.03854356 0.03200571
+v -0.00395362 0.03640777 0.02587598
+v 0.01817969 0.00829595 0.03200571
+v 0.01869188 0.01442705 0.02587598
+v 0.01837091 0.00957655 0.03200571
+v 0.00139020 0.03902598 0.03200571
+v -0.00196975 0.03704368 0.02587598
+v 0.01869529 0.01445336 0.02587598
+v 0.01869871 0.01335257 0.03200571
+v 0.00294042 0.03921018 0.03200571
+v 0.00294042 0.03771030 0.02587598
+v 0.01877383 0.01445336 0.03200571
+v 0.01900602 0.01936964 0.02587598
+v 0.00809302 0.03864004 0.03200571
+v 0.00716084 0.03715332 0.02587598
+v 0.01898212 0.01796624 0.03200571
+v 0.01837091 0.02429469 0.02587598
+v 0.01889675 0.02429469 0.03200571
+v 0.01905041 0.01936964 0.03200571
+v 0.00719157 0.03714455 0.02587598
+v 0.01099541 0.03717525 0.03200571
+v 0.00965007 0.03631129 0.02587598
+v 0.01635972 0.02961006 0.02587598
+v 0.01773238 0.02921535 0.03200571
+v 0.01330367 0.03530698 0.03200571
+v 0.01319099 0.03357466 0.02587598
+v 0.01623338 0.02985127 0.02587598
+v 0.01617875 0.03264491 0.03200571
+v 0.01343342 0.03335538 0.02587598
+v 0.01537632 0.03185549 0.02727055
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 26
+f 1 26 31
+f 1 31 35
+f 1 35 36
+f 1 36 41
+f 1 41 43
+f 1 43 47
+f 1 47 50
+f 1 50 54
+f 1 54 57
+f 1 57 56
+f 1 56 62
+f 1 62 66
+f 1 66 63
+f 1 63 59
+f 1 59 52
+f 1 52 48
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+f 1 39 34
+f 1 34 30
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+f 1 20 16
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+f 1 15 11
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+f 3 58 60
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+f 3 42 37
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+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
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+f 11 15 12
+f 12 15 16
+f 12 16 17
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+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 22 28 26
+f 24 29 25
+f 24 30 29
+f 26 28 31
+f 28 32 31
+f 29 30 33
+f 30 34 33
+f 31 32 35
+f 32 36 35
+f 32 37 36
+f 33 34 38
+f 34 39 40
+f 34 40 38
+f 36 37 41
+f 37 42 43
+f 37 43 41
+f 39 44 45
+f 39 45 40
+f 42 46 43
+f 43 46 47
+f 44 48 49
+f 44 49 45
+f 46 50 47
+f 46 51 50
+f 48 52 49
+f 49 52 53
+f 50 51 54
+f 51 55 56
+f 51 56 57
+f 51 57 54
+f 52 58 53
+f 52 59 60
+f 52 60 58
+f 55 61 62
+f 55 62 56
+f 59 63 64
+f 59 64 60
+f 61 65 66
+f 61 66 62
+f 63 66 67
+f 63 67 64
+f 65 67 68
+f 65 68 66
+f 66 68 67
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_30.obj b/new_drill/new_drill_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c67ebf828bc75a0d015b2666b31afd97d12839
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,357 @@
+# https://github.com/mikedh/trimesh
+v -0.00689912 -0.04958143 0.04079378
+v -0.01182177 -0.04958143 0.04150740
+v -0.01182177 -0.04952332 0.04150740
+v -0.00689912 -0.04952332 0.04079774
+v -0.00198052 -0.04952332 0.04113077
+v -0.00198052 -0.04958143 0.04113473
+v -0.01524163 -0.04958143 0.04242718
+v -0.01523757 -0.04952332 0.04242718
+v -0.01482735 -0.04559924 0.04269677
+v -0.01398254 -0.04515172 0.04255008
+v -0.01214670 -0.04515172 0.04211794
+v -0.00689912 -0.04515172 0.04126160
+v -0.00635080 -0.04515172 0.04129728
+v -0.00198052 -0.04515172 0.04163823
+v 0.00150433 -0.04515172 0.04268488
+v 0.00198359 -0.04952332 0.04249061
+v 0.00197953 -0.04958143 0.04249458
+v -0.01770296 -0.04958143 0.04424692
+v -0.01769890 -0.04952332 0.04425088
+v -0.02005462 -0.04515172 0.04673269
+v -0.01539191 -0.04515172 0.04322009
+v 0.00396159 -0.04515172 0.04371566
+v 0.00444492 -0.04952332 0.04357691
+v 0.00444086 -0.04958143 0.04357691
+v 0.00200796 -0.04958143 0.04250647
+v -0.02079789 -0.04958143 0.04667720
+v -0.02040392 -0.04515172 0.04700625
+v 0.00742613 -0.04515172 0.04617369
+v 0.00711745 -0.04952332 0.04603493
+v 0.00711339 -0.04958143 0.04603890
+v -0.02083445 -0.04958143 0.04670891
+v -0.02083039 -0.04952332 0.04671288
+v -0.02329578 -0.04958143 0.04941275
+v -0.02307239 -0.04515172 0.05049507
+v 0.00988340 -0.04515172 0.04851279
+v 0.00959908 -0.04958143 0.04888546
+v -0.02455487 -0.04958143 0.05184302
+v -0.02430711 -0.04586550 0.05248132
+v -0.02369787 -0.04515172 0.05162101
+v 0.01009460 -0.04515172 0.04878634
+v 0.01146336 -0.04958143 0.05131574
+v -0.02456705 -0.04958143 0.05187078
+v -0.02456299 -0.04952332 0.05187870
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+v -0.02524534 -0.04515172 0.05505035
+v -0.02468484 -0.04515172 0.05368655
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+v 0.01146742 -0.04952332 0.05131574
+v 0.01374597 -0.04515172 0.05576398
+v 0.01301489 -0.04958143 0.05537545
+v -0.02609015 -0.04958143 0.05537545
+v -0.02694309 -0.04952332 0.06029944
+v -0.02625668 -0.04515172 0.06029944
+v -0.02615920 -0.04515172 0.05974837
+v 0.01454205 -0.04515172 0.05999021
+v 0.01384751 -0.04958143 0.06029944
+v -0.02695121 -0.04958143 0.06029944
+v -0.02652881 -0.04952332 0.06521550
+v -0.02583833 -0.04515172 0.06521550
+v 0.01449331 -0.04515172 0.06092188
+v 0.01359569 -0.04958143 0.06521550
+v -0.02653693 -0.04958143 0.06521550
+v -0.02498134 -0.04515172 0.06845456
+v 0.01412370 -0.04515172 0.06521550
+v 0.01357539 -0.04958143 0.06527497
+v -0.02525346 -0.04958143 0.06944569
+v -0.02483512 -0.04515172 0.06893427
+v 0.01393281 -0.04515172 0.06576658
+v 0.01188982 -0.04958143 0.07014346
+v -0.02522909 -0.04958143 0.06950516
+v -0.02522909 -0.04952332 0.06949327
+v -0.02352729 -0.04515172 0.07111874
+v 0.01238534 -0.04515172 0.07013553
+v 0.01187358 -0.04958143 0.07017914
+v -0.02366132 -0.04958143 0.07195923
+v -0.02365726 -0.04952332 0.07195527
+v -0.02335264 -0.04515172 0.07139230
+v 0.01223912 -0.04515172 0.07045269
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+v -0.02087100 -0.04945177 0.07549166
+v -0.02085476 -0.04515172 0.07465910
+v -0.02116344 -0.04515172 0.07426264
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+v -0.01919763 -0.04958143 0.07752945
+v -0.01903922 -0.04776314 0.07741844
+v -0.01856808 -0.04515172 0.07708542
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+v 0.00550093 -0.04782125 0.07759288
+v -0.01719932 -0.04958143 0.07839768
+v -0.01713840 -0.04945177 0.07841355
+v -0.01613924 -0.04515172 0.07832236
+v -0.01653728 -0.04515172 0.07815585
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+v 0.00550093 -0.04634642 0.07759288
+v 0.00539127 -0.04958143 0.07750962
+v 0.00336860 -0.04948646 0.07878622
+v 0.00335641 -0.04958143 0.07879018
+v -0.01712621 -0.04958143 0.07842940
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+v -0.00198052 -0.04952332 0.08076057
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+v -0.00198052 -0.04958143 0.08075660
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+v -0.01182177 -0.04952332 0.08062181
+v -0.00744743 -0.04515172 0.08075264
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+v -0.00689912 -0.04515172 0.08082400
+v -0.00253290 -0.04515172 0.08036808
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+f 1 7 2
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_31.obj b/new_drill/new_drill_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00c79571c5b7ab88f23aab4b9e358daa8815a12
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01582871 0.00953045 0.03200571
+v -0.01544784 0.01315973 0.03200571
+v -0.01556396 0.00458648 0.03200571
+v -0.02141164 0.00442226 0.04553048
+v -0.02139306 0.00461044 0.04553048
+v -0.02085428 0.00953045 0.04553048
+v -0.02030155 0.01315973 0.04528083
+v 0.01868143 0.01315973 0.03200571
+v -0.01551751 0.00442226 0.03200571
+v -0.02273074 0.00442226 0.05045255
+v -0.02269822 0.00461044 0.05045255
+v -0.02098897 0.01315973 0.05045255
+v 0.02391601 0.01315973 0.04579388
+v 0.01837024 0.00957579 0.03200571
+v 0.01746916 0.00442226 0.03200571
+v -0.02307909 0.00442226 0.05333615
+v -0.02061739 0.01315973 0.05540209
+v -0.02331132 0.00442226 0.05540209
+v 0.02401819 0.01315973 0.04708108
+v 0.02341438 0.00442226 0.05045255
+v 0.02268516 0.00442226 0.04571830
+v 0.02264336 0.00442226 0.04553048
+v 0.02334007 0.00953045 0.04553048
+v 0.01817980 0.00829531 0.03200571
+v 0.01752490 0.00461044 0.03200571
+v 0.02309390 0.01315973 0.05540209
+v 0.02331684 0.00442226 0.05540209
+v 0.02413896 0.01315973 0.05019831
+v 0.02342832 0.00442226 0.05064036
+v 0.02397175 0.01315973 0.05148551
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+f 22 25 24
+f 26 27 30
+f 27 29 28
+f 27 28 30
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_32.obj b/new_drill/new_drill_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ec8b40f3eeb35a549033fd3daa8c2f69d20652
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.01544849 0.01316208 0.03200571
+v -0.02029822 0.01316208 0.04528098
+v -0.01532355 0.01445434 0.03200571
+v 0.01868005 0.01316208 0.03200571
+v -0.02099236 0.01316208 0.05045262
+v -0.01995115 0.01937508 0.04629839
+v -0.01468031 0.01844777 0.03200571
+v -0.01937733 0.02809481 0.04759630
+v 0.01869393 0.01335353 0.03200571
+v 0.02595000 0.02844180 0.04636740
+v 0.02568623 0.02429283 0.04671693
+v 0.02537619 0.01937508 0.04731802
+v 0.02518183 0.01608461 0.04776105
+v 0.02391386 0.01316208 0.04579525
+v -0.02061752 0.01316208 0.05474932
+v -0.01937733 0.02809481 0.04840444
+v -0.01433787 0.02024556 0.03200571
+v -0.01914595 0.02844180 0.04883857
+v -0.01911818 0.02844180 0.04715996
+v 0.01877260 0.01445434 0.03200571
+v 0.02461263 0.02844180 0.04390737
+v 0.02628319 0.02844180 0.05046597
+v 0.01898084 0.01797215 0.03200571
+v 0.01904563 0.01937508 0.03200571
+v 0.01889292 0.02429283 0.03200571
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+v -0.01204721 0.02844180 0.03200571
+v 0.01785171 0.02844180 0.03200571
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+v 0.02396940 0.01316208 0.05148338
+v 0.02497358 0.02844180 0.05474932
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+f 22 31 26
+f 26 31 36
+f 26 36 27
+f 31 35 37
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_33.obj b/new_drill/new_drill_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee7096dbb7ecc8fbbaebc410cdb80ce92f8b7b95
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v 0.02394310 -0.00029947 0.06029304
+v 0.02359670 0.00442179 0.06029304
+v 0.02357746 0.00442179 0.07013579
+v 0.02373141 -0.00029947 0.06520385
+v 0.02357746 -0.00029947 0.05536639
+v 0.02342832 0.00442179 0.05064567
+v 0.02286543 0.00442179 0.07505716
+v 0.02333210 -0.00029947 0.07013579
+v 0.02314928 -0.00029947 0.05044501
+v 0.02341388 0.00442179 0.05045557
+v 0.02280770 0.00442179 0.07517333
+v 0.02071491 -0.00029947 0.07815150
+v 0.02223038 -0.00029947 0.07505716
+v 0.02194171 -0.00029947 0.04552364
+v 0.02268742 0.00442179 0.04572430
+v 0.02102281 0.00442179 0.07848945
+v 0.01824686 -0.00029947 0.08061747
+v 0.02050803 -0.00029947 0.04232898
+v 0.01618293 0.00031200 0.03201099
+v 0.01711627 0.00313737 0.03201099
+v 0.01747228 0.00442179 0.03201099
+v 0.02263931 0.00442179 0.04553420
+v 0.01854514 0.00442179 0.08095014
+v 0.01845373 0.00442179 0.08103462
+v 0.01579324 -0.00029947 0.08286166
+v 0.01576919 -0.00029947 0.03201099
+v -0.01551683 0.00442179 0.03201099
+v 0.01608671 0.00442179 0.08307815
+v 0.01278155 0.00442179 0.08448803
+v 0.01278155 -0.00029947 0.08414480
+v -0.01370307 -0.00029947 0.03201099
+v -0.02186736 -0.00029947 0.04553420
+v -0.02141031 0.00442179 0.04553420
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+v -0.01992852 -0.00029947 0.04177981
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+v -0.02520620 -0.00029947 0.06029304
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+v -0.02370517 0.00442179 0.06029304
+v -0.00690030 0.00442179 0.08521145
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+v -0.00708793 0.00442179 0.08519033
+v -0.02497046 -0.00029947 0.06547844
+v -0.02426324 0.00255593 0.06404744
+v -0.02368592 0.00442179 0.06131217
+v -0.01182197 0.00442179 0.08426625
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+v -0.01532920 -0.00029947 0.08320488
+v -0.02431617 -0.00029947 0.06910610
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+v -0.02303163 0.00442179 0.06993513
+v -0.02348867 0.00442179 0.06555236
+v -0.01504054 0.00442179 0.08302007
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+v -0.02268042 -0.00029947 0.07461360
+v -0.02174228 0.00442179 0.07504132
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+f 50 56 58
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+f 50 59 60
+f 50 60 57
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+f 53 63 62
+f 58 64 65
+f 58 65 59
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+f 62 67 68
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+f 65 73 74
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+f 77 80 81
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+f 78 83 84
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+f 83 88 89
+f 83 89 84
+f 86 89 87
+f 87 89 88
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_34.obj b/new_drill/new_drill_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70bc883b3e84990e80b06f934359cdbe1a40dd4
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
+v -0.02896091 -0.01991862 0.05719298
+v -0.02924394 -0.01991862 0.05936464
+v -0.02902904 -0.01769875 0.05831026
+v -0.02888753 -0.01844363 0.05719298
+v 0.02365610 -0.01991862 0.05719298
+v -0.02924918 -0.01991862 0.05941556
+v -0.02887181 -0.01614960 0.06067363
+v -0.02882988 -0.01614960 0.05952040
+v -0.02843678 -0.01614960 0.05719298
+v -0.02927014 -0.01960171 0.06008953
+v -0.02908146 -0.01729182 0.06159022
+v 0.02378714 -0.01757073 0.05719298
+v 0.02426933 -0.01614960 0.06029921
+v 0.02404396 -0.01991862 0.06019736
+v -0.02927539 -0.01991862 0.06012248
+v -0.02887181 -0.01614960 0.06122478
+v 0.02386576 -0.01614960 0.05719298
+v -0.02923345 -0.01991862 0.06314782
+v -0.02908146 -0.01729182 0.06300704
+v 0.02400727 -0.01614960 0.06522064
+v 0.02405444 -0.01991862 0.06029921
+v -0.02872505 -0.01614960 0.06414828
+v -0.02921773 -0.01991862 0.06387270
+v -0.02921249 -0.01991862 0.06391464
+v -0.02881940 -0.01991862 0.06633492
+v -0.02855209 -0.01614960 0.06511280
+v 0.02285943 -0.01614960 0.07013906
+v 0.02378190 -0.01991862 0.06522064
+v -0.02879843 -0.01991862 0.06641879
+v -0.02749860 -0.01614960 0.06931533
+v 0.02110361 -0.01614960 0.07432962
+v 0.02255544 -0.01991862 0.07013906
+v 0.02257641 -0.01991862 0.07006418
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+v -0.02725226 -0.01614960 0.07013906
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+v 0.02092541 -0.01991862 0.07395519
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_35.obj b/new_drill/new_drill_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c31caf07576fe53697e86abce4a7902a76a33e9
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_35.obj
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_36.obj b/new_drill/new_drill_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22efdc94de4219b60cd2cf37d56e974b6f3f2aaa
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01758640 0.02429580 0.05475191
+v -0.01768244 0.02358060 0.05475396
+v -0.01718974 0.02426915 0.06524275
+v -0.01694339 0.02779847 0.05475191
+v -0.01007900 0.02358060 0.05475191
+v -0.01739851 0.02358060 0.05971028
+v -0.01717721 0.02432197 0.06524275
+v -0.01682230 0.02844086 0.05475191
+v 0.02266880 0.02426915 0.06524275
+v 0.02349554 0.02358060 0.05475191
+v 0.02274396 0.02358060 0.05971028
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+v -0.01608325 0.02844133 0.06444271
+v -0.01602479 0.02844133 0.05971028
+v 0.02497363 0.02844086 0.05475191
+v 0.02268550 0.02426915 0.06523967
+v 0.02268550 0.02429532 0.06524275
+v 0.02387550 0.02844133 0.06524275
+v 0.02397153 0.02844133 0.05971028
+v 0.02387550 0.02843134 0.06524275
+v 0.02387132 0.02841564 0.06524275
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+f 15 18 20
+f 15 20 21
+f 15 21 16
+f 16 21 17
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_37.obj b/new_drill/new_drill_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d35a8c9fe5691c837d6bbe8c10c82e4d0525411
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00585856 -0.00231478 -0.05929668
+v 0.02233142 -0.00231478 -0.05929668
+v 0.00585856 -0.00231478 -0.05824448
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+v 0.02288394 -0.00030573 -0.05929668
+v 0.02077657 -0.00231478 -0.05824448
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+v 0.02370563 0.00461387 -0.05929668
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+v 0.00718496 0.04133482 -0.05929668
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+v 0.02394824 0.00953776 -0.05929668
+v 0.02281664 0.00953776 -0.05824448
+v 0.00918430 0.04093988 -0.05929668
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+v 0.02367907 0.01445306 -0.05929668
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+v 0.00849365 0.04037322 -0.05824448
+v 0.02290519 0.01937265 -0.05929668
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+v 0.01913318 0.03272339 -0.05929668
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_38.obj b/new_drill/new_drill_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a809753bc1d637cfc77b53a4bf2e44481bc24b
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.01800036 0.01348924 0.01251045
+v 0.01819320 0.01297622 0.01405770
+v 0.01777539 0.01348924 0.01108438
+v -0.01440180 0.01348924 0.01251045
+v 0.01763720 0.00952934 0.01405770
+v 0.01741544 0.00952934 0.01251077
+v 0.01715833 0.00952934 0.01072084
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+v -0.01456571 0.01297622 0.01358212
+v 0.01606562 0.00466523 0.01405770
+v 0.01596920 0.00524398 0.01108438
+v 0.01594671 0.00528567 0.01072084
+v 0.01771433 0.01348924 0.01072084
+v -0.01463963 0.01222913 0.01405770
+v -0.01409327 0.00911731 0.01072084
+v -0.01444358 0.01046400 0.01251045
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+v 0.01588564 0.00510450 0.01072084
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+v -0.01436002 0.00757343 0.01405770
+v -0.01405792 0.00888325 0.01072084
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+v 0.01208686 -0.00075198 0.01072084
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_39.obj b/new_drill/new_drill_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075ab3ddd3e3b4cbf35e4c94d0a7ec7e7f19cd5a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.01818803 0.00953451 -0.05612979
+v -0.01816904 0.00472169 -0.05612979
+v -0.01686279 0.00739827 -0.05464943
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+v -0.01562489 -0.00086604 -0.05464943
+v -0.01509708 0.01936958 -0.05464943
+v -0.01640332 0.01936958 -0.05612979
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+v 0.01692881 -0.00030894 -0.05464943
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+v -0.00492808 0.03694956 -0.05464943
+v -0.00557741 0.03771610 -0.05612979
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+v 0.01276704 0.03695375 -0.05612979
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_4.obj b/new_drill/new_drill_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d076aab4b2a0f1748a73cb0c36a482b165b3d6d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,444 @@
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_40.obj b/new_drill/new_drill_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8d7eae4f97045d1e70b3f81df92cb1612fd0f6
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,576 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_41.obj b/new_drill/new_drill_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0f9d236ec512fe0dcb4b6dfecc87cc681e856a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_41.obj
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_42.obj b/new_drill/new_drill_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b90a2f6bda3e4286a62801420e54c3e5261d71
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.01687477 0.00953126 -0.05464943
+v -0.01686653 0.00739307 -0.05464943
+v -0.01538978 0.00953126 -0.05290622
+v -0.01534858 0.01073100 -0.05290622
+v -0.01506344 0.01445537 -0.05290622
+v -0.01662590 0.01252326 -0.05464943
+v -0.01686323 0.00734891 -0.05464943
+v -0.01515739 0.00621908 -0.05290622
+v -0.01463492 0.01660460 -0.05290622
+v -0.01641329 0.01445537 -0.05464943
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+v -0.01646108 0.00298787 -0.05464943
+v -0.01492994 0.00461084 -0.05290622
+v -0.01400038 0.01937579 -0.05290622
+v -0.01509806 0.01937579 -0.05464943
+v -0.01606388 0.00119929 -0.05464943
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+v -0.01260769 0.02401284 -0.05290622
+v -0.01399214 0.02262909 -0.05464943
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+v -0.00751982 0.03470014 -0.05464943
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_43.obj b/new_drill/new_drill_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3838e11f218f61f880c089be793a6e95f9e5de1a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.01573776 -0.01515255 0.07322720
+v -0.01573776 -0.01515255 0.08392790
+v -0.01573776 -0.01271958 0.07322720
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+v -0.01573776 -0.01514350 0.08394931
+v -0.01214264 -0.01515255 0.08575346
+v -0.01573776 -0.01271958 0.08380373
+v 0.02177784 -0.01271958 0.07322720
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+v -0.01573776 -0.01507490 0.08394646
+v -0.01189293 -0.01515255 0.08587907
+v -0.01573776 -0.01450495 0.08391648
+v -0.01412932 -0.01271958 0.08462729
+v 0.02114255 -0.01271958 0.07487720
+v 0.02166033 -0.01507490 0.07322720
+v 0.02115723 -0.01507490 0.07443900
+v 0.01990500 -0.01271958 0.07713238
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+v -0.01181948 -0.01271958 0.08578629
+v 0.01900898 -0.01271958 0.07812580
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+v -0.00838594 -0.01515255 0.08703948
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+v 0.00416211 -0.01515255 0.08714368
+v 0.00420250 -0.01515255 0.08713511
+v 0.00595783 -0.01271958 0.08659701
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_44.obj b/new_drill/new_drill_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b99510d3f55965deb6dd4ca71022bf92138712
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01465994 -0.01271958 0.03744310
+v -0.01464507 -0.01507490 0.03744310
+v -0.01573776 -0.01515255 0.03827196
+v -0.01573776 -0.01271958 0.03833447
+v 0.01212594 -0.01271958 0.03744310
+v -0.01463392 -0.01515255 0.03744310
+v -0.01573776 -0.01515255 0.05021481
+v -0.01573776 -0.01271958 0.05021481
+v 0.01323350 -0.01271958 0.03825071
+v 0.01105183 -0.01515255 0.03744310
+v 0.02202709 -0.01515255 0.05021481
+v 0.02223151 -0.01271958 0.05021481
+v 0.01410320 -0.01271958 0.03898331
+v 0.01366463 -0.01515255 0.03937336
+v 0.01361632 -0.01515255 0.03933461
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_45.obj b/new_drill/new_drill_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3508eefea6ff26d6273b7e95d968f420fdac558f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,405 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_46.obj b/new_drill/new_drill_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fb8ff60f2cc08e06b0e13689ac357ff215a2ef
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.00003717 0.00119936 -0.05464943
+v 0.01733511 0.00119936 -0.05464943
+v -0.00003717 0.00119936 -0.05290622
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_47.obj b/new_drill/new_drill_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccf75c63329b05f289ed7e0a30526f232054a9c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.00204996 -0.03666024 -0.06812958
+v 0.01634512 -0.03006677 -0.06812985
+v -0.00170638 -0.03673305 -0.06812958
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+v -0.00204996 0.04534957 -0.06812958
+v 0.01444953 -0.02927393 -0.06812985
+v 0.01489974 -0.03185469 -0.06680405
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+v 0.01444953 -0.03230774 -0.06812931
+v 0.01310683 -0.03388532 -0.06812958
+v 0.01306536 -0.03392577 -0.06812958
+v 0.00842908 -0.03684631 -0.06812958
+v 0.00754842 -0.03709710 -0.06812958
+v 0.00294373 -0.03728318 -0.06812958
+v 0.00129101 -0.03709710 -0.06812958
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_48.obj b/new_drill/new_drill_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184efc892b426a2b66da96db06da5cec02e68e9c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.01732532 0.03527389 0.06360785
+v -0.01596191 0.02993525 0.06360785
+v -0.01935829 0.02993525 0.07236439
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+v 0.02988920 0.03471212 0.06360785
+v 0.02728369 0.03152754 0.06360785
+v -0.01833938 0.02993525 0.07546885
+v -0.01816471 0.03403173 0.07464285
+v -0.01795122 0.02993525 0.07608835
+v -0.01551553 0.03413729 0.07885638
+v -0.01539909 0.03527389 0.07873573
+v 0.02931667 0.03527389 0.06896525
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+v 0.02893822 0.03305712 0.06360785
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+v -0.01335155 0.02993525 0.08164529
+v -0.01299251 0.03413729 0.08131582
+v -0.01285665 0.03527389 0.08119749
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+v 0.02668205 0.03413729 0.07506049
+v 0.02608041 0.02993525 0.07538764
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+v -0.01053256 0.03413729 0.08329033
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+v 0.02514398 0.03413729 0.07759186
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_49.obj b/new_drill/new_drill_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89c395bc39016bf0e898b294475f9597d50755d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01884602 0.03121335 -0.08609222
+v -0.01884602 0.03126330 -0.08734130
+v -0.02024739 0.02966957 -0.08734130
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+v -0.01884602 -0.01512275 -0.08609222
+v -0.01884602 0.03119973 -0.09226279
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+v -0.01970385 0.02764903 -0.10210419
+v -0.01884602 0.02916103 -0.10210419
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_5.obj b/new_drill/new_drill_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfe81f8c920cca86ed56abc32f69c0c18377821
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.01323170 0.00953481 -0.04793017
+v -0.01247338 0.00461174 -0.04793017
+v -0.01241437 0.00461174 -0.04307859
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+v -0.01235240 0.01937223 -0.04793017
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+v -0.00706186 -0.00399382 -0.04307859
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+v 0.01569956 0.02797342 -0.04793017
+v 0.01564350 0.02782927 -0.04307859
+v 0.01633690 0.02431278 -0.04307859
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+f 1 26 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 2
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+f 3 7 9
+f 3 9 13
+f 3 13 18
+f 3 18 17
+f 3 17 22
+f 3 22 27
+f 3 27 32
+f 3 32 36
+f 3 36 40
+f 3 40 42
+f 3 42 47
+f 3 47 52
+f 3 52 51
+f 3 51 57
+f 3 57 61
+f 3 61 66
+f 3 66 73
+f 3 73 79
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+f 12 16 17
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+f 21 26 22
+f 22 26 27
+f 24 28 25
+f 25 28 29
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+f 27 30 31
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+f 28 33 29
+f 29 33 34
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+f 31 36 32
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+f 38 44 39
+f 41 45 42
+f 42 45 46
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+f 43 49 50
+f 43 50 44
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+f 46 52 47
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+f 51 53 56
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+f 60 64 61
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+f 62 69 63
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+f 62 71 67
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+f 71 77 75
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+f 72 79 73
+f 75 77 80
+f 77 81 80
+f 78 82 83
+f 78 83 79
+f 80 81 84
+f 81 85 84
+f 82 84 85
+f 82 85 86
+f 82 86 83
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_50.obj b/new_drill/new_drill_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b502d9c03cc0c6d4df83128ae67c0d8c1bb78f43
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v 0.00294399 0.04168136 0.03497082
+v 0.00294399 0.04402934 0.03616271
+v 0.00785654 0.04402934 0.03629931
+v 0.00785654 0.04168136 0.03516634
+v -0.00207234 0.04168136 0.03566721
+v 0.00288963 0.04402934 0.03617075
+v 0.01271472 0.04402934 0.03743764
+v 0.01271966 0.04168136 0.03641984
+v -0.00685639 0.04168136 0.03759834
+v -0.00221073 0.04402934 0.03701713
+v 0.01295194 0.04402934 0.03751531
+v 0.01493377 0.04402934 0.03824116
+v 0.01557625 0.04217026 0.03796796
+v 0.01568498 0.04168136 0.03788226
+v -0.00691570 0.04402934 0.03897237
+v -0.01152183 0.04168136 0.04113921
+v -0.01101278 0.04397992 0.04171239
+v -0.01099796 0.04402934 0.04172310
+v 0.01712316 0.04402934 0.03949198
+v 0.01740981 0.04387786 0.03960447
+v 0.01800287 0.04168136 0.03937681
+v -0.01248062 0.04168136 0.04200701
+v -0.01347400 0.04397992 0.04394351
+v -0.01345917 0.04402934 0.04395690
+v 0.01741475 0.04402934 0.03967411
+v 0.01862559 0.04402934 0.04049906
+v 0.01869972 0.04391280 0.04049906
+v 0.02114611 0.04397992 0.04220790
+v 0.02145747 0.04168136 0.04190791
+v -0.01399293 0.04168136 0.04338372
+v -0.01349377 0.04402934 0.04399439
+v -0.01543111 0.04397992 0.04640229
+v 0.02113623 0.04402934 0.04221593
+v 0.02360733 0.04397992 0.04476310
+v 0.02260900 0.04168136 0.04305695
+v -0.01437348 0.04168136 0.04386315
+v -0.01542122 0.04402934 0.04641836
+v -0.01570293 0.04168136 0.04578626
+v -0.01671608 0.04168136 0.04754062
+v -0.01701261 0.04168136 0.04805487
+v -0.01794669 0.04383466 0.05069847
+v -0.01520377 0.04168136 0.04505773
+v 0.02355296 0.04402934 0.04472828
+v 0.02391868 0.04168136 0.04442026
+v 0.02359250 0.04402934 0.04477382
+v 0.02561386 0.04402934 0.04723528
+v 0.02562374 0.04397992 0.04722457
+v -0.01785773 0.04402934 0.05069044
+v -0.01923166 0.04168136 0.05223856
+v -0.01937004 0.04209809 0.05250104
+v -0.01806036 0.04402934 0.05115112
+v 0.02585108 0.04168136 0.04687905
+v 0.02728926 0.04402934 0.05040652
+v 0.02732880 0.04397992 0.05045205
+v 0.02711135 0.04168136 0.04919320
+v 0.02686424 0.04168136 0.04872983
+v -0.01937004 0.04168136 0.05250104
+v -0.01989886 0.04168136 0.05718827
+v -0.02019045 0.04397992 0.06029523
+v -0.01966163 0.04383466 0.05570711
+v -0.01955784 0.04402934 0.05552765
+v 0.02731397 0.04402934 0.05045741
+v 0.02870768 0.04168136 0.05291620
+v 0.02844080 0.04168136 0.05217160
+v 0.02777360 0.04168136 0.05045205
+v 0.02919696 0.04375305 0.05555712
+v -0.02011137 0.04168136 0.06029523
+v -0.02008172 0.04168136 0.06072645
+v -0.01996805 0.04168136 0.06233082
+v -0.02004218 0.04402934 0.06233082
+v -0.02010643 0.04402934 0.06141748
+v -0.02017562 0.04402934 0.06035147
+v -0.02017562 0.04402934 0.06029523
+v -0.01963198 0.04402934 0.05584102
+v 0.02899927 0.04402934 0.05528927
+v 0.02942429 0.04168136 0.05493037
+v 0.02929086 0.04402934 0.05681597
+v 0.03011620 0.04196201 0.05732219
+v 0.02908822 0.04402934 0.05554640
+v 0.03021999 0.04168136 0.06233082
+v 0.02960716 0.04402934 0.06233082
+v 0.03013103 0.04168136 0.05724987
+v 0.02969612 0.04402934 0.05949171
+v 0.02975048 0.04402934 0.06029523
+v 0.03021010 0.04233369 0.06029523
+v 0.03029906 0.04168136 0.06029523
+v 0.03017551 0.04168136 0.05780163
+v 0.03016563 0.04168136 0.05760878
+v 0.03018539 0.04223485 0.06233082
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 21
+f 1 21 29
+f 1 29 35
+f 1 35 44
+f 1 44 52
+f 1 52 56
+f 1 56 55
+f 1 55 65
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+f 1 64 63
+f 1 63 76
+f 1 76 82
+f 1 82 88
+f 1 88 87
+f 1 87 86
+f 1 86 80
+f 1 80 69
+f 1 69 68
+f 1 68 67
+f 1 67 58
+f 1 58 57
+f 1 57 49
+f 1 49 40
+f 1 40 39
+f 1 39 38
+f 1 38 42
+f 1 42 36
+f 1 36 30
+f 1 30 22
+f 1 22 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 18
+f 2 18 24
+f 2 24 31
+f 2 31 37
+f 2 37 48
+f 2 48 51
+f 2 51 61
+f 2 61 74
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+f 2 73 72
+f 2 72 71
+f 2 71 70
+f 2 70 81
+f 2 81 84
+f 2 84 83
+f 2 83 77
+f 2 77 79
+f 2 79 75
+f 2 75 62
+f 2 62 53
+f 2 53 46
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+f 2 45 43
+f 2 43 33
+f 2 33 26
+f 2 26 25
+f 2 25 19
+f 2 19 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
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+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
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+f 8 13 14
+f 9 15 10
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+f 12 19 13
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+f 17 23 18
+f 18 23 24
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+f 21 27 28
+f 21 28 29
+f 22 30 23
+f 23 31 24
+f 23 30 32
+f 23 32 31
+f 26 33 27
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 32
+f 31 32 37
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 37
+f 32 36 42
+f 32 42 38
+f 33 43 34
+f 34 44 35
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 44
+f 37 41 48
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 48
+f 44 47 52
+f 46 53 47
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 52
+f 49 57 50
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+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 53 62 54
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 54 62 66
+f 54 66 63
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 72
+f 59 72 73
+f 59 73 74
+f 59 74 60
+f 60 74 61
+f 62 75 66
+f 63 66 76
+f 66 77 78
+f 66 78 76
+f 66 75 79
+f 66 79 77
+f 69 80 89
+f 69 89 81
+f 69 81 70
+f 76 78 82
+f 77 83 78
+f 78 83 84
+f 78 84 85
+f 78 85 86
+f 78 86 87
+f 78 87 88
+f 78 88 82
+f 80 86 89
+f 81 89 84
+f 84 89 85
+f 85 89 86
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_51.obj b/new_drill/new_drill_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4803096a1e1a7194d48e9d5241252cb54fe020bc
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02443061 -0.01590649 -0.07747515
+v 0.02562553 -0.01355870 -0.07747515
+v 0.02443061 -0.01578459 -0.07575460
+v 0.02443061 0.03021863 -0.07747515
+v 0.02506207 -0.01406438 -0.07293254
+v 0.02720697 -0.01016794 -0.07747515
+v 0.02443061 0.03021411 -0.07575460
+v 0.02451576 0.02998385 -0.07575460
+v 0.02451631 0.02998385 -0.07747515
+v 0.02549393 -0.01308011 -0.07293254
+v 0.02506207 0.02835394 -0.07293254
+v 0.02655836 -0.01014988 -0.07293254
+v 0.02883651 -0.00538657 -0.07747515
+v 0.02667558 -0.00980674 -0.07293254
+v 0.02534297 0.02752318 -0.07575460
+v 0.02534297 0.02752318 -0.07747515
+v 0.02534242 0.02751867 -0.07293254
+v 0.02892333 -0.00507955 -0.07747515
+v 0.02856225 -0.00513373 -0.07575416
+v 0.02796285 -0.00524209 -0.07293254
+v 0.02627635 0.02429497 -0.07747515
+v 0.02626530 0.02429045 -0.07293254
+v 0.02627248 0.02429497 -0.07575460
+v 0.02973948 -0.00030721 -0.07747515
+v 0.02883817 -0.00030721 -0.07293254
+v 0.02796949 -0.00521500 -0.07293254
+v 0.02763053 0.01936911 -0.07747515
+v 0.02749837 0.01936911 -0.07293254
+v 0.02903447 0.01411366 -0.07747515
+v 0.02918930 0.00461413 -0.07293254
+v 0.03007899 0.00461413 -0.07747515
+v 0.02845774 0.01442520 -0.07293254
+v 0.02976381 0.00953095 -0.07747515
+v 0.02917602 0.00504305 -0.07293254
+v 0.02900350 0.00952644 -0.07293254
+v 0.02846106 0.01439811 -0.07293254
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 27
+f 1 27 29
+f 1 29 33
+f 1 33 31
+f 1 31 24
+f 1 24 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 11
+f 3 11 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 12
+f 5 12 14
+f 5 14 20
+f 5 20 26
+f 5 26 25
+f 5 25 30
+f 5 30 34
+f 5 34 35
+f 5 35 36
+f 5 36 32
+f 5 32 28
+f 5 28 22
+f 5 22 17
+f 5 17 11
+f 6 12 10
+f 6 13 14
+f 6 14 12
+f 7 11 8
+f 8 11 15
+f 8 15 9
+f 9 15 16
+f 11 17 15
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 17 21
+f 15 21 16
+f 17 22 23
+f 17 23 21
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 21 23 27
+f 22 27 23
+f 22 28 29
+f 22 29 27
+f 24 30 25
+f 24 31 30
+f 28 32 29
+f 29 32 33
+f 30 31 34
+f 31 33 35
+f 31 35 34
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_52.obj b/new_drill/new_drill_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bd8e56ac3040e90616acbef12ec79f15ba5b17
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01517442 -0.01918101 -0.07293182
+v 0.01812194 -0.01918101 -0.07293182
+v 0.01517442 -0.01918101 -0.07079685
+v 0.01517442 0.04280820 -0.07293182
+v 0.01812194 -0.01918101 -0.07079685
+v 0.01812194 0.04124239 -0.07293182
+v 0.01517442 0.04276572 -0.07079685
+v 0.01517442 0.04280820 -0.07257714
+v 0.01664833 0.04229840 -0.07293182
+v 0.01812194 0.04116956 -0.07079685
+v 0.01812194 0.04124239 -0.07257714
+v 0.01660245 0.04227413 -0.07079685
+v 0.01664775 0.04229840 -0.07257714
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 8
+f 8 12 13
+f 8 13 9
+f 9 13 11
+f 10 11 12
+f 11 13 12
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_53.obj b/new_drill/new_drill_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3595258165705252120a0b576a58bb669749a139
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.02432051 -0.01515255 0.06030610
+v 0.02406601 -0.01515255 0.06521094
+v 0.02426353 -0.01614930 0.06030610
+v 0.02362918 -0.01614930 0.05538646
+v 0.02368236 -0.01515255 0.05538646
+v 0.02400523 -0.01614930 0.06521094
+v 0.02293405 -0.01515255 0.07013058
+v -0.01041310 -0.01614940 0.08639297
+v -0.01041310 -0.01614940 0.03744803
+v 0.02244404 -0.01614930 0.05153653
+v 0.02228071 -0.01515255 0.05081189
+v 0.02285808 -0.01614930 0.07013058
+v 0.02220094 -0.01515255 0.07189533
+v 0.01913174 -0.01614930 0.07741637
+v 0.01721349 -0.01614930 0.07955084
+v 0.01470267 -0.01614930 0.08201066
+v 0.01416708 -0.01614930 0.08238530
+v 0.01302373 -0.01614930 0.08314937
+v 0.01224503 -0.01614930 0.08366204
+v 0.01134478 -0.01614930 0.08412541
+v 0.00785775 -0.01614930 0.08587045
+v 0.00696510 -0.01614930 0.08617115
+v 0.00411621 -0.01614930 0.08709789
+v 0.00358062 -0.01614930 0.08721127
+v 0.00165478 -0.01614930 0.08756620
+v 0.00094066 -0.01614930 0.08761549
+v -0.00197660 -0.01614930 0.08779295
+v -0.00566876 -0.01614930 0.08757605
+v -0.00620435 -0.01614930 0.08748240
+v -0.00813020 -0.01614930 0.08712747
+v -0.00892408 -0.01614930 0.08687606
+v -0.00811500 -0.01515255 0.08711761
+v -0.01182235 -0.01614940 0.08593453
+v 0.02110317 -0.01614930 0.07432065
+v 0.01967113 -0.01614930 0.07678046
+v -0.01448511 -0.01614940 0.03744803
+v 0.01087377 -0.01614930 0.03744311
+v 0.01351374 -0.01614930 0.03941983
+v 0.01418227 -0.01614930 0.03996208
+v 0.01535981 -0.01614930 0.04094798
+v 0.01645758 -0.01614930 0.04187965
+v 0.01891522 -0.01614930 0.04475354
+v 0.01931027 -0.01614930 0.04529086
+v 0.02063975 -0.01614930 0.04721336
+v 0.02093223 -0.01614930 0.04785913
+v 0.02209078 -0.01614930 0.05046682
+v 0.02220094 -0.01614930 0.05079217
+v 0.02220094 -0.01526467 0.05058020
+v 0.02220094 -0.01515655 0.05055556
+v 0.02217055 -0.01515255 0.05046682
+v 0.02114875 -0.01515255 0.07441431
+v 0.01970151 -0.01515255 0.07692835
+v 0.01727806 -0.01515255 0.07960506
+v 0.01535981 -0.01515255 0.08149799
+v 0.01535981 -0.01587743 0.08140433
+v 0.01477864 -0.01515255 0.08205995
+v 0.01474065 -0.01515255 0.08209445
+v 0.01231341 -0.01515255 0.08370147
+v 0.01224883 -0.01515255 0.08373598
+v 0.00785775 -0.01515255 0.08592960
+v 0.00758805 -0.01515255 0.08602326
+v 0.00420738 -0.01515255 0.08712747
+v 0.00416559 -0.01515255 0.08713733
+v 0.00174214 -0.01515255 0.08758098
+v -0.00197660 -0.01515255 0.08780281
+v -0.00203738 -0.01515255 0.08780281
+v -0.00565356 -0.01515255 0.08757605
+v -0.00569155 -0.01515255 0.08757112
+v -0.01182235 -0.01515255 0.08590988
+v -0.01283655 -0.01614940 0.08544158
+v 0.01973950 -0.01515255 0.07687905
+v -0.01448511 -0.01555500 0.03744311
+v -0.00457099 -0.01614930 0.03744311
+v -0.01448511 -0.01614940 0.08461835
+v 0.01104850 -0.01515255 0.03744311
+v 0.01361250 -0.01515255 0.03934589
+v 0.01535981 -0.01515255 0.04081488
+v 0.01653355 -0.01515255 0.04180571
+v 0.01656774 -0.01515255 0.04184514
+v 0.01901778 -0.01515255 0.04471411
+v 0.01898739 -0.01515255 0.04467467
+v 0.02068533 -0.01515255 0.04712956
+v 0.02071192 -0.01515255 0.04717885
+v -0.01448511 -0.01515255 0.08457399
+v -0.01448511 -0.01515255 0.03744311
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 50
+f 1 50 83
+f 1 83 82
+f 1 82 80
+f 1 80 81
+f 1 81 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 75
+f 1 75 85
+f 1 85 84
+f 1 84 69
+f 1 69 32
+f 1 32 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 54
+f 1 54 53
+f 1 53 52
+f 1 52 71
+f 1 71 51
+f 1 51 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 6 7 12
+f 6 12 8
+f 7 13 12
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 70
+f 8 70 74
+f 8 74 36
+f 8 36 9
+f 8 12 34
+f 8 34 35
+f 8 35 14
+f 9 36 73
+f 9 73 37
+f 9 37 38
+f 9 38 39
+f 9 39 40
+f 9 40 41
+f 9 41 42
+f 9 42 43
+f 9 43 44
+f 9 44 45
+f 9 45 46
+f 9 46 47
+f 9 47 10
+f 10 47 48
+f 10 48 49
+f 10 49 11
+f 11 49 50
+f 12 13 51
+f 12 51 34
+f 14 52 15
+f 14 35 52
+f 15 52 53
+f 15 53 54
+f 15 54 55
+f 15 55 16
+f 16 55 54
+f 16 54 56
+f 16 56 57
+f 16 57 17
+f 17 57 18
+f 18 57 58
+f 18 58 19
+f 19 58 59
+f 19 59 20
+f 20 59 21
+f 21 59 60
+f 21 60 61
+f 21 61 22
+f 22 61 62
+f 22 62 23
+f 23 62 63
+f 23 63 24
+f 24 63 25
+f 25 64 26
+f 25 63 64
+f 26 64 27
+f 27 64 65
+f 27 65 66
+f 27 66 28
+f 28 66 67
+f 28 67 68
+f 28 68 29
+f 29 68 30
+f 30 68 32
+f 30 32 31
+f 32 69 33
+f 33 69 70
+f 34 51 71
+f 34 71 35
+f 35 71 52
+f 36 72 73
+f 36 74 84
+f 36 84 85
+f 36 85 72
+f 37 73 72
+f 37 72 85
+f 37 85 75
+f 37 75 76
+f 37 76 38
+f 38 76 39
+f 39 76 40
+f 40 76 77
+f 40 77 78
+f 40 78 41
+f 41 79 42
+f 41 78 79
+f 42 80 43
+f 42 79 81
+f 42 81 80
+f 43 80 44
+f 44 82 83
+f 44 83 45
+f 44 80 82
+f 45 83 46
+f 46 83 50
+f 46 50 48
+f 46 48 47
+f 48 50 49
+f 69 84 74
+f 69 74 70
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_54.obj b/new_drill/new_drill_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bf39d3d48cec2b0e6686df8336ad0c702ec14a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v -0.02330727 0.00442278 0.05540752
+v -0.02332124 0.00442278 0.05553055
+v -0.02202216 0.00856331 0.05540752
+v 0.02332006 0.00442278 0.05540752
+v -0.02370771 0.00442278 0.06029708
+v -0.02164501 0.00977664 0.05540752
+v 0.02310122 0.00977664 0.05540752
+v 0.02332937 0.00442278 0.05556525
+v -0.02368908 0.00442278 0.06131600
+v -0.02179401 0.00977664 0.07013928
+v -0.02191507 0.00977664 0.06029708
+v 0.02386018 0.00977664 0.07015821
+v 0.02359478 0.00442278 0.06029708
+v -0.02348887 0.00442278 0.06555572
+v -0.02178003 0.00977664 0.07038533
+v 0.02358546 0.00977664 0.07504461
+v 0.02357615 0.00442278 0.07013928
+v -0.02303256 0.00442278 0.06993739
+v -0.02176607 0.00977664 0.07047366
+v 0.02280788 0.00442278 0.07517710
+v 0.02286375 0.00442278 0.07505722
+v 0.02154604 0.00977664 0.07857139
+v 0.02103386 0.00461041 0.07850515
+v 0.02101989 0.00442278 0.07849253
+v -0.02299531 0.00442278 0.07013928
+v -0.02103504 0.00977664 0.07505722
+v 0.02150880 0.00977664 0.07863449
+v 0.02092677 0.00442278 0.07858717
+v 0.02135980 0.00953083 0.07883953
+v -0.02180797 0.00442278 0.07481432
+v -0.02106763 0.00953083 0.07505722
+v -0.02097917 0.00977664 0.07518972
+v 0.02137376 0.00977664 0.07885531
+v 0.01856141 0.00461041 0.08096570
+v 0.01854744 0.00442278 0.08095308
+v 0.01902237 0.00977664 0.08119598
+v -0.02174279 0.00442278 0.07504146
+v -0.02095588 0.00977664 0.07524334
+v 0.01890131 0.00977664 0.08131585
+v 0.01845432 0.00442278 0.08103825
+v -0.02005724 0.00442278 0.07825910
+v -0.01964283 0.00977664 0.07803197
+v 0.01660580 0.00977664 0.08318335
+v 0.01608896 0.00442278 0.08307925
+v -0.01997342 0.00442278 0.07840421
+v -0.01965680 0.00953083 0.07805090
+v -0.01719367 0.00953083 0.08051144
+v -0.01947521 0.00977664 0.07819916
+v 0.01643818 0.00977664 0.08331584
+v 0.01368170 0.00977664 0.08494990
+v 0.01238261 0.00977664 0.08570384
+v 0.01597256 0.00442278 0.08312972
+v -0.01759876 0.00442278 0.08077012
+v -0.01717504 0.00977664 0.08049252
+v -0.01749166 0.00461041 0.08085213
+v -0.01701207 0.00977664 0.08065340
+v -0.01705398 0.00977664 0.08061239
+v 0.00887183 0.00977664 0.08707291
+v 0.01278305 0.00442278 0.08448934
+v -0.01750097 0.00442278 0.08086475
+v -0.01471656 0.00977664 0.08278272
+v 0.00786143 0.00977664 0.08725272
+v 0.00786143 0.00442278 0.08560604
+v -0.01513562 0.00442278 0.08294045
+v -0.01473053 0.00953083 0.08279534
+v -0.01458618 0.00977664 0.08285212
+v 0.00596635 0.00977664 0.08745776
+v 0.00293981 0.00788091 0.08714862
+v 0.00293981 0.00442278 0.08594674
+v -0.01504249 0.00442278 0.08301931
+v -0.01161552 0.00977664 0.08417703
+v 0.00293981 0.00977664 0.08763127
+v 0.00274890 0.00442278 0.08594989
+v -0.00197715 0.00977664 0.08731265
+v -0.00216806 0.00442278 0.08571014
+v -0.01195542 0.00442278 0.08421804
+v -0.01152239 0.00977664 0.08421489
+v -0.00655887 0.00977664 0.08613600
+v -0.01182039 0.00442278 0.08426852
+v -0.00708502 0.00442278 0.08518964
+v -0.00689877 0.00442278 0.08521488
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 21
+f 1 21 20
+f 1 20 24
+f 1 24 28
+f 1 28 35
+f 1 35 40
+f 1 40 44
+f 1 44 52
+f 1 52 59
+f 1 59 63
+f 1 63 69
+f 1 69 73
+f 1 73 75
+f 1 75 81
+f 1 81 80
+f 1 80 79
+f 1 79 76
+f 1 76 70
+f 1 70 64
+f 1 64 60
+f 1 60 53
+f 1 53 45
+f 1 45 41
+f 1 41 37
+f 1 37 30
+f 1 30 25
+f 1 25 18
+f 1 18 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 15
+f 6 15 19
+f 6 19 26
+f 6 26 32
+f 6 32 38
+f 6 38 42
+f 6 42 48
+f 6 48 54
+f 6 54 57
+f 6 57 56
+f 6 56 61
+f 6 61 66
+f 6 66 71
+f 6 71 77
+f 6 77 78
+f 6 78 74
+f 6 74 72
+f 6 72 67
+f 6 67 62
+f 6 62 58
+f 6 58 51
+f 6 51 50
+f 6 50 49
+f 6 49 43
+f 6 43 39
+f 6 39 36
+f 6 36 33
+f 6 33 27
+f 6 27 22
+f 6 22 16
+f 6 16 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 16 22 23
+f 16 23 24
+f 16 24 20
+f 18 25 26
+f 18 26 19
+f 22 27 23
+f 23 28 24
+f 23 27 29
+f 23 29 28
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 27 33 29
+f 28 34 35
+f 28 29 34
+f 29 33 36
+f 29 36 34
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 34 36 39
+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 38
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 46 47
+f 42 47 48
+f 42 45 46
+f 43 49 44
+f 44 50 51
+f 44 51 52
+f 44 49 50
+f 45 53 47
+f 45 47 46
+f 47 54 48
+f 47 53 55
+f 47 55 56
+f 47 56 57
+f 47 57 54
+f 51 58 59
+f 51 59 52
+f 53 60 55
+f 55 60 61
+f 55 61 56
+f 58 62 63
+f 58 63 59
+f 60 64 65
+f 60 65 61
+f 61 65 66
+f 62 67 63
+f 63 67 68
+f 63 68 69
+f 64 70 65
+f 65 70 66
+f 66 70 71
+f 67 72 68
+f 68 73 69
+f 68 72 74
+f 68 74 75
+f 68 75 73
+f 70 76 77
+f 70 77 71
+f 74 78 79
+f 74 79 80
+f 74 80 81
+f 74 81 75
+f 76 79 78
+f 76 78 77
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_55.obj b/new_drill/new_drill_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6d44c5c2684962f7b8e88d7181f9c35936cf12
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01947812 -0.00821982 -0.09438111
+v 0.01947812 -0.02568503 -0.09438111
+v 0.01947812 -0.00821982 -0.09935321
+v -0.01884588 -0.00821982 -0.09438111
+v 0.01885539 -0.02666736 -0.09438111
+v 0.01883664 -0.02666736 -0.09718330
+v 0.01947812 -0.02564892 -0.09664447
+v 0.01947812 -0.02482189 -0.09935321
+v -0.01884588 -0.00821982 -0.09935321
+v -0.01884588 -0.02666736 -0.09438111
+v 0.01836021 -0.02666736 -0.09935321
+v 0.01930556 -0.02591075 -0.09718330
+v 0.01947812 -0.02561641 -0.09718330
+v 0.01912174 -0.02542862 -0.09935321
+v -0.01884588 -0.02666736 -0.09935321
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 14
+f 3 14 11
+f 3 11 15
+f 3 15 9
+f 4 9 15
+f 4 15 10
+f 5 10 15
+f 5 15 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 13 12
+f 8 12 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_56.obj b/new_drill/new_drill_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519f8eeb621eee2ca52fd4f30af758590d948b94
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01409777 0.01445064 0.01072066
+v -0.01405700 0.01490125 0.01072066
+v -0.01392369 0.01445064 0.00957584
+v -0.01395729 0.01370963 0.00957584
+v -0.01399145 0.00922355 0.00957584
+v -0.01409556 0.00912341 0.01072066
+v -0.01359812 0.01836261 0.01072066
+v -0.01356342 0.01738128 0.00957584
+v -0.01378652 0.00781163 0.00957584
+v -0.01406141 0.00888642 0.01072066
+v -0.01347363 0.01906690 0.01072066
+v -0.01334472 0.01861628 0.00957584
+v -0.01300318 0.00461063 0.00957584
+v -0.01301475 0.00461063 0.01072066
+v -0.01325107 0.01914367 0.00957584
+v -0.01221212 0.02429399 0.01072066
+v -0.01202648 0.02429399 0.00957584
+v -0.01297729 0.00455388 0.00957584
+v -0.01232175 0.00312528 0.00957584
+v -0.01285059 0.00425348 0.01072066
+v -0.01040856 0.02852306 0.01072066
+v -0.01034190 0.02845296 0.00957584
+v -0.01231403 0.00310859 0.00957584
+v -0.01284012 0.00423345 0.01072066
+v -0.01030830 0.02870330 0.01072066
+v -0.00992489 0.02920732 0.00957584
+v -0.01069171 0.00026139 0.01072066
+v -0.01066802 0.00006780 0.00957584
+v -0.00889310 0.03098306 0.01072066
+v -0.00886556 0.03091296 0.00957584
+v -0.00847058 -0.00265923 0.01072066
+v -0.00933050 -0.00168792 0.00957584
+v -0.00847058 0.03144034 0.01072066
+v -0.00847058 0.03134021 0.00957584
+v -0.00925007 -0.00178471 0.00957584
+v -0.00887217 -0.00223532 0.00957584
+v -0.00851465 -0.00254908 0.00957584
+v -0.00847058 -0.00258580 0.00957584
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 27
+f 1 27 31
+f 1 31 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 15
+f 3 15 17
+f 3 17 22
+f 3 22 26
+f 3 26 30
+f 3 30 34
+f 3 34 38
+f 3 38 37
+f 3 37 36
+f 3 36 35
+f 3 35 32
+f 3 32 28
+f 3 28 23
+f 3 23 19
+f 3 19 18
+f 3 18 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 23 28 27
+f 25 29 26
+f 26 29 30
+f 27 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 34
+f 31 32 35
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 31 38 34
+f 31 34 33
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_57.obj b/new_drill/new_drill_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f45c82b46d2673183c0c65ecd8ebd9edaa6d6e0e
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01701252 -0.00029947 0.03521394
+v 0.01689398 -0.00071790 0.03521394
+v 0.01692602 -0.00029947 0.03489174
+v -0.01571727 -0.00029947 0.03521394
+v 0.01563170 -0.00403551 0.03521394
+v 0.01660564 -0.00029947 0.03391036
+v -0.01370209 -0.00029947 0.03200603
+v -0.01217710 -0.01010358 0.03478371
+v -0.01358035 -0.00556909 0.03521394
+v 0.01468338 -0.00218717 0.03200603
+v 0.01576946 -0.00029947 0.03200603
+v 0.01403942 -0.00556909 0.03521394
+v 0.00994179 -0.01010358 0.03478559
+v 0.00795224 -0.01010358 0.03200603
+v -0.01007542 -0.01010358 0.03200603
+v -0.01216108 -0.01010358 0.03478559
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 7 15 8
+f 7 11 10
+f 7 10 14
+f 7 14 15
+f 8 16 9
+f 8 15 14
+f 8 14 13
+f 8 13 16
+f 9 16 13
+f 9 13 12
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_58.obj b/new_drill/new_drill_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d2a2d9332f1d3d8059ba0e74765be99a158c64
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02273012 0.02426787 0.05971028
+v -0.01721959 0.02426787 0.05971028
+v 0.02268678 0.02426787 0.06523967
+v 0.02350164 0.02357964 0.05475191
+v -0.01719359 0.02426787 0.06524275
+v -0.01008092 0.02357964 0.05475191
+v -0.01767903 0.02357964 0.05475396
+v -0.01768337 0.02357638 0.05475191
+v 0.02268678 0.02426678 0.06524275
+v 0.02266511 0.02426787 0.06524275
+v 0.02304653 0.01316167 0.06524275
+v 0.02323291 0.01316167 0.05475191
+v -0.02067840 0.01316928 0.06524275
+v -0.01941711 0.01757806 0.05475191
+v -0.02077809 0.01316167 0.06029670
+v -0.02071308 0.01316167 0.06392510
+v -0.02066540 0.01316167 0.06524275
+v -0.02061339 0.01316167 0.05475191
+v -0.02067840 0.01316167 0.06521707
+v -0.02028831 0.01445332 0.05475191
+f 1 2 5
+f 1 5 10
+f 1 10 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 4
+f 3 10 9
+f 4 11 12
+f 4 12 18
+f 4 18 20
+f 4 20 14
+f 4 14 8
+f 4 8 6
+f 4 9 11
+f 5 8 13
+f 5 13 17
+f 5 17 11
+f 5 11 9
+f 5 9 10
+f 6 8 7
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 11 17 19
+f 11 19 16
+f 11 16 15
+f 11 15 18
+f 11 18 12
+f 13 16 19
+f 13 19 17
+f 14 20 15
+f 15 20 18
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_59.obj b/new_drill/new_drill_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e85438cfc6458e782d736973a9ad3b5f796bedb
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v 0.00293747 0.03804765 0.01072084
+v 0.00293747 0.03802065 0.01108438
+v 0.00707532 0.03725743 0.01405770
+v 0.00720544 0.03732124 0.01251077
+v 0.00732906 0.03737768 0.01108438
+v 0.00735834 0.03738996 0.01072084
+v -0.00075798 0.03731878 0.01072084
+v -0.00090762 0.03712737 0.01405770
+v 0.00067336 0.03743658 0.01405770
+v 0.00185421 0.03774334 0.01251077
+v 0.00293747 0.03791022 0.01251077
+v 0.00855871 0.03661692 0.01405770
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_6.obj b/new_drill/new_drill_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed2a68d67c2c2003367bb70c3e6552c3cd7b22c
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01321097 -0.00374999 -0.05290604
+v 0.01214613 -0.00374999 -0.05164236
+v 0.01188367 -0.00428579 -0.05164236
+v 0.01259606 -0.00494535 -0.05290604
+v -0.01232532 -0.00374999 -0.05290604
+v -0.01070305 -0.00374999 -0.05164236
+v 0.00786175 -0.00680027 -0.05164236
+v 0.00786175 -0.00908872 -0.05290604
+v -0.01167041 -0.00510839 -0.05290604
+v -0.01115549 -0.00378927 -0.05164236
+v -0.01117299 -0.00374999 -0.05164595
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+v -0.01141295 -0.00540111 -0.05290604
+v -0.01037060 -0.00460594 -0.05164236
+v 0.00214758 -0.00926806 -0.05164236
+v -0.00160687 -0.00935402 -0.05164236
+v 0.00106274 -0.01132010 -0.05290604
+v -0.00899080 -0.00777775 -0.05290604
+v -0.00690111 -0.00904944 -0.05290604
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+f 14 19 15
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+f 15 20 21
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_60.obj b/new_drill/new_drill_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc195e855f0b97bc6acd90ecd0f406026730933
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v -0.02908094 -0.00030764 -0.07747498
+v -0.02849470 -0.00517401 -0.07747498
+v -0.02834261 -0.00519838 -0.07575479
+v -0.02863297 -0.00030764 -0.07575479
+v -0.02904499 0.00459935 -0.07747498
+v -0.02754897 -0.01014599 -0.07747498
+v -0.02750473 -0.01014599 -0.07575479
+v -0.02857213 0.00459935 -0.07575479
+v -0.02807714 0.00965257 -0.07575479
+v -0.02837303 0.00974194 -0.07747498
+v -0.02681064 -0.01369625 -0.07747498
+v -0.02651199 -0.01506111 -0.07575513
+v -0.02681064 -0.01348502 -0.07575479
+v -0.02762640 0.01145614 -0.07575479
+v -0.02683276 0.01443770 -0.07575479
+v -0.02834261 0.00985568 -0.07747498
+v -0.02438272 -0.02323401 -0.07747465
+v -0.02532845 -0.01995185 -0.07747465
+v -0.02652028 -0.01506111 -0.07747465
+v -0.02205158 -0.02906716 -0.07747498
+v -0.02530909 -0.01997622 -0.07575513
+v -0.02437166 -0.02322589 -0.07575513
+v -0.02205158 -0.02901841 -0.07575479
+v -0.02681064 0.01451082 -0.07575479
+v -0.02711482 0.01443770 -0.07747498
+v -0.02356972 -0.02568751 -0.07575513
+v -0.02357525 -0.02571188 -0.07747465
+v -0.02171698 -0.02981458 -0.07747498
+v -0.02236129 -0.02834410 -0.07575513
+v -0.02168379 -0.02982270 -0.07575479
+v -0.02681064 0.01502264 -0.07681375
+v -0.02205158 0.02516971 -0.07575479
+v -0.02497172 0.01923096 -0.07575513
+v -0.02632118 0.01594879 -0.07575513
+v -0.02681064 0.01519325 -0.07747498
+v -0.01979510 -0.03286926 -0.07747498
+v -0.01978127 -0.03286114 -0.07575479
+v -0.02162849 -0.02991207 -0.07575479
+v -0.02178058 0.02568966 -0.07575479
+v -0.02264888 0.02416232 -0.07747465
+v -0.02502426 0.01951530 -0.07747465
+v -0.02264888 0.02399984 -0.07575513
+v -0.02205158 0.02522658 -0.07747498
+v -0.01938307 -0.03310486 -0.07747498
+v -0.01674222 -0.03455096 -0.07747498
+v -0.01674222 -0.03451847 -0.07575479
+v -0.02042006 0.02813503 -0.07575479
+v -0.02042282 0.02813503 -0.07668982
+v -0.02020160 0.02853311 -0.07747481
+v -0.02042282 0.02813503 -0.07747498
+v -0.01182001 -0.03602143 -0.07747498
+v -0.01182001 -0.03598081 -0.07575479
+v -0.02026520 0.02841125 -0.07575496
+v -0.01516877 0.03660853 -0.07575479
+v -0.01880789 0.03098661 -0.07575496
+v -0.01880789 0.03098661 -0.07747481
+v -0.01517154 0.03660853 -0.07747498
+v -0.00690332 -0.03673636 -0.07747498
+v -0.01010000 -0.03623266 -0.07575479
+v -0.01479822 0.03716909 -0.07575479
+v -0.01474292 0.03725846 -0.07747498
+v -0.01685836 0.03404942 -0.07575496
+v -0.01680582 0.03413066 -0.07747481
+v -0.00690332 -0.03669574 -0.07575479
+v -0.00390022 -0.03713444 -0.07747498
+v -0.00375919 -0.03712632 -0.07575479
+v -0.00561470 -0.03687447 -0.07575479
+v -0.01474292 0.03725033 -0.07575479
+v -0.01356491 0.03884267 -0.07575479
+v -0.01292059 0.03971195 -0.07575479
+v -0.01292059 0.03971195 -0.07747498
+v -0.00141976 -0.03744316 -0.07747498
+v -0.00083075 -0.03747566 -0.07575479
+v -0.01046225 0.04254729 -0.07747498
+v -0.01045949 0.04254729 -0.07575479
+v -0.00083075 -0.03750815 -0.07747498
+v -0.00083075 0.04539886 -0.07575479
+v -0.00826108 0.04377404 -0.07575479
+v -0.00690332 0.04452958 -0.07747498
+v -0.00083075 0.04539886 -0.07747498
+v -0.00198387 0.04548823 -0.07747498
+v -0.00198387 0.04548010 -0.07575479
+v -0.00690332 0.04452958 -0.07575479
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 25
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+f 1 51 45
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+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 46 52
+f 3 52 59
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+f 74 78 79
+f 77 80 81
+f 77 81 82
+f 78 83 79
+f 79 83 81
+f 81 83 82
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_61.obj b/new_drill/new_drill_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04e7406c8d79c57311bba2024723e68ea20f438
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00204996 -0.02996241 -0.07079613
+v -0.00204996 -0.02996241 -0.06813012
+v -0.00204996 0.00127891 -0.07079613
+v 0.01663143 -0.02996241 -0.07079613
+v 0.01641028 -0.02996241 -0.06813012
+v -0.00204996 0.04534741 -0.06813012
+v 0.01812223 0.00127891 -0.07079613
+v -0.00204996 0.04541383 -0.07079587
+v -0.00198282 0.04543598 -0.07079587
+v 0.01812223 -0.02752687 -0.07079613
+v 0.01812223 -0.02717999 -0.06813012
+v -0.00198677 0.04536217 -0.06813012
+v 0.00294175 0.04507433 -0.07079587
+v 0.00786435 0.04443962 -0.07079587
+v 0.01278102 0.04359825 -0.07079587
+v 0.01659984 0.04226977 -0.07079587
+v 0.01812223 0.04117009 -0.07079587
+v 0.00294175 0.04501529 -0.06813012
+v 0.01812223 0.04106676 -0.06813012
+v 0.00341565 0.04495625 -0.06813012
+v 0.00786435 0.04438057 -0.06813012
+v 0.01278102 0.04352445 -0.06813012
+v 0.01653468 0.04222549 -0.06813012
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 7
+f 1 7 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 18
+f 2 18 12
+f 2 12 6
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 5
+f 6 12 9
+f 6 9 8
+f 7 9 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 19
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+f 7 11 10
+f 9 12 18
+f 9 18 13
+f 13 18 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 17 23 19
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_62.obj b/new_drill/new_drill_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed670b87a4cdcdd17e8eee1c2aade6d805327f5d
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00866117 -0.01615052 0.03539682
+v 0.00759953 -0.01989418 0.03539682
+v 0.00532429 -0.01718904 0.03200604
+v 0.00561588 -0.01615052 0.03200604
+v -0.01231704 -0.01615052 0.03539682
+v 0.00755435 -0.02001462 0.03539682
+v 0.00631611 -0.02317556 0.03539682
+v 0.00380677 -0.01985898 0.03200604
+v -0.00898221 -0.01615052 0.03200604
+v -0.00976047 -0.01615052 0.03264735
+v -0.01190634 -0.01979228 0.03539682
+v 0.00433657 -0.02561389 0.03539682
+v 0.00286218 -0.02107629 0.03200604
+v -0.00808485 -0.01891588 0.03200604
+v -0.00960646 -0.01797094 0.03284220
+v -0.01155520 -0.02094196 0.03539682
+v 0.00352134 -0.02561389 0.03503434
+v -0.00875222 -0.02561389 0.03539682
+v 0.00017419 -0.02245573 0.03200604
+v -0.00713820 -0.02019897 0.03200604
+v -0.00929844 -0.02479679 0.03539682
+v 0.00283548 -0.02561389 0.03485841
+v -0.00589996 -0.02112539 0.03200604
+v -0.00669876 -0.02561389 0.03462339
+v -0.00197989 -0.02262804 0.03200604
+v -0.00197989 -0.02561389 0.03413942
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 18
+f 1 18 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 13
+f 3 13 19
+f 3 19 25
+f 3 25 23
+f 3 23 20
+f 3 20 14
+f 3 14 9
+f 3 9 4
+f 5 10 11
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 12 18 24
+f 12 24 26
+f 12 26 22
+f 12 22 17
+f 13 17 19
+f 14 20 18
+f 14 18 21
+f 14 21 16
+f 14 16 15
+f 17 22 19
+f 18 20 23
+f 18 23 24
+f 19 22 26
+f 19 26 25
+f 23 25 24
+f 24 25 26
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_63.obj b/new_drill/new_drill_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8501522fe4d0f7444471a5bf07d6700babc5bfa
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
+v -0.00197557 0.04375349 -0.06272430
+v -0.00197557 0.04254138 -0.06076952
+v 0.00293731 0.04262460 -0.06076952
+v 0.00293731 0.04366304 -0.06272430
+v -0.00661152 0.04269697 -0.06272430
+v -0.00494996 0.04200588 -0.06076952
+v -0.00406790 0.04220488 -0.06076952
+v 0.00729120 0.04214699 -0.06076952
+v 0.00306038 0.04364856 -0.06272430
+v -0.01119106 0.03901358 -0.06272430
+v -0.00661665 0.04269335 -0.06272085
+v -0.00525253 0.04193351 -0.06076952
+v 0.00817326 0.04276571 -0.06229626
+v 0.00963994 0.04173089 -0.06076952
+v 0.00983995 0.04265355 -0.06272430
+v -0.01043720 0.03798238 -0.06076952
+v -0.00846795 0.03997604 -0.06076952
+v -0.00806282 0.04066351 -0.06107184
+v -0.01150901 0.03868433 -0.06272430
+v -0.00704742 0.04097468 -0.06076952
+v 0.01038354 0.04158254 -0.06076952
+v 0.01210664 0.04221212 -0.06272430
+v -0.01055002 0.03786298 -0.06076952
+v -0.00789359 0.04046450 -0.06076952
+v -0.01189876 0.03816691 -0.06272430
+v 0.01050149 0.04154274 -0.06076952
+v 0.01437846 0.04141249 -0.06272430
+v -0.01069362 0.03767121 -0.06076952
+v -0.01481674 0.03395527 -0.06272430
+v -0.01327313 0.03503713 -0.06155786
+v 0.01172715 0.04110493 -0.06076952
+v 0.01277844 0.04089145 -0.06102095
+v 0.01276818 0.04068522 -0.06076952
+v 0.01680413 0.03811264 -0.06076952
+v 0.01768619 0.03910766 -0.06272430
+v -0.01192953 0.03599596 -0.06076952
+v -0.01510392 0.03349213 -0.06272430
+v -0.01443725 0.03223659 -0.06076952
+v -0.01389878 0.03310136 -0.06076952
+v -0.01283210 0.03467892 -0.06076952
+v 0.01237331 0.04084804 -0.06076952
+v 0.01775798 0.03904977 -0.06272430
+v 0.01772721 0.03907871 -0.06272430
+v 0.01930159 0.03511672 -0.06076952
+v 0.01946569 0.03524698 -0.06102343
+v 0.02009647 0.03638312 -0.06272430
+v -0.01753472 0.02949758 -0.06272430
+v -0.01505264 0.03122349 -0.06076952
+v 0.02051186 0.03242475 -0.06076952
+v 0.02124520 0.03381777 -0.06269158
+v 0.02123494 0.03389014 -0.06272430
+v -0.01763728 0.02932028 -0.06272430
+v -0.01762703 0.02933114 -0.06271301
+v -0.01853473 0.02535468 -0.06105883
+v -0.01788344 0.02607471 -0.06076952
+v 0.02155803 0.02910681 -0.06076952
+v 0.02390164 0.02429815 -0.06194438
+v 0.02378369 0.02639312 -0.06272430
+v 0.02298368 0.02891866 -0.06272430
+v 0.02139392 0.03344871 -0.06272430
+v -0.01915525 0.02639312 -0.06272430
+v -0.01833473 0.02520271 -0.06076952
+v -0.02040142 0.02397613 -0.06272430
+v -0.02040654 0.02395080 -0.06271301
+v -0.02059629 0.02354555 -0.06272430
+v -0.02236041 0.01957995 -0.06272430
+v -0.02003218 0.02149039 -0.06076952
+v -0.01878601 0.02429453 -0.06076952
+v 0.02296830 0.02429815 -0.06076952
+v 0.02446062 0.01937733 -0.06105156
+v 0.02559909 0.01937733 -0.06272430
+v 0.02441960 0.02429815 -0.06272430
+v 0.02421959 0.02498562 -0.06272430
+v -0.02004244 0.02146506 -0.06076952
+v -0.02253990 0.01909872 -0.06272430
+v 0.02420934 0.01937733 -0.06076952
+v 0.02448626 0.01909872 -0.06102133
+v 0.02475293 0.01909872 -0.06141014
+v 0.02564525 0.01909872 -0.06272430
+v -0.02311427 0.01445289 -0.06135561
+v -0.02196041 0.01618965 -0.06076952
+v -0.02419120 0.01445289 -0.06272430
+v 0.02467601 0.01677218 -0.06076952
+v 0.02504524 0.01445289 -0.06076952
+v 0.02641449 0.01445289 -0.06272430
+v -0.02498608 0.01080569 -0.06272430
+v -0.02359120 0.00976001 -0.06076952
+v -0.02249375 0.01445289 -0.06076952
+v 0.02537858 0.00953206 -0.06076952
+v 0.02681449 0.00953206 -0.06272430
+v -0.02523737 0.00953206 -0.06272430
+v -0.02363735 0.00953206 -0.06076952
+v 0.02537858 0.00951397 -0.06076952
+v 0.02684526 0.00679304 -0.06272430
+v -0.02554506 0.00679304 -0.06272430
+v -0.02364761 0.00946332 -0.06076952
+v 0.02533243 0.00679304 -0.06076952
+v -0.02491942 0.00679304 -0.06195949
+v -0.02390915 0.00679304 -0.06076952
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 35
+f 1 35 43
+f 1 43 42
+f 1 42 46
+f 1 46 51
+f 1 51 60
+f 1 60 59
+f 1 59 58
+f 1 58 73
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+f 1 72 71
+f 1 71 79
+f 1 79 85
+f 1 85 90
+f 1 90 94
+f 1 94 95
+f 1 95 91
+f 1 91 86
+f 1 86 82
+f 1 82 75
+f 1 75 66
+f 1 66 65
+f 1 65 63
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+f 1 61 52
+f 1 52 47
+f 1 47 37
+f 1 37 29
+f 1 29 25
+f 1 25 19
+f 1 19 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 12
+f 2 12 20
+f 2 20 24
+f 2 24 17
+f 2 17 16
+f 2 16 23
+f 2 23 28
+f 2 28 36
+f 2 36 40
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+f 2 39 38
+f 2 38 48
+f 2 48 55
+f 2 55 62
+f 2 62 68
+f 2 68 67
+f 2 67 74
+f 2 74 81
+f 2 81 88
+f 2 88 87
+f 2 87 92
+f 2 92 96
+f 2 96 99
+f 2 99 97
+f 2 97 93
+f 2 93 89
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+f 2 84 83
+f 2 83 76
+f 2 76 69
+f 2 69 56
+f 2 56 49
+f 2 49 44
+f 2 44 34
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+f 2 33 41
+f 2 41 31
+f 2 31 26
+f 2 26 21
+f 2 21 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 8 14 13
+f 9 13 15
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 10 19 16
+f 11 18 12
+f 12 18 20
+f 13 14 15
+f 14 21 22
+f 14 22 15
+f 16 19 23
+f 17 24 18
+f 18 24 20
+f 19 25 23
+f 21 26 22
+f 22 26 27
+f 23 25 28
+f 25 29 30
+f 25 30 28
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 28 30 36
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 36
+f 31 41 32
+f 32 41 33
+f 34 42 43
+f 34 43 35
+f 34 44 45
+f 34 45 46
+f 34 46 42
+f 37 47 38
+f 38 47 48
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 45 51 46
+f 47 52 53
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 50 60 51
+f 52 61 53
+f 53 61 54
+f 54 62 55
+f 54 61 63
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 62
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 57 71 72
+f 57 72 73
+f 57 73 58
+f 63 65 64
+f 66 74 67
+f 66 75 74
+f 69 76 70
+f 70 76 77
+f 70 77 78
+f 70 78 71
+f 71 78 79
+f 74 75 80
+f 74 80 81
+f 75 82 80
+f 76 83 77
+f 77 83 84
+f 77 84 85
+f 77 85 78
+f 78 85 79
+f 80 82 86
+f 80 86 87
+f 80 87 88
+f 80 88 81
+f 84 89 90
+f 84 90 85
+f 86 91 92
+f 86 92 87
+f 89 93 94
+f 89 94 90
+f 91 95 96
+f 91 96 92
+f 93 97 94
+f 94 97 99
+f 94 99 98
+f 94 98 95
+f 95 98 96
+f 96 98 99
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_64.obj b/new_drill/new_drill_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba70b951a10e8be10d05615f71e469b691633d4
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01812223 -0.01918708 -0.07079685
+v 0.01812223 -0.02753147 -0.07079685
+v 0.01812223 -0.01918708 -0.07293182
+v -0.00204996 -0.01918708 -0.07079685
+v 0.01812223 -0.02753463 -0.07081629
+v 0.01663143 -0.02996547 -0.07079685
+v 0.01812223 -0.02777518 -0.07293182
+v -0.00204996 -0.01918708 -0.07293182
+v -0.00204996 -0.02996547 -0.07079685
+v 0.01677163 -0.02996547 -0.07244923
+v 0.01812223 -0.02777096 -0.07257714
+v 0.01685456 -0.02983781 -0.07257714
+v 0.01685653 -0.02983781 -0.07293182
+v -0.00204996 -0.02996547 -0.07293182
+v 0.01677360 -0.02996547 -0.07257714
+v 0.01677755 -0.02996547 -0.07293182
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 16
+f 3 16 14
+f 3 14 8
+f 4 8 14
+f 4 14 9
+f 5 10 11
+f 5 6 10
+f 6 9 14
+f 6 14 16
+f 6 16 15
+f 6 15 10
+f 7 11 12
+f 7 12 13
+f 10 15 12
+f 10 12 11
+f 12 15 16
+f 12 16 13
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_65.obj b/new_drill/new_drill_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e428bbc583278520b2712808a7b96ce7dbf36c5e
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00993646 -0.01010402 0.03478189
+v 0.01316414 -0.01037032 0.03744284
+v 0.00795188 -0.01010402 0.03200598
+v 0.00914317 -0.01010402 0.03478562
+v 0.01294060 -0.01095736 0.03744284
+v 0.00751570 -0.01166809 0.03200598
+v -0.01468548 -0.01037032 0.03744284
+v -0.01007568 -0.01010402 0.03200598
+v -0.01216113 -0.01010402 0.03478562
+v 0.01087696 -0.01614960 0.03744284
+v 0.00561290 -0.01614960 0.03200598
+v -0.01217476 -0.01010402 0.03478349
+v -0.01464731 -0.01507434 0.03744284
+v -0.00950866 -0.01507493 0.03200598
+v -0.01462551 -0.01614960 0.03744284
+v -0.00897980 -0.01614960 0.03200598
+v -0.00975946 -0.01614960 0.03264727
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 9
+f 2 9 7
+f 2 7 13
+f 2 13 15
+f 2 15 10
+f 2 10 5
+f 3 6 11
+f 3 11 16
+f 3 16 14
+f 3 14 8
+f 5 10 6
+f 6 10 11
+f 7 9 12
+f 7 12 8
+f 7 8 13
+f 8 14 15
+f 8 15 13
+f 10 15 17
+f 10 17 16
+f 10 16 11
+f 14 16 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_66.obj b/new_drill/new_drill_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7704107621e41f098f381a46df2266329851343
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,369 @@
+# https://github.com/mikedh/trimesh
+v -0.02705590 -0.00030623 -0.06535094
+v -0.02583816 -0.00522681 -0.06312684
+v -0.02598364 -0.00030623 -0.06294045
+v -0.02594592 0.00460877 -0.06293325
+v -0.02703435 0.00209269 -0.06535094
+v -0.02680266 -0.00522681 -0.06535094
+v -0.02547175 -0.00522681 -0.06272449
+v -0.02553641 -0.00447924 -0.06272449
+v -0.02549870 -0.01014739 -0.06345746
+v -0.02579505 -0.00030623 -0.06272449
+v -0.02580044 0.00012334 -0.06272449
+v -0.02576811 0.00460877 -0.06272449
+v -0.02572500 0.00508298 -0.06272449
+v -0.02562801 0.00953493 -0.06320191
+v -0.02676494 0.00715832 -0.06535094
+v -0.02698586 0.00460877 -0.06535094
+v -0.02624228 -0.01014739 -0.06535094
+v -0.02499759 -0.00885867 -0.06272449
+v -0.02527778 -0.01237895 -0.06369990
+v -0.02435638 -0.01237895 -0.06272449
+v -0.02480361 -0.01014739 -0.06272449
+v -0.02524006 0.00953493 -0.06272449
+v -0.02497604 0.01080134 -0.06272449
+v -0.02500836 0.01211238 -0.06311475
+v -0.02532627 0.01211238 -0.06352327
+v -0.02602675 0.01211238 -0.06535094
+v -0.02644703 0.00953493 -0.06535094
+v -0.02581122 -0.01236779 -0.06535094
+v -0.02580583 -0.01237895 -0.06535094
+v 0.02287711 -0.01237895 -0.06272449
+v -0.02469585 0.01211238 -0.06272449
+v -0.02418935 0.01445551 -0.06272449
+v -0.02505147 0.01445551 -0.06381636
+v -0.02596209 0.01248616 -0.06535094
+v 0.02523178 -0.01237895 -0.06535094
+v 0.02516713 -0.01237895 -0.06506839
+v 0.02556586 -0.01014739 -0.06452619
+v 0.02380390 -0.01014739 -0.06272449
+v -0.02254054 0.01908041 -0.06272449
+v -0.02451803 0.01788653 -0.06454701
+v -0.02493293 0.01699949 -0.06535094
+v 0.02612085 -0.00885309 -0.06535094
+v 0.02627172 -0.00522681 -0.06360760
+v 0.02546348 -0.00522681 -0.06272449
+v -0.02235734 0.01957693 -0.06272449
+v -0.02059538 0.02354353 -0.06272449
+v -0.02040140 0.02397310 -0.06272449
+v -0.01975481 0.02776674 -0.06433903
+v -0.02050378 0.02670675 -0.06535094
+v -0.02432406 0.01868989 -0.06535094
+v -0.02458808 0.01805390 -0.06535094
+v 0.02687520 -0.00522681 -0.06535094
+v 0.02726316 -0.00310683 -0.06535094
+v 0.02674050 -0.00030623 -0.06307542
+v 0.02643876 -0.00030623 -0.06272449
+v -0.01763722 0.02931768 -0.06272449
+v -0.01943690 0.02870958 -0.06535094
+v -0.01986258 0.02796201 -0.06535094
+v -0.01511013 0.03348511 -0.06272449
+v -0.01519634 0.03368595 -0.06301295
+v -0.01449048 0.03690497 -0.06483830
+v 0.02765112 -0.00030623 -0.06535094
+v 0.02783431 0.00213732 -0.06535094
+v 0.02799057 0.00460877 -0.06535094
+v 0.02692909 0.00460877 -0.06281216
+v 0.02685904 0.00460877 -0.06272449
+v -0.01488382 0.03639729 -0.06535094
+v -0.01481916 0.03395373 -0.06272449
+v -0.01189334 0.03816580 -0.06272449
+v -0.01162392 0.03877948 -0.06295510
+v -0.00997512 0.04209334 -0.06435214
+v -0.01083724 0.04134576 -0.06535094
+v -0.01418874 0.03739591 -0.06535094
+v -0.01452281 0.03694960 -0.06535094
+v 0.02786665 0.00953493 -0.06535094
+v 0.02684826 0.00953493 -0.06277514
+v 0.02681055 0.00953493 -0.06272449
+v -0.01151077 0.03868463 -0.06272449
+v -0.01009366 0.04220491 -0.06535094
+v -0.01118747 0.03900821 -0.06272449
+v -0.00661823 0.04269028 -0.06272449
+v -0.00660745 0.04269586 -0.06272449
+v -0.00904295 0.04278512 -0.06535094
+v 0.02743019 0.01445551 -0.06535094
+v 0.02658424 0.01445551 -0.06297952
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_67.obj b/new_drill/new_drill_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37757577bac6a88d13330f01de6df578b5f8e399
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
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+v -0.02191591 0.00977664 0.06029886
+v -0.02061834 0.01316059 0.05540438
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+v 0.02358004 0.00977664 0.07504736
+v -0.02176272 0.00977664 0.07047484
+v -0.02103285 0.00977664 0.07506037
+v -0.02059131 0.01316059 0.07506037
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_68.obj b/new_drill/new_drill_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1352977fa7ddb8daf0594585dbeb2c82dae75b79
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v -0.00427533 0.03772245 0.03200912
+v -0.00197467 0.03854771 0.03200912
+v 0.00984762 0.03772245 0.03200912
+v -0.01743162 0.03772221 0.04758290
+v -0.00565766 0.03772245 0.03294184
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+v 0.02664339 0.03772221 0.04758290
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+v -0.01642145 0.03772245 0.04526471
+v -0.01573029 0.03772245 0.04408008
+v -0.01560462 0.03772245 0.04388264
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+v -0.01168964 0.03772245 0.03912710
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+v -0.01695795 0.04021533 0.04758290
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+v 0.00294565 0.04021509 0.03399031
+v 0.00785629 0.04021509 0.03446007
+v 0.02650806 0.04021533 0.04758290
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+v 0.02165541 0.04021509 0.04171763
+v 0.01900192 0.03772245 0.03893648
+v 0.02180525 0.03772245 0.04126829
+v 0.02435240 0.03772245 0.04395072
+v 0.02614073 0.03772245 0.04641189
+v 0.02681256 0.03772221 0.04788928
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+f 75 85 86
+f 75 86 76
+f 80 87 81
+f 81 87 84
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_69.obj b/new_drill/new_drill_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5dd753c9d2c9fb33a969c409b92f043e0312d7
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01204352 0.02844262 0.03200571
+v -0.01911278 0.02844262 0.04715972
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diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_7.obj b/new_drill/new_drill_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e231a45b96be5aee3bc0592dc439f032452517
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_7.obj
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_70.obj b/new_drill/new_drill_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4628bea732be25265b2302f516c992743036ec03
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01884615 -0.01512454 -0.08609222
+v -0.01884615 -0.01512454 -0.10234765
+v -0.02024739 -0.01512454 -0.08609222
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+v -0.02024739 -0.01512454 -0.10234765
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_71.obj b/new_drill/new_drill_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f646076ee3b267e9efc38b123f04ab3e47d00a84
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
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+v 0.01047604 -0.00606121 -0.02828569
+v 0.01047975 -0.00664863 -0.02479389
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_72.obj b/new_drill/new_drill_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7eb98105247bd4445224f864bfe73242bddcea8
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,414 @@
+# https://github.com/mikedh/trimesh
+v -0.01354888 0.00460386 -0.01845226
+v -0.01351317 0.00461376 -0.02336456
+v -0.01315907 -0.00031475 -0.01845226
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_73.obj b/new_drill/new_drill_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e92ee4abf1f22672423097b02d945a13c84cc29
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.02173828 -0.01999631 0.07952283
+v -0.02173828 -0.01992662 0.07951562
+v -0.02390639 -0.01991862 0.07731274
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+v -0.02173828 -0.02050489 0.07951562
+v -0.02173828 -0.01991862 0.07945433
+v -0.02394553 -0.01991862 0.07726947
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+v -0.02173828 -0.02091567 0.07948677
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+v -0.02545640 -0.02091567 0.07481422
+v -0.02766143 -0.01991862 0.07022459
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_74.obj b/new_drill/new_drill_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c246fcaa652c504a593de84897216f1fa368bf61
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
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+v -0.02066479 0.01316122 0.06524275
+v -0.02104704 0.01316122 0.06884852
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+v -0.01983204 0.01957528 0.07057817
+v 0.02278873 0.01957528 0.06524275
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+v 0.02544172 0.01957528 0.07363704
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+v -0.01146351 0.01316122 0.08417996
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_75.obj b/new_drill/new_drill_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ceefc77b08be13433a9ec0a0cfd3d5910fa49b
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.01687792 0.02844195 0.06736825
+v -0.01943454 0.02844195 0.07222999
+v -0.01935761 0.02993525 0.07236520
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+v -0.01943454 0.02844195 0.07327837
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+v 0.02609130 0.02993525 0.06736825
+v 0.02498721 0.02886808 0.06736825
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+v -0.01833949 0.02993525 0.07547115
+v 0.02679267 0.02993525 0.06951204
+v 0.02632208 0.02844195 0.07099545
+v -0.01795034 0.02993525 0.07609038
+v -0.01837117 0.02921616 0.07561616
+v -0.01634850 0.02844195 0.07879264
+v -0.01585075 0.02993525 0.07918456
+v 0.02624968 0.02993525 0.07494010
+v 0.02596913 0.02844195 0.07520464
+v -0.01596388 0.02844195 0.07929234
+v -0.01590958 0.02921616 0.07924139
+v -0.01341631 0.02921616 0.08170263
+v -0.01335296 0.02993525 0.08164580
+v 0.02607773 0.02993525 0.07538689
+v 0.02601890 0.02951438 0.07541824
+v 0.02576098 0.02844195 0.07571022
+v -0.01347514 0.02844195 0.08175358
+v -0.01299549 0.02993525 0.08193386
+v 0.02505056 0.02993525 0.07744053
+v 0.02498268 0.02844195 0.07732687
+v 0.02523608 0.02844195 0.07681738
+v -0.01139817 0.02844195 0.08329185
+v -0.01089137 0.02993525 0.08349369
+v 0.02479263 0.02993525 0.07770311
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+v -0.01101355 0.02844195 0.08355640
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+v -0.00612657 0.02844195 0.08606075
+v -0.00652024 0.02993525 0.08562964
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+v 0.02257087 0.02980427 0.07994684
+v 0.02189664 0.02844195 0.08049945
+v -0.00303601 0.02844195 0.08692101
+v -0.00540257 0.02993525 0.08597453
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_76.obj b/new_drill/new_drill_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7b4fea3ef4dc75ee36edca20d4d5b3820bdf99
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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+v -0.01687721 0.02844195 0.06736505
+v -0.01689836 0.02993525 0.05455180
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+f 4 9 10
+f 4 10 11
+f 4 11 6
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_77.obj b/new_drill/new_drill_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..560d5edf591112bee5f1965f7f85d5a9a70bd67e
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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+v -0.01884588 -0.02666736 -0.07747765
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_78.obj b/new_drill/new_drill_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d745ab7bf64238a160aec7a668d418fcba35d5f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,438 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_79.obj b/new_drill/new_drill_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85d82913e2beaa7428e5619ba21982d02281771
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,357 @@
+# https://github.com/mikedh/trimesh
+v -0.00690446 -0.05444495 0.04071987
+v -0.00690446 -0.04958260 0.04079549
+v -0.00198230 -0.04958260 0.04113379
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_8.obj b/new_drill/new_drill_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a3a33cb0ca63605b12e76e6bb092aa8192e036
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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+f 13 16 17
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+f 16 18 17
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_80.obj b/new_drill/new_drill_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e7cc1309d50ac6937f39bf6e7c665696def0606
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
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+f 5 70 45
+f 5 45 24
+f 5 24 12
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 12 24 25
+f 13 26 14
+f 14 27 28
+f 14 28 15
+f 14 26 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 27
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 37 38
+f 19 38 20
+f 19 36 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 37
+f 20 38 43
+f 20 43 21
+f 22 43 38
+f 22 38 37
+f 22 37 23
+f 23 37 42
+f 23 42 44
+f 24 45 46
+f 24 46 25
+f 26 47 29
+f 29 47 48
+f 29 48 46
+f 29 46 30
+f 30 46 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 32
+f 32 53 54
+f 32 54 33
+f 32 52 55
+f 32 55 56
+f 32 56 53
+f 34 57 35
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 36
+f 35 57 62
+f 35 62 63
+f 35 63 64
+f 35 64 58
+f 36 61 39
+f 39 61 65
+f 39 65 40
+f 40 65 66
+f 40 66 67
+f 40 67 41
+f 41 67 68
+f 41 69 42
+f 42 69 44
+f 45 70 72
+f 45 72 71
+f 45 71 46
+f 46 71 49
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 50 73 51
+f 51 73 52
+f 52 74 55
+f 52 73 75
+f 52 75 74
+f 53 56 54
+f 54 56 76
+f 55 77 59
+f 55 59 56
+f 55 74 77
+f 56 59 58
+f 56 58 78
+f 56 78 76
+f 58 64 78
+f 59 77 79
+f 59 79 60
+f 60 79 65
+f 60 65 61
+f 65 79 66
+f 66 79 67
+f 67 79 80
+f 67 80 81
+f 67 81 68
+f 70 82 73
+f 70 73 72
+f 73 82 75
+f 74 75 83
+f 74 83 84
+f 74 84 77
+f 75 85 83
+f 77 84 79
+f 79 84 80
+f 80 84 81
+f 81 84 86
+f 83 85 84
+f 84 85 86
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_81.obj b/new_drill/new_drill_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d59f1f316b7c958b77e95e399cd066aa7cd546
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01947812 -0.01914076 -0.10080484
+v 0.01947812 -0.02433754 -0.10080484
+v 0.01947812 -0.01914076 -0.10234765
+v -0.01884588 -0.01914076 -0.10080484
+v 0.01806386 -0.02666736 -0.10080484
+v 0.01947812 -0.02420418 -0.10153124
+v 0.01947812 -0.02354473 -0.10234765
+v -0.01884588 -0.01914076 -0.10234765
+v -0.01884588 -0.02666736 -0.10080484
+v 0.01786503 -0.02666736 -0.10194428
+v 0.01947812 -0.02400450 -0.10177846
+v 0.01776750 -0.02666736 -0.10234765
+v 0.01882538 -0.02482237 -0.10234765
+v 0.01891917 -0.02465659 -0.10234765
+v -0.01884588 -0.02666736 -0.10234765
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 13
+f 3 13 12
+f 3 12 15
+f 3 15 8
+f 4 8 15
+f 4 15 9
+f 5 10 6
+f 5 9 15
+f 5 15 12
+f 5 12 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 11 14
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_82.obj b/new_drill/new_drill_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e32406e1fc8a155f6c9a118e44f17cad91f4328
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01947812 0.03447498 -0.09935369
+v 0.01947812 0.00299555 -0.09935369
+v 0.01947812 0.03447498 -0.10080484
+v -0.01498591 0.03447498 -0.09935369
+v 0.01947812 0.00299555 -0.10080484
+v -0.01498591 0.00299555 -0.09935369
+v -0.01498591 0.03447498 -0.10080484
+v -0.01498591 0.00299555 -0.10080484
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_83.obj b/new_drill/new_drill_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c4835f1553899149193b99b08fe8234f582fde
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.01348087 0.00461110 -0.02479389
+v -0.01345037 0.00461110 -0.02633563
+v -0.01315483 0.00171600 -0.02479389
+v -0.01340815 0.00953387 -0.02479389
+v -0.01339643 0.00953387 -0.02633563
+v -0.01306101 0.00171600 -0.02633563
+v 0.01047694 0.00171600 -0.02479389
+v -0.01297891 0.01445302 -0.02479389
+v -0.01297657 0.01445302 -0.02633563
+v 0.01047694 0.00171600 -0.02633563
+v 0.01047694 0.03651149 -0.02479389
+v -0.01212981 0.01937579 -0.02479389
+v -0.01213450 0.01937579 -0.02633563
+v 0.01047694 0.03651149 -0.02633563
+v 0.01036670 0.03663077 -0.02633563
+v 0.01036435 0.03663077 -0.02479389
+v -0.01085616 0.02429494 -0.02479389
+v -0.01087023 0.02429494 -0.02633563
+v 0.00937451 0.03707172 -0.02633563
+v 0.00786161 0.03774399 -0.02479389
+v -0.00908290 0.03084055 -0.02479389
+v -0.01042926 0.02591779 -0.02633563
+v 0.00786161 0.03774399 -0.02633563
+v 0.00294057 0.03864036 -0.02479389
+v -0.00662238 0.03385132 -0.02479389
+v -0.00660830 0.03387301 -0.02633563
+v -0.00906882 0.03082971 -0.02633563
+v -0.00975139 0.02836833 -0.02633563
+v 0.00591009 0.03809820 -0.02633563
+v 0.00294057 0.03863674 -0.02633563
+v -0.00155826 0.03752352 -0.02633563
+v -0.00153011 0.03752713 -0.02479389
+v -0.00588586 0.03456335 -0.02479389
+v -0.00507898 0.03535851 -0.02633563
+v -0.00195935 0.03733557 -0.02633563
+v -0.00304536 0.03682233 -0.02633563
+v -0.00224317 0.03718738 -0.02479389
+v -0.00399063 0.03631270 -0.02479389
+v -0.00401878 0.03633077 -0.02633563
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 32
+f 1 32 37
+f 1 37 38
+f 1 38 33
+f 1 33 25
+f 1 25 21
+f 1 21 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 13
+f 2 13 18
+f 2 18 22
+f 2 22 28
+f 2 28 27
+f 2 27 26
+f 2 26 34
+f 2 34 39
+f 2 39 36
+f 2 36 35
+f 2 35 31
+f 2 31 30
+f 2 30 29
+f 2 29 23
+f 2 23 19
+f 2 19 15
+f 2 15 14
+f 2 14 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 14
+f 7 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 25 33 34
+f 25 34 26
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 34
+f 34 38 39
+f 36 39 38
+f 36 38 37
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_84.obj b/new_drill/new_drill_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50ef564b0692c6b2d52b7ad9d1b9035054c95f8
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01753012 0.03527285 0.05537332
+v -0.01660776 0.02993525 0.05537332
+v -0.01763365 0.03527389 0.05708505
+v -0.01752542 0.03527389 0.05537574
+v -0.00805242 0.03527389 0.05537332
+v -0.01596305 0.02993525 0.06360473
+v -0.01732777 0.03527389 0.06360473
+v 0.02606544 0.02993525 0.05537332
+v 0.02945370 0.03527389 0.05537332
+v 0.02540661 0.02993525 0.06360473
+v 0.03020664 0.03527389 0.06360473
+v 0.02647485 0.03039616 0.05537332
+v 0.02904428 0.03277650 0.06029573
+v 0.02606544 0.02993525 0.05537574
+v 0.02990076 0.03527389 0.05623402
+v 0.02922781 0.03434005 0.05537332
+v 0.02583014 0.02993525 0.05868797
+v 0.02728427 0.03152754 0.06360473
+v 0.02989134 0.03471212 0.06360473
+v 0.03042782 0.03527389 0.06072446
+v 0.02907722 0.03408555 0.05537332
+v 0.03042782 0.03527389 0.06005315
+v 0.03043723 0.03523731 0.06029573
+v 0.02894075 0.03305712 0.06360473
+v 0.02585367 0.02993525 0.05835755
+v 0.03044194 0.03527389 0.06029573
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 21
+f 1 21 12
+f 1 12 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 14
+f 2 14 25
+f 2 25 17
+f 2 17 10
+f 2 10 6
+f 3 7 11
+f 3 11 20
+f 3 20 26
+f 3 26 22
+f 3 22 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 6 10 18
+f 6 18 24
+f 6 24 19
+f 6 19 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 10 17 13
+f 10 13 18
+f 11 19 20
+f 12 21 13
+f 13 21 16
+f 13 16 15
+f 13 15 22
+f 13 22 23
+f 13 23 20
+f 13 20 19
+f 13 19 24
+f 13 24 18
+f 13 17 25
+f 13 25 14
+f 20 23 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_85.obj b/new_drill/new_drill_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9eb98f237a5b9c3ba3bb39afe926f7cb2d5de59
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.01349068 -0.02093923 -0.05824427
+v -0.01298601 -0.02152913 -0.05824427
+v -0.01349068 -0.01667382 -0.05712825
+v -0.01349068 0.02994756 -0.05824427
+v -0.01182031 -0.02233295 -0.05824427
+v -0.01182031 -0.01999280 -0.05753227
+v -0.01167459 -0.01488468 -0.05613020
+v -0.01349068 -0.01270659 -0.05613020
+v -0.01349068 0.02920857 -0.05776677
+v -0.01227166 0.02919560 -0.05613020
+v -0.01031697 0.03261831 -0.05613020
+v -0.01142581 0.03352585 -0.05824427
+v -0.01001844 -0.02311084 -0.05824427
+v -0.00798201 -0.01712759 -0.05613020
+v 0.00956755 -0.01329001 -0.05613000
+v -0.01349068 0.02620074 -0.05613020
+v -0.01349068 0.02830104 -0.05726858
+v 0.00956755 0.03878955 -0.05613000
+v -0.01137961 0.03358418 -0.05824427
+v -0.00811350 0.03525664 -0.05613020
+v -0.00689804 -0.02411561 -0.05824427
+v -0.00689804 -0.01999280 -0.05689271
+v -0.00689804 -0.01758135 -0.05613020
+v 0.01167506 -0.01402252 -0.05613000
+v 0.01113841 0.03811538 -0.05613000
+v 0.00814951 0.03939889 -0.05613020
+v 0.00623036 0.03974894 -0.05613020
+v 0.00294293 0.04009899 -0.05613020
+v -0.00199000 0.03936648 -0.05613020
+v -0.00557596 0.03771347 -0.05613020
+v -0.00654975 0.03877658 -0.05824427
+v -0.00623700 -0.02425174 -0.05824427
+v -0.00411528 -0.01829442 -0.05613020
+v 0.00294293 -0.01869633 -0.05613020
+v 0.00785808 -0.01721186 -0.05613020
+v 0.00785808 -0.01999280 -0.05700675
+v 0.00785808 -0.02390817 -0.05824427
+v 0.00956755 -0.02235239 -0.05824427
+v 0.01214774 -0.01999280 -0.05824427
+v 0.01274480 -0.01943532 -0.05824427
+v 0.01241428 -0.01474855 -0.05668925
+v 0.01363685 -0.01095635 -0.05613000
+v -0.00315570 -0.01848889 -0.05613020
+v -0.00197933 -0.01871577 -0.05613020
+v 0.01359421 0.03807000 -0.05824427
+v 0.01267373 0.03864693 -0.05824427
+v 0.01182788 0.03766809 -0.05613000
+v 0.00848714 0.04037773 -0.05824427
+v 0.00833787 0.04043608 -0.05824427
+v 0.00801801 0.04050090 -0.05824427
+v 0.00454577 0.04103246 -0.05824427
+v 0.00294293 0.04119452 -0.05824427
+v -0.00197933 0.04075372 -0.05824427
+v -0.00650711 0.03881548 -0.05824427
+v -0.00226010 -0.02491294 -0.05824427
+v -0.00197933 -0.02491294 -0.05822833
+v 0.00294293 -0.02491294 -0.05820329
+v 0.00350446 -0.02491294 -0.05824427
+v 0.01550980 -0.01468372 -0.05824427
+v 0.01411309 -0.01015253 -0.05613000
+v 0.00011396 -0.02491294 -0.05821736
+v 0.01546715 0.03676704 -0.05824427
+v 0.01274125 0.03698096 -0.05613000
+v -0.00202909 -0.02494535 -0.05824427
+v -0.00197933 -0.02495184 -0.05824427
+v 0.00294293 -0.02502962 -0.05824427
+v 0.01770616 -0.01063871 -0.05824427
+v 0.01621704 -0.00617882 -0.05613000
+v 0.01763153 0.03381755 -0.05824427
+v 0.01583321 0.03396665 -0.05613000
+v 0.01793006 -0.01015253 -0.05824427
+v 0.01692073 -0.00483048 -0.05613000
+v 0.01653690 0.03296836 -0.05613000
+v 0.01708777 0.03206731 -0.05613000
+v 0.01769550 0.03368142 -0.05824427
+v 0.01990252 -0.00527129 -0.05824427
+v 0.01864797 -0.00030577 -0.05613000
+v 0.01817529 0.02922801 -0.05613000
+v 0.01931256 0.03021334 -0.05824427
+v 0.02146627 -0.00030577 -0.05824427
+v 0.01990607 0.00461437 -0.05613000
+v 0.01962886 0.02920857 -0.05824427
+v 0.01849514 0.02801581 -0.05613000
+v 0.02094739 0.02428843 -0.05824427
+v 0.02242585 0.00461437 -0.05824427
+v 0.02056356 0.00952802 -0.05613000
+v 0.01928768 0.02428843 -0.05613000
+v 0.02196738 0.01936829 -0.05824427
+v 0.02254668 0.00604049 -0.05824427
+v 0.02060265 0.01444816 -0.05613000
+v 0.02281678 0.00952802 -0.05824427
+v 0.02008377 0.01936829 -0.05613000
+v 0.02265330 0.01444816 -0.05824427
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 12
+f 1 12 19
+f 1 19 31
+f 1 31 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 46
+f 1 46 45
+f 1 45 62
+f 1 62 69
+f 1 69 75
+f 1 75 79
+f 1 79 82
+f 1 82 84
+f 1 84 88
+f 1 88 93
+f 1 93 91
+f 1 91 89
+f 1 89 85
+f 1 85 80
+f 1 80 76
+f 1 76 71
+f 1 71 67
+f 1 67 59
+f 1 59 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 58
+f 1 58 66
+f 1 66 65
+f 1 65 64
+f 1 64 55
+f 1 55 32
+f 1 32 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 18
+f 8 18 16
+f 9 17 10
+f 10 17 16
+f 10 16 18
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 19
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 42
+f 15 42 60
+f 15 60 68
+f 15 68 72
+f 15 72 77
+f 15 77 81
+f 15 81 86
+f 15 86 90
+f 15 90 92
+f 15 92 87
+f 15 87 83
+f 15 83 78
+f 15 78 74
+f 15 74 73
+f 15 73 70
+f 15 70 63
+f 15 63 47
+f 15 47 25
+f 15 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 19 20 31
+f 20 30 31
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 33 43
+f 24 43 44
+f 24 44 34
+f 25 45 46
+f 25 46 26
+f 25 47 45
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 26 46 48
+f 27 50 51
+f 27 51 28
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 54
+f 29 54 30
+f 30 54 31
+f 32 55 56
+f 32 56 44
+f 32 44 43
+f 32 43 33
+f 34 44 57
+f 34 57 58
+f 34 58 37
+f 34 37 36
+f 34 36 35
+f 40 59 60
+f 40 60 42
+f 40 42 41
+f 44 56 61
+f 44 61 57
+f 45 47 62
+f 47 63 62
+f 55 64 56
+f 56 64 65
+f 56 65 66
+f 56 66 61
+f 57 61 66
+f 57 66 58
+f 59 67 60
+f 60 67 68
+f 62 63 70
+f 62 70 69
+f 67 71 72
+f 67 72 68
+f 69 73 74
+f 69 74 75
+f 69 70 73
+f 71 76 72
+f 72 76 77
+f 74 78 79
+f 74 79 75
+f 76 80 77
+f 77 80 81
+f 78 82 79
+f 78 83 84
+f 78 84 82
+f 80 85 81
+f 81 85 86
+f 83 87 84
+f 84 87 88
+f 85 89 86
+f 86 89 91
+f 86 91 90
+f 87 92 88
+f 88 92 93
+f 90 91 93
+f 90 93 92
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_86.obj b/new_drill/new_drill_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102e348835174fd71a2937e83d23942e38bb76ec
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.01860967 0.01957615 0.06524553
+v -0.01983415 0.01957615 0.07034603
+v -0.01943201 0.02844094 0.07223094
+v -0.01609293 0.02844094 0.06524553
+v 0.02278324 0.01957615 0.06524553
+v -0.01983415 0.01957615 0.07058015
+v -0.01965793 0.02429490 0.07178181
+v -0.01943201 0.02844094 0.07327971
+v 0.02387217 0.02844094 0.06524553
+v 0.02387217 0.02843053 0.06524553
+v 0.02632566 0.02844094 0.07048937
+v 0.02544005 0.01957615 0.07204699
+v -0.01979800 0.01957615 0.07509295
+v -0.01965793 0.02429490 0.07393190
+v -0.01938231 0.01957615 0.07619906
+v -0.01898921 0.02019918 0.07703998
+v -0.01871811 0.02429490 0.07639257
+v -0.01841990 0.02844094 0.07574037
+v 0.02632566 0.02844094 0.07099583
+v 0.02544005 0.01957615 0.07363806
+v -0.01902536 0.01957615 0.07713076
+v -0.01635048 0.02844094 0.07879350
+v 0.02596870 0.02844094 0.07520524
+v 0.02576989 0.02429490 0.07438104
+v 0.02452734 0.01957615 0.07599838
+v -0.01657188 0.01957615 0.07983510
+v -0.01626011 0.02429490 0.07956515
+v -0.01596189 0.02844094 0.07929280
+v 0.02576086 0.02844094 0.07571409
+v 0.02448667 0.01957615 0.07609872
+v -0.01410032 0.01957615 0.08229815
+v -0.01405514 0.02022174 0.08226231
+v -0.01377500 0.02429490 0.08202581
+v -0.01386085 0.02844094 0.08136406
+v 0.02523673 0.02844094 0.07681780
+v 0.02477133 0.02429490 0.07684169
+v 0.02212808 0.01957615 0.07935969
+v -0.00562835 0.01957615 0.08831602
+v -0.01139381 0.02844094 0.08329197
+v -0.01346775 0.02844094 0.08175107
+v 0.02498370 0.02844094 0.07732905
+v 0.02496562 0.02807128 0.07729799
+v 0.02202415 0.01957615 0.07947437
+v -0.00502289 0.02429490 0.08785016
+v -0.01100975 0.02844094 0.08355476
+v -0.00197298 0.01957615 0.08946990
+v 0.02250762 0.02844094 0.07988766
+v 0.02231333 0.02429490 0.07971804
+v 0.01955712 0.01957615 0.08193502
+v -0.00444002 0.02676274 0.08736521
+v -0.00612085 0.02844094 0.08605843
+v -0.00197298 0.02429490 0.08856686
+v 0.00294754 0.01957615 0.08964908
+v 0.02004510 0.02844094 0.08234593
+v 0.02003607 0.02825351 0.08233876
+v 0.01983726 0.02429490 0.08217870
+v 0.01150536 0.01957615 0.08816312
+v -0.00197298 0.02724086 0.08751571
+v -0.00303028 0.02844094 0.08692085
+v 0.00294754 0.02429490 0.08872454
+v 0.00294754 0.02844094 0.08738431
+v 0.00009644 0.02844094 0.08723620
+v 0.00785902 0.01957615 0.08935762
+v 0.01705393 0.02844094 0.08414723
+v 0.01140595 0.01957615 0.08822286
+v -0.00197298 0.02844094 0.08706180
+v 0.00785902 0.02429490 0.08838291
+v 0.00785902 0.02725214 0.08752526
+v 0.00785902 0.02844094 0.08712391
+v 0.00798102 0.01957615 0.08933135
+v 0.01041643 0.02688249 0.08740821
+v 0.01222830 0.02844094 0.08629971
+v 0.01085471 0.02429490 0.08773789
+v 0.01198431 0.02844094 0.08640722
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 12
+f 1 12 20
+f 1 20 25
+f 1 25 30
+f 1 30 37
+f 1 37 43
+f 1 43 49
+f 1 49 57
+f 1 57 65
+f 1 65 70
+f 1 70 63
+f 1 63 53
+f 1 53 46
+f 1 46 38
+f 1 38 31
+f 1 31 26
+f 1 26 21
+f 1 21 15
+f 1 15 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 7 14
+f 3 14 8
+f 3 8 18
+f 3 18 22
+f 3 22 28
+f 3 28 34
+f 3 34 40
+f 3 40 39
+f 3 39 45
+f 3 45 51
+f 3 51 59
+f 3 59 66
+f 3 66 62
+f 3 62 61
+f 3 61 69
+f 3 69 74
+f 3 74 72
+f 3 72 64
+f 3 64 54
+f 3 54 47
+f 3 47 41
+f 3 41 35
+f 3 35 29
+f 3 29 23
+f 3 23 19
+f 3 19 11
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+f 5 11 12
+f 6 13 14
+f 8 14 13
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+f 8 16 17
+f 8 17 18
+f 9 11 10
+f 11 19 20
+f 11 20 12
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 18
+f 19 23 24
+f 19 24 20
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+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 30
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+f 23 25 24
+f 26 31 27
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+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 29 35 36
+f 29 36 30
+f 30 36 37
+f 31 38 39
+f 31 39 32
+f 32 39 33
+f 33 40 34
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+f 38 45 39
+f 38 46 44
+f 41 47 48
+f 41 48 43
+f 43 48 49
+f 44 50 51
+f 44 51 45
+f 44 46 52
+f 44 52 50
+f 46 53 52
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 48 56 49
+f 49 56 57
+f 50 52 58
+f 50 58 59
+f 50 59 51
+f 52 53 60
+f 52 60 61
+f 52 61 62
+f 52 62 58
+f 53 63 60
+f 54 64 57
+f 54 57 55
+f 55 57 56
+f 57 64 65
+f 58 66 59
+f 58 62 66
+f 60 63 67
+f 60 67 68
+f 60 68 61
+f 61 68 69
+f 63 70 71
+f 63 71 67
+f 64 72 73
+f 64 73 65
+f 65 73 70
+f 67 71 68
+f 68 71 69
+f 69 71 74
+f 70 73 71
+f 71 73 74
+f 72 74 73
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_87.obj b/new_drill/new_drill_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b4c730196ce05e946ad76fa7978658eaea0291
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00204827 -0.01918707 -0.07293182
+v 0.01517273 -0.01918707 -0.07293182
+v -0.00204827 -0.01918707 -0.07079685
+v -0.00204827 0.04538197 -0.07293182
+v 0.01517273 -0.01918707 -0.07079685
+v 0.01517273 0.04281187 -0.07293182
+v -0.00204827 0.04541995 -0.07079685
+v -0.00204827 0.04546426 -0.07292680
+v -0.00197914 0.04548325 -0.07293182
+v 0.01517273 0.04276123 -0.07079685
+v 0.01278196 0.04364747 -0.07293182
+v 0.01517273 0.04281187 -0.07257714
+v -0.00202467 0.04542628 -0.07079685
+v -0.00204827 0.04546426 -0.07250775
+v 0.00294235 0.04511610 -0.07293182
+v -0.00197914 0.04547692 -0.07257714
+v 0.00294235 0.04511610 -0.07257714
+v 0.01517273 0.04276755 -0.07088192
+v 0.01278196 0.04359682 -0.07079685
+v 0.00821622 0.04442610 -0.07293182
+v 0.01278196 0.04364747 -0.07257714
+v -0.00198252 0.04543261 -0.07079685
+v 0.00329641 0.04507178 -0.07293182
+v 0.00294235 0.04507811 -0.07079685
+v 0.00786047 0.04448307 -0.07257714
+v 0.01100152 0.04390701 -0.07079685
+v 0.00786047 0.04448307 -0.07293182
+v 0.00786047 0.04444508 -0.07079685
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 27
+f 1 27 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 26
+f 3 26 28
+f 3 28 24
+f 3 24 22
+f 3 22 13
+f 3 13 7
+f 4 8 9
+f 6 11 21
+f 6 21 12
+f 7 13 14
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 15
+f 10 18 19
+f 11 20 21
+f 12 21 18
+f 13 22 16
+f 13 16 14
+f 15 17 23
+f 16 22 24
+f 16 24 17
+f 17 24 28
+f 17 28 25
+f 17 25 23
+f 18 21 19
+f 19 21 26
+f 20 27 25
+f 20 25 21
+f 21 25 28
+f 21 28 26
+f 23 25 27
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_88.obj b/new_drill/new_drill_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80613a8b6fb3a8e67b0c287c30f9a617d927c7d7
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01653861 0.01957528 0.08418234
+v 0.01150562 0.01957528 0.08816557
+v 0.01142887 0.01937372 0.08824754
+v 0.01653587 0.01953949 0.08418234
+v -0.01117843 0.01957528 0.08418234
+v 0.01140694 0.01957528 0.08822650
+v 0.01594101 0.01445282 0.08418234
+v 0.01652216 0.01937372 0.08418234
+v 0.00785973 0.01937372 0.08940202
+v 0.01107250 0.01445282 0.08797685
+v -0.01127712 0.01900326 0.08418234
+v -0.00566024 0.01937372 0.08833758
+v -0.00563283 0.01957528 0.08831764
+v 0.00798309 0.01957528 0.08933353
+v 0.01582862 0.01411563 0.08418234
+v 0.00785973 0.01445282 0.08883205
+v 0.00785973 0.01957528 0.08935995
+v 0.00293914 0.01957528 0.08965060
+v 0.00293914 0.01937372 0.08969050
+v 0.01077919 0.01316122 0.08772665
+v 0.01320522 0.01316122 0.08594074
+v 0.01550789 0.01316122 0.08418234
+v -0.01145256 0.01494321 0.08418234
+v -0.01146627 0.01316122 0.08418234
+v -0.00526550 0.01445282 0.08795636
+v -0.00197871 0.01937372 0.08951040
+v -0.00197871 0.01957528 0.08947157
+v 0.00293914 0.01445282 0.08901916
+v 0.00293914 0.01316122 0.08862823
+v 0.00631365 0.01316122 0.08849990
+v 0.00785973 0.01316122 0.08839475
+v -0.00880175 0.01316122 0.08570187
+v -0.00562461 0.01316122 0.08745327
+v -0.00500782 0.01316122 0.08775199
+v -0.00197871 0.01445282 0.08875764
+v -0.00197871 0.01316122 0.08835862
+v -0.00320406 0.01316122 0.08819146
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 15
+f 1 15 22
+f 1 22 24
+f 1 24 23
+f 1 23 11
+f 1 11 5
+f 1 5 13
+f 1 13 27
+f 1 27 18
+f 1 18 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 5 12 13
+f 6 14 9
+f 7 10 15
+f 9 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 16 20
+f 10 20 21
+f 10 21 22
+f 10 22 15
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 16 19 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 20
+f 18 27 19
+f 19 27 26
+f 19 26 28
+f 20 31 30
+f 20 30 29
+f 20 29 36
+f 20 36 37
+f 20 37 34
+f 20 34 33
+f 20 33 32
+f 20 32 24
+f 20 24 22
+f 20 22 21
+f 24 32 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 25 32 33
+f 26 35 28
+f 28 35 29
+f 29 35 36
+f 34 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_89.obj b/new_drill/new_drill_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d0af8c6e1e3623a22ec8850b67dcb7da02581f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02684207 0.00679304 -0.06272430
+v 0.02533131 0.00679304 -0.06076952
+v 0.02686785 0.00460813 -0.06272430
+v -0.02554449 0.00679304 -0.06272430
+v 0.02532100 0.00460813 -0.06076952
+v -0.02391514 0.00679304 -0.06076952
+v 0.02644505 -0.00031179 -0.06272430
+v -0.02572495 0.00507719 -0.06272430
+v -0.02491544 0.00679304 -0.06195949
+v 0.02478992 -0.00031179 -0.06076952
+v -0.02577136 0.00460813 -0.06272430
+v -0.02412139 0.00460813 -0.06076952
+v 0.02546537 -0.00523172 -0.06272430
+v 0.02447024 -0.00174483 -0.06076952
+v -0.02580745 0.00011932 -0.06272430
+v -0.02412654 0.00401664 -0.06076952
+v 0.02427946 -0.00321409 -0.06092872
+v 0.02401134 -0.00523172 -0.06114704
+v 0.02380509 -0.01015165 -0.06272430
+v 0.02406806 -0.00321409 -0.06076952
+v -0.02580230 -0.00031179 -0.06272430
+v -0.02410076 -0.00031179 -0.06076952
+v -0.02412654 0.00395973 -0.06076952
+v 0.02350603 -0.00523172 -0.06076952
+v 0.02300589 -0.00673374 -0.06076952
+v 0.02145388 -0.01082420 -0.06076952
+v 0.02239231 -0.01082420 -0.06159001
+v 0.02316057 -0.01015165 -0.06206550
+v 0.02353182 -0.01082420 -0.06272430
+v -0.02562183 -0.00321409 -0.06272430
+v -0.02406983 -0.00084983 -0.06076952
+v -0.02266220 -0.01082420 -0.06076952
+v 0.02299042 -0.01082420 -0.06217456
+v -0.02467310 -0.01082420 -0.06272430
+v -0.02553933 -0.00448503 -0.06272430
+v -0.02385842 -0.00321409 -0.06076952
+v -0.02284266 -0.01015165 -0.06076952
+v -0.02317781 -0.01015165 -0.06099683
+v -0.02310047 -0.01082420 -0.06106955
+v -0.02342531 -0.01082420 -0.06140478
+v -0.02480716 -0.01015165 -0.06272430
+v -0.02547230 -0.00523172 -0.06272430
+v -0.02367796 -0.00523172 -0.06076952
+v -0.02284782 -0.01012923 -0.06076952
+v -0.02345624 -0.00676995 -0.06076952
+v -0.02365733 -0.00541452 -0.06076952
+v -0.02500309 -0.00886002 -0.06272430
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 29
+f 1 29 34
+f 1 34 41
+f 1 41 47
+f 1 47 42
+f 1 42 35
+f 1 35 30
+f 1 30 21
+f 1 21 15
+f 1 15 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 16
+f 2 16 23
+f 2 23 22
+f 2 22 31
+f 2 31 36
+f 2 36 43
+f 2 43 46
+f 2 46 45
+f 2 45 44
+f 2 44 37
+f 2 37 32
+f 2 32 26
+f 2 26 25
+f 2 25 24
+f 2 24 20
+f 2 20 14
+f 2 14 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 6 9 11
+f 6 11 12
+f 7 10 13
+f 8 11 9
+f 10 14 13
+f 11 15 16
+f 11 16 12
+f 13 14 17
+f 13 17 18
+f 13 18 19
+f 14 20 17
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 20 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 18 20 24
+f 19 28 29
+f 21 30 31
+f 21 31 22
+f 26 32 39
+f 26 39 40
+f 26 40 34
+f 26 34 29
+f 26 29 33
+f 26 33 27
+f 27 33 28
+f 28 33 29
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 39
+f 34 40 38
+f 34 38 41
+f 35 42 43
+f 35 43 36
+f 37 44 38
+f 38 45 46
+f 38 46 47
+f 38 47 41
+f 38 40 39
+f 38 44 45
+f 42 47 46
+f 42 46 43
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_9.obj b/new_drill/new_drill_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfb713e64cb02082cbee22c8b2815c0bce23adb
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01047928 0.00171600 -0.02479389
+v 0.01047928 -0.00664845 -0.02479389
+v 0.01047928 0.00171600 -0.02633563
+v -0.01315645 0.00171600 -0.02479389
+v 0.01000731 -0.00740212 -0.02479389
+v 0.01047928 -0.00627928 -0.02633563
+v -0.01306159 0.00171600 -0.02633563
+v -0.01296905 -0.00031124 -0.02479389
+v 0.00754564 -0.00908574 -0.02479389
+v 0.00739063 -0.00896310 -0.02633563
+v 0.00985230 -0.00727565 -0.02633563
+v -0.01287188 -0.00031124 -0.02633563
+v -0.01075493 -0.00544130 -0.02479389
+v 0.00293926 -0.01114363 -0.02479389
+v 0.00293926 -0.01089454 -0.02633563
+v -0.01075956 -0.00515005 -0.02633563
+v -0.00928117 -0.00761416 -0.02530796
+v -0.00970919 -0.00704955 -0.02479389
+v -0.00197945 -0.01133397 -0.02479389
+v -0.00197945 -0.01107210 -0.02633563
+v -0.00979248 -0.00663695 -0.02633563
+v -0.00913310 -0.00748642 -0.02633563
+v -0.00828401 -0.00808297 -0.02633563
+v -0.00871665 -0.00805998 -0.02479389
+v -0.00326118 -0.01081917 -0.02479389
+v -0.00392750 -0.01029033 -0.02633563
+v -0.00678480 -0.00904103 -0.02633563
+v -0.00709482 -0.00909595 -0.02479389
+v -0.00464240 -0.01000291 -0.02633563
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 24
+f 1 24 28
+f 1 28 25
+f 1 25 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 10
+f 3 10 15
+f 3 15 20
+f 3 20 26
+f 3 26 29
+f 3 29 27
+f 3 27 23
+f 3 23 22
+f 3 22 21
+f 3 21 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 23 27 24
+f 24 27 28
+f 25 28 27
+f 25 27 29
+f 25 29 26
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_90.obj b/new_drill/new_drill_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66788cfbdba2f0abd0f1cf40cd239c64aba1c34f
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_91.obj b/new_drill/new_drill_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c76033e020a802f93912493c3718f839d5af1c9
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,384 @@
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\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_92.obj b/new_drill/new_drill_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6600ecaabc27879ecfd5cded9189760ea494a19
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
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+f 1 46 47
+f 1 47 31
+f 1 31 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
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+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 12 14 21
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 21
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 17 31 18
+f 18 32 20
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+f 18 58 68
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+f 29 44 30
+f 30 44 45
+f 30 45 46
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+f 38 51 48
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+f 43 55 56
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+f 43 57 58
+f 43 58 59
+f 43 59 53
+f 44 53 60
+f 44 60 45
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+f 50 62 63
+f 50 63 51
+f 51 63 64
+f 51 64 61
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+f 56 65 66
+f 56 66 67
+f 56 67 57
+f 57 67 68
+f 57 68 58
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+f 64 72 69
+f 64 71 73
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+f 65 74 66
+f 66 75 67
+f 66 74 75
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+f 67 77 78
+f 67 78 79
+f 67 79 80
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+f 71 81 78
+f 71 78 73
+f 72 73 82
+f 73 83 82
+f 73 78 77
+f 73 77 84
+f 73 84 83
+f 76 84 77
+f 78 81 85
+f 78 85 79
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_93.obj b/new_drill/new_drill_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd4e33d3dce266cc55d9fea55c0f098ee1d2ac0
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01884588 -0.00821982 -0.09935272
+v -0.01884588 -0.00821982 -0.09438159
+v -0.01884588 0.02948919 -0.09935272
+v -0.00437752 -0.00821982 -0.09935321
+v 0.00959529 -0.00821982 -0.09438159
+v -0.01884588 0.02958531 -0.09438159
+v -0.01884588 0.03098952 -0.09718303
+v -0.01884310 0.03023309 -0.09935272
+v -0.00437752 0.03447498 -0.09935321
+v 0.00959529 -0.00821982 -0.09935321
+v 0.00959529 0.03447498 -0.09438159
+v -0.01883474 0.03112326 -0.09438159
+v -0.01884588 0.03100206 -0.09709445
+v -0.01680801 0.03413647 -0.09718303
+v -0.01611201 0.03447498 -0.09935272
+v 0.00959529 0.03447498 -0.09935321
+v -0.01659921 0.03447498 -0.09438159
+v -0.01658529 0.03447498 -0.09718303
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
+f 2 17 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 9 16
+f 4 16 10
+f 5 10 16
+f 5 16 11
+f 6 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 15 18
+f 9 18 17
+f 9 17 11
+f 9 11 16
+f 12 17 18
+f 12 18 14
+f 12 14 13
+f 14 18 15
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_94.obj b/new_drill/new_drill_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85cd0bef3f2d052301f31a0470bb7a309f862be
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v -0.02625640 -0.00556985 0.05684189
+v -0.02668498 -0.00556985 0.06029684
+v -0.02617667 -0.00523237 0.05684189
+v 0.02388257 -0.00556985 0.05684189
+v -0.02647069 -0.00556985 0.06488302
+v -0.02637102 -0.00523237 0.06521831
+v -0.02660026 -0.00523237 0.06029684
+v -0.02557366 -0.00305715 0.05684189
+v 0.02380781 -0.00305715 0.05684189
+v 0.02422643 -0.00556985 0.06029684
+v -0.02645076 -0.00556985 0.06521831
+v -0.02532947 -0.00523237 0.07013979
+v -0.02520987 -0.00305715 0.06819802
+v -0.02575307 -0.00305715 0.06533493
+v -0.02588264 -0.00305715 0.06258264
+v -0.02598729 -0.00305715 0.06029684
+v 0.02393240 -0.00305715 0.05812183
+v 0.02421148 -0.00523237 0.06029684
+v 0.02397227 -0.00556985 0.06521831
+v -0.02547898 -0.00556985 0.06980450
+v -0.02539426 -0.00556985 0.07013979
+v -0.02426300 -0.00305715 0.07231188
+v -0.02479623 -0.00305715 0.07013979
+v 0.02409187 -0.00305715 0.06029684
+v 0.02395732 -0.00523237 0.06521831
+v 0.02385765 -0.00305715 0.06521831
+v 0.02325465 -0.00305715 0.07013979
+v 0.02318986 -0.00556985 0.07013979
+v -0.02450221 -0.00556985 0.07287167
+v -0.02415337 -0.00305715 0.07265300
+v 0.02192405 -0.00305715 0.07505834
+v 0.02164498 -0.00556985 0.07508459
+v -0.02439756 -0.00556985 0.07312824
+v -0.02436766 -0.00523237 0.07307285
+v -0.02359023 -0.00305715 0.07380757
+v 0.02120643 -0.00305715 0.07658610
+v 0.02039412 -0.00523237 0.07779606
+v 0.02036920 -0.00556985 0.07776982
+v -0.02316165 -0.00556985 0.07541987
+v -0.02291247 -0.00305715 0.07505834
+v 0.02053366 -0.00305715 0.07795642
+v 0.02018481 -0.00556985 0.07795642
+v 0.01916319 -0.00305715 0.07932965
+v 0.01791234 -0.00556985 0.08023347
+v -0.02306198 -0.00556985 0.07558606
+v -0.02303706 -0.00523237 0.07553358
+v -0.02181112 -0.00305715 0.07694180
+v 0.01807181 -0.00305715 0.08041715
+v 0.01761831 -0.00556985 0.08051920
+v -0.02076957 -0.00556985 0.07884566
+v -0.02044066 -0.00305715 0.07889523
+v 0.01669636 -0.00305715 0.08173790
+v 0.01545049 -0.00556985 0.08260966
+v -0.02060013 -0.00556985 0.07905267
+v -0.02058020 -0.00523237 0.07903226
+v -0.01934429 -0.00305715 0.07998274
+v 0.01560996 -0.00305715 0.08273211
+v 0.01547541 -0.00523237 0.08262424
+v 0.01530597 -0.00556985 0.08269421
+v -0.01828281 -0.00556985 0.08134430
+v -0.01795888 -0.00305715 0.08135596
+v 0.01410993 -0.00305715 0.08350765
+v 0.01280923 -0.00556985 0.08398289
+v -0.01810838 -0.00556985 0.08151340
+v -0.01808845 -0.00523237 0.08149299
+v -0.01686749 -0.00305715 0.08225105
+v 0.01277933 -0.00305715 0.08407327
+v 0.01244544 -0.00556985 0.08415199
+v 0.01277933 -0.00523237 0.08401496
+v -0.01581597 -0.00556985 0.08326566
+v -0.01549703 -0.00305715 0.08330065
+v 0.01003343 -0.00305715 0.08492461
+v 0.00786062 -0.00556985 0.08557187
+v -0.01565152 -0.00556985 0.08338520
+v -0.01181921 -0.00556985 0.08511704
+v -0.01181921 -0.00523237 0.08507914
+v -0.01181921 -0.00305715 0.08482840
+v 0.00786062 -0.00305715 0.08532696
+v 0.00758155 -0.00556985 0.08564476
+v -0.00753340 -0.00556985 0.08614332
+v -0.00657159 -0.00556985 0.08636491
+v -0.00672607 -0.00305715 0.08578762
+v 0.00514960 -0.00305715 0.08573514
+v 0.00266782 -0.00556985 0.08635615
+v -0.00252997 -0.00556985 0.08661856
+v -0.00197680 -0.00305715 0.08592466
+v 0.00509976 -0.00305715 0.08573806
+v -0.00197680 -0.00556985 0.08662439
+v 0.00009633 -0.00305715 0.08589550
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 28
+f 1 28 32
+f 1 32 38
+f 1 38 42
+f 1 42 44
+f 1 44 49
+f 1 49 53
+f 1 53 59
+f 1 59 63
+f 1 63 68
+f 1 68 73
+f 1 73 79
+f 1 79 84
+f 1 84 88
+f 1 88 85
+f 1 85 81
+f 1 81 80
+f 1 80 75
+f 1 75 74
+f 1 74 70
+f 1 70 64
+f 1 64 60
+f 1 60 54
+f 1 54 50
+f 1 50 45
+f 1 45 39
+f 1 39 33
+f 1 33 29
+f 1 29 21
+f 1 21 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
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+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 23
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+f 8 22 30
+f 8 30 35
+f 8 35 40
+f 8 40 47
+f 8 47 51
+f 8 51 56
+f 8 56 61
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+f 8 66 71
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+f 8 86 89
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+f 8 24 17
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 10 18 25
+f 10 25 19
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 20 21
+f 17 24 18
+f 18 24 26
+f 18 26 25
+f 19 27 28
+f 19 25 27
+f 21 29 30
+f 21 30 22
+f 25 26 27
+f 27 31 28
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+f 32 37 38
+f 33 39 35
+f 33 35 34
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+f 39 45 46
+f 39 46 40
+f 40 46 47
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+f 48 52 53
+f 48 53 49
+f 50 54 55
+f 50 55 51
+f 51 55 56
+f 52 57 58
+f 52 58 53
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+f 54 60 55
+f 55 60 61
+f 55 61 56
+f 57 62 59
+f 57 59 58
+f 59 62 63
+f 60 64 65
+f 60 65 61
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+f 62 67 68
+f 62 68 69
+f 62 69 63
+f 63 69 68
+f 64 70 71
+f 64 71 66
+f 64 66 65
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+f 68 72 73
+f 70 74 71
+f 71 74 75
+f 71 75 76
+f 71 76 77
+f 72 78 79
+f 72 79 73
+f 75 80 76
+f 76 80 77
+f 77 80 81
+f 77 81 82
+f 78 83 79
+f 79 83 84
+f 81 85 82
+f 82 85 86
+f 83 87 84
+f 84 87 88
+f 85 88 86
+f 86 88 89
+f 87 89 88
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_95.obj b/new_drill/new_drill_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae0845e76668892e48a2f9f52d776a3a342d3156
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02024739 0.02845067 -0.07747759
+v -0.02024739 0.02847489 -0.07757739
+v -0.02187914 0.02642898 -0.08041565
+v -0.02187914 0.02553920 -0.07748733
+v -0.02187914 0.02410464 -0.07747759
+v -0.02024739 -0.03165534 -0.07747759
+v -0.02024739 0.02854147 -0.07807397
+v -0.02101423 0.02880175 -0.08734334
+v -0.02187914 0.02766984 -0.08734334
+v -0.02187914 0.02726429 -0.08463652
+v -0.02187914 -0.02945811 -0.07747759
+v -0.02170776 -0.02983339 -0.07747759
+v -0.02024739 -0.03215773 -0.07748733
+v -0.02024739 0.02909229 -0.08242142
+v -0.02024739 0.02967338 -0.08734334
+v -0.02024739 0.02964916 -0.08908378
+v -0.02024739 0.02943126 -0.09371360
+v -0.02085067 0.02875332 -0.09226039
+v -0.02187914 0.02725824 -0.09226039
+v -0.02187914 -0.02945811 -0.08734577
+v -0.02170807 -0.02983339 -0.07750193
+v -0.02024739 -0.03216379 -0.07750193
+v -0.02024739 0.02880780 -0.09717988
+v -0.02187914 0.02594474 -0.09712632
+v -0.02039481 0.02858384 -0.09717988
+v -0.02187914 -0.02939758 -0.09717988
+v -0.02170791 -0.02983339 -0.08734577
+v -0.02170807 -0.02983339 -0.08242142
+v -0.02024739 -0.03215168 -0.09109198
+v -0.02024739 0.02869279 -0.09752796
+v -0.02187914 0.02419544 -0.10060234
+v -0.02024739 0.02838409 -0.09823144
+v -0.02024739 0.02646530 -0.10234521
+v -0.02187914 -0.02813856 -0.09996701
+v -0.02061827 -0.02995445 -0.10206041
+v -0.02167980 -0.02983339 -0.09717988
+v -0.02024739 -0.03212747 -0.09717988
+v -0.02146449 0.02405016 -0.10234521
+v -0.02187914 0.02311800 -0.10234521
+v -0.02134055 0.02431044 -0.10234521
+v -0.02024739 -0.03023894 -0.10234521
+v -0.02187914 -0.02717614 -0.10209206
+v -0.02058984 -0.02988787 -0.10234521
+v -0.02024739 -0.03093503 -0.10145917
+v -0.02024739 -0.03177640 -0.09937794
+v -0.02187914 -0.02706113 -0.10234521
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 13
+f 1 13 22
+f 1 22 29
+f 1 29 37
+f 1 37 45
+f 1 45 44
+f 1 44 41
+f 1 41 33
+f 1 33 32
+f 1 32 30
+f 1 30 23
+f 1 23 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 19
+f 3 19 24
+f 3 24 31
+f 3 31 39
+f 3 39 46
+f 3 46 42
+f 3 42 34
+f 3 34 26
+f 3 26 20
+f 3 20 11
+f 3 11 5
+f 3 5 4
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 11 20 28
+f 11 28 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 17 23 19
+f 17 19 18
+f 19 23 25
+f 19 25 24
+f 20 26 27
+f 20 27 28
+f 21 28 22
+f 22 28 27
+f 22 27 29
+f 23 30 25
+f 24 25 32
+f 24 32 33
+f 24 33 31
+f 25 30 32
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 27 37 29
+f 31 38 39
+f 31 33 40
+f 31 40 38
+f 33 41 43
+f 33 43 46
+f 33 46 39
+f 33 39 38
+f 33 38 40
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 41 44 43
+f 42 46 43
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_96.obj b/new_drill/new_drill_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b124b4c677025fc181a67266609ba1a5284d80a
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01830649 0.04021572 0.05065053
+v -0.01874746 0.04021572 0.05131348
+v -0.01923302 0.04168113 0.05224092
+v -0.01815290 0.04168113 0.05065053
+v 0.02813905 0.04021572 0.05065053
+v -0.01894565 0.04021572 0.05169133
+v -0.01927762 0.04168113 0.05232451
+v 0.02785663 0.04168113 0.05065053
+v 0.02787645 0.04157884 0.05065053
+v 0.02915476 0.04021572 0.05327256
+v -0.01967895 0.04021572 0.05537591
+v -0.01973841 0.04033608 0.05537591
+v -0.01937176 0.04101175 0.05250427
+v -0.01937176 0.04168113 0.05250427
+v 0.02844624 0.04168113 0.05217566
+v 0.02959078 0.04021572 0.05448855
+v -0.01981768 0.04021572 0.05664457
+v -0.02007037 0.04021572 0.06029595
+v -0.01990687 0.04168113 0.05719188
+v 0.02942727 0.04168113 0.05493281
+v 0.03013580 0.04168113 0.05725370
+v 0.03022003 0.04021572 0.05688731
+v -0.01999605 0.04021572 0.06234664
+v -0.02011496 0.04168113 0.06029595
+v -0.01996632 0.04168113 0.05806665
+v 0.03017048 0.04168113 0.05761094
+v 0.03043804 0.04021572 0.05911203
+v -0.01997128 0.04168113 0.06234664
+v -0.02008524 0.04168113 0.06072762
+v 0.03036867 0.04021572 0.06234664
+v 0.03018039 0.04168113 0.05780102
+v 0.03029930 0.04168113 0.06029595
+v 0.03049254 0.04021572 0.06029595
+v 0.03022498 0.04168113 0.06234664
+f 1 2 3
+f 1 3 4
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+f 1 8 9
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+f 1 5 10
+f 1 10 16
+f 1 16 22
+f 1 22 27
+f 1 27 33
+f 1 33 30
+f 1 30 23
+f 1 23 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
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+f 3 14 19
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+f 3 34 32
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+f 3 20 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
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+f 21 26 27
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+f 23 28 29
+f 23 29 24
+f 23 30 34
+f 23 34 28
+f 26 31 27
+f 27 32 33
+f 27 31 32
+f 30 33 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_97.obj b/new_drill/new_drill_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040d92423fa53deb917ff0c9174562b8fd953bd0
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00759263 0.04452363 -0.07747515
+v 0.00759263 0.04452209 -0.07575462
+v 0.00783987 0.04449141 -0.07747515
+v 0.00759263 0.02885434 -0.07747515
+v 0.00786294 0.04448681 -0.07575462
+v 0.00759263 0.02885434 -0.07575462
+v 0.00786294 0.04448835 -0.07747515
+v 0.02442785 0.02885434 -0.07747515
+v 0.01090561 0.04396987 -0.07575462
+v 0.02442785 0.02885434 -0.07575462
+v 0.01278462 0.04365081 -0.07747515
+v 0.02442785 0.03021955 -0.07747515
+v 0.01104077 0.04394686 -0.07575462
+v 0.02442785 0.03021648 -0.07575462
+v 0.01278462 0.04364928 -0.07575462
+v 0.01529325 0.04277492 -0.07575462
+v 0.01663493 0.04230860 -0.07747515
+v 0.02442785 0.03021955 -0.07732559
+v 0.02299058 0.03411885 -0.07747515
+v 0.02352461 0.03266620 -0.07575462
+v 0.01664976 0.04230094 -0.07575462
+v 0.01665306 0.04230094 -0.07747515
+v 0.02298234 0.03413879 -0.07747515
+v 0.02298069 0.03413879 -0.07575462
+v 0.02298564 0.03412652 -0.07575462
+v 0.01904467 0.04059365 -0.07575462
+v 0.01911390 0.04054763 -0.07747515
+v 0.01666460 0.04229326 -0.07747515
+v 0.02292960 0.03424616 -0.07575462
+v 0.02109344 0.03808718 -0.07747515
+v 0.01911060 0.04054609 -0.07575462
+v 0.02109180 0.03808564 -0.07575462
+v 0.02109839 0.03807337 -0.07575462
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 22
+f 1 22 28
+f 1 28 27
+f 1 27 30
+f 1 30 23
+f 1 23 19
+f 1 19 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 20
+f 2 20 25
+f 2 25 24
+f 2 24 29
+f 2 29 33
+f 2 33 32
+f 2 32 31
+f 2 31 26
+f 2 26 21
+f 2 21 16
+f 2 16 15
+f 2 15 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 8 12 18
+f 8 18 14
+f 8 14 10
+f 9 13 11
+f 11 13 15
+f 11 15 16
+f 11 16 17
+f 12 19 18
+f 14 18 19
+f 14 19 20
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 23 30 29
+f 26 31 27
+f 27 31 32
+f 27 32 30
+f 29 30 33
+f 30 32 33
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_98.obj b/new_drill/new_drill_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d3ccd7e569393862f4293fb13f7c424bbc5ae
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01872707 0.03772196 0.05827962
+v -0.01888544 0.03772196 0.06029822
+v -0.01872707 0.03792140 0.05686716
+v -0.01872707 0.03772196 0.06498086
+v -0.02006035 0.03986942 0.06029822
+v -0.01872707 0.03813207 0.05537613
+v -0.01872892 0.03772196 0.06493783
+v -0.01872707 0.03774344 0.06521658
+v -0.01992357 0.04005348 0.06521658
+v -0.02007180 0.04021558 0.06029822
+v -0.01982155 0.04021558 0.05664641
+v -0.01968319 0.04021558 0.05537613
+v -0.01872707 0.03980205 0.05126970
+v -0.01872707 0.03879679 0.07029582
+v -0.01983261 0.04021558 0.06610708
+v -0.01990146 0.04021558 0.06543172
+v -0.01992081 0.04021558 0.06521471
+v -0.01894850 0.04021558 0.05169064
+v -0.01875077 0.04021558 0.05131461
+v -0.01872707 0.04014380 0.05126970
+v -0.01872707 0.03905579 0.07038001
+v -0.01932855 0.04021558 0.06918643
+v -0.01872707 0.04021558 0.05127906
+v -0.01872707 0.04021558 0.07022847
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 20
+f 1 20 23
+f 1 23 24
+f 1 24 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 4 9 5
+f 4 5 7
+f 5 10 11
+f 5 11 6
+f 5 9 10
+f 6 12 13
+f 6 11 12
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 16
+f 10 16 15
+f 10 15 22
+f 10 22 24
+f 10 24 23
+f 10 23 19
+f 10 19 18
+f 10 18 12
+f 10 12 11
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 19 23 20
+f 21 24 22
\ No newline at end of file
diff --git a/new_drill/new_drill_0/collision/model_normalized_collision_99.obj b/new_drill/new_drill_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2c40ce1fabf56685deb0a460d95d56715a9455
--- /dev/null
+++ b/new_drill/new_drill_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.01452198 -0.00305715 0.03521637
+v -0.01357966 -0.00556985 0.03521637
+v -0.01465941 -0.00305715 0.03535398
+v 0.01600055 -0.00305715 0.03521637
+v -0.01782994 -0.00556985 0.03951395
+v 0.01403737 -0.00556985 0.03521637
+v -0.01563118 -0.00305715 0.03637650
+v 0.01786557 -0.00305715 0.03834958
+v 0.01911710 -0.00556985 0.04187656
+v 0.01562754 -0.00403567 0.03521637
+v -0.02003361 -0.00556985 0.04197607
+v 0.01596619 -0.00556985 0.03698409
+v -0.01812933 -0.00305715 0.03942080
+v 0.02019685 -0.00305715 0.04266198
+v 0.02026556 -0.00326500 0.04287157
+v 0.02067292 -0.00556985 0.04466894
+v 0.01876863 -0.00556985 0.04130708
+v 0.01609380 -0.00556985 0.03711535
+v -0.02217348 -0.00556985 0.04524900
+v -0.01997962 -0.00305715 0.04188080
+v 0.02028028 -0.00305715 0.04283346
+v 0.02084470 -0.00305715 0.04405923
+v 0.02107537 -0.00556985 0.04543107
+v -0.02265446 -0.00556985 0.04599843
+v -0.02227654 -0.00305715 0.04577614
+v 0.02144837 -0.00305715 0.04539931
+v 0.02123242 -0.00556985 0.04583965
+v -0.02273298 -0.00556985 0.04615933
+v -0.02387654 -0.00428386 0.04876963
+v -0.02379310 -0.00305715 0.04926925
+v 0.02242996 -0.00305715 0.04827636
+v 0.02278824 -0.00556985 0.05045267
+v -0.02463727 -0.00556985 0.05033200
+v -0.02467653 -0.00556985 0.05045903
+v -0.02448512 -0.00305715 0.05151543
+v 0.02296002 -0.00305715 0.05045267
+v 0.02287659 -0.00556985 0.05078928
+v -0.02607529 -0.00556985 0.05537478
+v -0.02599677 -0.00523237 0.05537478
+v -0.02542745 -0.00305715 0.05544253
+v 0.02347045 -0.00305715 0.05319847
+v 0.02372566 -0.00556985 0.05537478
+v -0.02625689 -0.00556985 0.05684189
+v -0.02617836 -0.00523237 0.05684189
+v -0.02557469 -0.00305715 0.05684189
+v 0.02380419 -0.00305715 0.05684189
+v 0.02388272 -0.00556985 0.05684189
+v 0.02376983 -0.00556985 0.05571139
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 25
+f 1 25 30
+f 1 30 35
+f 1 35 40
+f 1 40 45
+f 1 45 46
+f 1 46 41
+f 1 41 36
+f 1 36 31
+f 1 31 26
+f 1 26 22
+f 1 22 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 18
+f 2 18 17
+f 2 17 9
+f 2 9 16
+f 2 16 23
+f 2 23 27
+f 2 27 32
+f 2 32 37
+f 2 37 42
+f 2 42 48
+f 2 48 47
+f 2 47 43
+f 2 43 38
+f 2 38 34
+f 2 34 33
+f 2 33 28
+f 2 28 24
+f 2 24 19
+f 2 19 11
+f 2 11 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 11 7
+f 6 10 12
+f 7 11 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 17 10
+f 10 17 18
+f 10 18 12
+f 11 19 20
+f 11 20 13
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 19 24 20
+f 20 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 25 29 30
+f 26 31 27
+f 27 31 32
+f 28 33 29
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 31 36 37
+f 31 37 32
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 36 41 37
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 39 44 40
+f 40 44 45
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 43 47 46
+f 43 46 45
+f 43 45 44
\ No newline at end of file
diff --git a/new_drill/new_drill_0/model.xml b/new_drill/new_drill_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e27341705b45ed900d4fcb2be1ca18a5cc857634
--- /dev/null
+++ b/new_drill/new_drill_0/model.xml
@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_drill_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_101.obj" name="model_normalized_collision_101._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_130.obj" name="model_normalized_collision_130._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_120.obj" name="model_normalized_collision_120._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_131.obj" name="model_normalized_collision_131._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_113.obj" name="model_normalized_collision_113._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_39.obj" name="model_normalized_collision_39._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_59.obj" name="model_normalized_collision_59._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_122.obj" name="model_normalized_collision_122._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_137.obj" name="model_normalized_collision_137._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_74.obj" name="model_normalized_collision_74._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_115.obj" name="model_normalized_collision_115._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_127.obj" name="model_normalized_collision_127._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_76.obj" name="model_normalized_collision_76._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_75.obj" name="model_normalized_collision_75._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_73.obj" name="model_normalized_collision_73._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_40.obj" name="model_normalized_collision_40._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_67.obj" name="model_normalized_collision_67._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_110.obj" name="model_normalized_collision_110._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_87.obj" name="model_normalized_collision_87._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_141.obj" name="model_normalized_collision_141._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_56.obj" name="model_normalized_collision_56._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_50.obj" name="model_normalized_collision_50._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_63.obj" name="model_normalized_collision_63._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_128.obj" name="model_normalized_collision_128._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_135.obj" name="model_normalized_collision_135._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_35.obj" name="model_normalized_collision_35._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_98.obj" name="model_normalized_collision_98._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_66.obj" name="model_normalized_collision_66._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_146.obj" name="model_normalized_collision_146._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_33.obj" name="model_normalized_collision_33._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_77.obj" name="model_normalized_collision_77._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_94.obj" name="model_normalized_collision_94._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_57.obj" name="model_normalized_collision_57._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_84.obj" name="model_normalized_collision_84._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_145.obj" name="model_normalized_collision_145._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_104.obj" name="model_normalized_collision_104._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_124.obj" name="model_normalized_collision_124._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_34.obj" name="model_normalized_collision_34._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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new file mode 100644
index 0000000000000000000000000000000000000000..2c32080aef50028e1c1735f05d508eec57b6ac16
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diff --git a/new_drill/new_drill_0/visual/model_normalized_0.obj b/new_drill/new_drill_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cf3419fde7a3a2125d8c03ec763c38e8b62be6
--- /dev/null
+++ b/new_drill/new_drill_0/visual/model_normalized_0.obj
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+mtllib materials.mtl
+usemtl nzgmza__base_link_vray
+o visuals
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+f 143 162 163
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+f 143 164 147
+f 145 152 157
+f 145 157 146
+f 146 165 166
+f 146 166 158
+f 146 157 167
+f 146 167 168
+f 146 168 165
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+f 148 164 163
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+f 162 172 163
+f 162 171 172
+f 167 170 168
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_1.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4ed233991aa925f9a084fd0c986746c8c14da4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.01599234 0.03238014 -0.02213111
+v -0.01659136 0.03238014 -0.02183675
+v -0.01599234 0.03271157 -0.02197812
+v -0.01599234 0.03238014 -0.00234706
+v -0.01659136 0.03253154 -0.02176510
+v -0.01659136 0.03238014 -0.00234706
+v -0.01659136 0.03304810 -0.02118994
+v -0.01599234 0.03298448 -0.02167408
+v -0.01599234 0.03304810 -0.00234706
+v -0.01659136 0.03304810 -0.00234706
+v -0.01659136 0.03325612 -0.02095755
+v -0.01599234 0.03363463 -0.02093624
+v -0.01599234 0.03781222 -0.00234899
+v -0.01657987 0.03726895 -0.00234899
+v -0.01659136 0.03725813 -0.00234899
+v -0.01659136 0.03387127 -0.02025651
+v -0.01599234 0.03406593 -0.02044629
+v -0.01599234 0.03804251 -0.00303260
+v -0.01659136 0.03748842 -0.00303260
+v -0.01659136 0.03531470 -0.01831799
+v -0.01599234 0.03552908 -0.01865108
+v -0.01599234 0.03851835 -0.00492851
+v -0.01659136 0.03769898 -0.00387308
+v -0.01659136 0.03605390 -0.01715218
+v -0.01655020 0.03610797 -0.01711538
+v -0.01606687 0.03610797 -0.01765762
+v -0.01599234 0.03610797 -0.01774089
+v -0.01599234 0.03861758 -0.00538942
+v -0.01659136 0.03809276 -0.00568959
+v -0.01659136 0.03610797 -0.01703017
+v -0.01659136 0.03652274 -0.01608512
+v -0.01637676 0.03633508 -0.01695077
+v -0.01599234 0.03651448 -0.01708633
+v -0.01599234 0.03886504 -0.00720786
+v -0.01659136 0.03823208 -0.00671016
+v -0.01659136 0.03702467 -0.01485540
+v -0.01599234 0.03748778 -0.01485540
+v -0.01599234 0.03887459 -0.00732793
+v -0.01659136 0.03832941 -0.00801154
+v -0.01659136 0.03788919 -0.01199314
+v -0.01599234 0.03832686 -0.01224683
+v -0.01599234 0.03887904 -0.00894497
+v -0.01659136 0.03833195 -0.00894497
+v -0.01659136 0.03816592 -0.01105196
+v -0.01599234 0.03879952 -0.01064141
+v -0.01599234 0.03883069 -0.01053296
+f 1 2 3
+f 1 3 8
+f 1 8 12
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+f 1 17 21
+f 1 21 27
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+f 1 33 37
+f 1 37 41
+f 1 41 45
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+f 20 26 21
+f 21 26 27
+f 22 28 29
+f 22 29 23
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+f 26 32 27
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+f 28 34 35
+f 28 35 29
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+f 31 37 32
+f 32 37 33
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+f 35 38 39
+f 36 40 41
+f 36 41 37
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 46 43
+f 43 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_10.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1444020c8f7075cb31098ba1ae1fabebabc50807
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00259848 0.00347769 -0.02337786
+v 0.00004367 0.00347769 -0.02306543
+v -0.00260704 0.00347769 -0.02336745
+v -0.00260704 0.00348267 -0.02337786
+v -0.00260704 0.02264136 -0.02473695
+v -0.00259848 0.02264136 -0.02473695
+v 0.00004367 0.01999929 -0.02418499
+v 0.00004367 0.00347769 0.02838733
+v -0.00260704 0.00347769 0.02773642
+v -0.00260704 0.02559688 -0.02480986
+v 0.00004367 0.02855490 -0.02448700
+v 0.00004367 0.02295482 -0.02433600
+v 0.00004367 0.02264136 -0.02432558
+v 0.00004367 0.00481365 0.02816862
+v -0.00104946 0.00648547 0.02802803
+v -0.00116052 0.00648547 0.02802803
+v -0.00142439 0.00490321 0.02816862
+v -0.00160732 0.00347769 0.02828839
+v -0.00260704 0.00490321 0.02758020
+v -0.00260704 0.02855490 -0.02461719
+v 0.00004367 0.02889324 -0.02445056
+v 0.00004367 0.01081676 0.02703865
+v 0.00004367 0.01347126 0.02646585
+v 0.00004367 0.01379716 0.02638775
+v 0.00004367 0.02264882 0.02417467
+v -0.00260704 0.01399619 0.02589826
+v -0.00260704 0.01081676 0.02663249
+v -0.00260704 0.02856236 -0.02461198
+v -0.00260601 0.02889324 -0.02457553
+v -0.00259848 0.02889324 -0.02457553
+v 0.00004367 0.02889324 0.01990473
+v 0.00004367 0.02547498 0.02294055
+v -0.00189143 0.02474356 0.02265936
+v -0.00260704 0.01423502 0.02583578
+v -0.00260704 0.02889324 -0.02432558
+v -0.00260549 0.02889324 0.01869144
+v 0.00004367 0.02734831 0.02128986
+v 0.00004367 0.02634572 0.02217509
+v -0.00025394 0.02671640 0.02171164
+v -0.00260704 0.02550732 0.02149814
+v -0.00260704 0.02437785 0.02239379
+v -0.00260704 0.02307424 0.02283641
+v -0.00260704 0.01458829 0.02571601
+v -0.00260704 0.02889324 0.01844670
+v -0.00260704 0.02766426 0.01967040
+f 1 2 8
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+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 25 34 26
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+f 32 36 33
+f 33 36 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 36 44 45
+f 36 45 40
+f 36 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_100.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066f6a871dbc914e7b4fa2b389ef65197f620346
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_100.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01514680 0.00347769 -0.02074579
+v 0.01514680 0.00489778 -0.02072255
+v 0.01518468 0.01059276 -0.02072255
+v 0.01675253 0.01059276 -0.02050762
+v 0.01656612 0.00347769 -0.02052505
+v 0.01514680 0.00347769 0.03798263
+v 0.01514680 0.00656512 -0.02065285
+v 0.01514680 0.00785706 -0.02058314
+v 0.01518468 0.01059276 0.03788969
+v 0.01675253 0.00347769 -0.02049020
+v 0.01675253 0.01059276 0.03808138
+v 0.01675253 0.00347769 0.03859838
+v 0.01514680 0.00348118 0.03812786
+v 0.01514680 0.00785706 0.03789550
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 12
+f 1 12 6
+f 1 6 13
+f 1 13 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 14
+f 3 14 9
+f 3 9 11
+f 3 11 4
+f 4 10 5
+f 4 11 12
+f 4 12 10
+f 6 12 13
+f 9 14 13
+f 9 13 12
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_101.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec4c910043c5949eb6433c5dec1251f3c1dd919
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_101.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02768866 -0.01133204 -0.02497025
+v -0.02902356 -0.01133204 -0.02491400
+v -0.02902356 0.00789620 -0.02533585
+v -0.02768866 -0.00843959 -0.02503051
+v -0.02768866 -0.01133204 0.01435006
+v -0.02902356 -0.01133204 0.01360680
+v -0.02902356 0.01017135 -0.02528763
+v -0.02768866 0.00967535 -0.02521934
+v -0.02768866 0.00883430 -0.02522335
+v -0.02768866 0.00882082 -0.02522335
+v -0.02768866 -0.00983595 0.01477191
+v -0.02902356 -0.00978473 0.01401660
+v -0.02902356 0.01164858 -0.02516711
+v -0.02768866 0.01115527 -0.02513899
+v -0.02768866 -0.00692192 0.01531428
+v -0.02902356 -0.00692192 0.01471566
+v -0.02902356 0.01377008 -0.02490195
+v -0.02768866 0.01377008 -0.02490998
+v -0.02768866 -0.00396477 0.01563569
+v -0.02902356 -0.00396477 0.01516965
+v -0.02902356 0.01620697 -0.02435555
+v -0.02768866 0.01620697 -0.02443992
+v -0.02768866 -0.00187023 0.01570801
+v -0.02902356 -0.00370868 0.01517769
+v -0.02902356 0.01620697 0.01124445
+v -0.02768866 0.01620697 0.01162612
+v -0.02768866 -0.00101031 0.01569997
+v -0.02902356 -0.00101031 0.01516162
+v -0.02902356 0.01366494 0.01239750
+v -0.02795848 0.01255972 0.01331352
+v -0.02863469 0.01620697 0.01135694
+v -0.02768866 0.01282929 0.01324120
+v -0.02768866 0.00098180 0.01560757
+v -0.02902356 -0.00075691 0.01514956
+v -0.02902356 0.01361103 0.01242161
+v -0.02768866 0.01259476 0.01332557
+v -0.02902356 0.01196128 0.01308853
+v -0.02902356 0.01065388 0.01356261
+v -0.02768866 0.00780185 0.01480807
+v -0.02768866 0.00106536 0.01560355
+v -0.02768866 0.00490131 0.01525000
+v -0.02902356 0.00490131 0.01460719
+v -0.02902356 0.01060805 0.01357466
+v -0.02902356 0.00785037 0.01425765
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 8
+f 1 8 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 32
+f 1 32 36
+f 1 36 39
+f 1 39 41
+f 1 41 40
+f 1 40 33
+f 1 33 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 20
+f 2 20 24
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+f 2 42 44
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+f 2 38 37
+f 2 37 35
+f 2 35 29
+f 2 29 25
+f 2 25 21
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+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 6
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 21 25 31
+f 21 31 26
+f 21 26 22
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 31
+f 26 31 30
+f 26 30 32
+f 27 33 28
+f 28 33 34
+f 29 35 30
+f 30 36 32
+f 30 35 37
+f 30 37 38
+f 30 38 39
+f 30 39 36
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 38 43 39
+f 39 43 44
+f 39 44 41
+f 41 44 42
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_102.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e8db758a99e1fbd3966915a663acc0c11192b50
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_102.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.02790983 0.02172046 0.02745482
+v 0.02790983 0.02172046 0.02653125
+v 0.02790929 0.02172046 0.02948441
+v 0.02786854 0.02060509 0.02948441
+v 0.02786854 0.02060509 0.01378361
+v 0.02790929 0.02172046 -0.01484726
+v 0.02789387 0.02172046 0.03040799
+v 0.02778485 0.01969475 0.03243758
+v 0.02783440 0.01969475 0.02948441
+v 0.02783440 0.01969475 0.00878375
+v 0.02786799 0.02060509 -0.01484726
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_103.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c886ddf674a27d09b4bc70e638b9b8dee31add
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_103.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00489223 0.01549973 -0.02313713
+v 0.00489223 0.01968544 -0.02367324
+v 0.00602958 0.01968544 -0.02353669
+v 0.00602958 0.01549973 -0.02296011
+v 0.00489223 0.01549973 0.02724225
+v 0.00489223 0.02172046 -0.02378957
+v 0.00546508 0.02172046 -0.02376934
+v 0.00602958 0.02172046 -0.02374911
+v 0.00602958 0.01549973 0.02786940
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+v 0.00489223 0.02172046 0.02598795
+v 0.00602958 0.02172046 0.02656452
+v 0.00602958 0.01672975 0.02773284
+v 0.00489223 0.01672975 0.02712592
+v 0.00489223 0.02159867 0.02606381
+v 0.00502261 0.02172046 0.02609416
+v 0.00602958 0.01969823 0.02706523
+v 0.00602958 0.01733258 0.02762157
+v 0.00489223 0.01845238 0.02680223
+v 0.00489223 0.01978105 0.02650889
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+f 9 14 10
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+f 12 16 15
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+f 14 18 19
+f 15 20 17
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_104.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c094d7760566f76a9038e83e2db40602478762ef
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_104.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00451092 0.00785810 -0.02214421
+v 0.00329018 0.00786008 -0.02250916
+v 0.00489212 0.00785810 -0.02214421
+v 0.00329018 0.00785810 -0.02144978
+v 0.00489212 0.01242079 -0.02274233
+v 0.00329018 0.01820809 -0.02369527
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+v 0.00489212 0.01968553 -0.02366485
+v 0.00489212 0.00785810 0.02710946
+v 0.00329018 0.00785810 0.02684588
+v 0.00329018 0.01967368 -0.02386254
+v 0.00383524 0.02803466 -0.02435928
+v 0.00489212 0.02803466 -0.02429339
+v 0.00489212 0.02264239 -0.02389295
+v 0.00489212 0.00996366 0.02727166
+v 0.00329018 0.00786008 0.02687123
+v 0.00331182 0.00785810 0.02686616
+v 0.00329018 0.02802873 -0.02435928
+v 0.00329018 0.02803466 -0.02435928
+v 0.00489212 0.02803466 0.02373363
+v 0.00489212 0.01303310 0.02742373
+v 0.00329363 0.01042387 0.02685095
+v 0.00329018 0.01081694 0.02684588
+v 0.00329018 0.02803466 0.02261342
+v 0.00489212 0.02752111 0.02401241
+v 0.00489212 0.01377379 0.02739331
+v 0.00329018 0.01375009 0.02671409
+v 0.00329018 0.02557357 0.02388062
+v 0.00329018 0.02556172 0.02388569
+v 0.00329018 0.02360036 0.02464095
+v 0.00329018 0.02293077 0.02488932
+v 0.00489212 0.02159752 0.02606022
+v 0.00489212 0.01576676 0.02720577
+v 0.00329018 0.01670497 0.02643024
+v 0.00489212 0.01672868 0.02711453
+v 0.00329018 0.02010427 0.02568512
+v 0.00489212 0.02124593 0.02615145
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+v 0.00489212 0.01821007 0.02684081
+v 0.00489212 0.01845104 0.02679519
+v 0.00460485 0.01821007 0.02671409
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+f 34 42 43
+f 36 43 42
+f 36 42 37
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_105.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8beb784991ab418d4273c161911acf1bf0474d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_105.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v -0.01738173 0.02091719 -0.02551722
+v -0.01748852 0.02091719 -0.02550497
+v -0.01738173 0.02264400 -0.02550497
+v -0.01659145 0.02264400 -0.02554989
+v -0.01659145 0.02091719 -0.02550089
+v -0.01748852 0.02264400 -0.02549272
+v -0.01748852 0.02091719 0.01544419
+v -0.01748852 0.02275140 -0.02548456
+v -0.01748852 0.02446287 -0.02529672
+v -0.01659145 0.02476289 -0.02532530
+v -0.01659145 0.02091719 0.01616697
+v -0.01748852 0.02265764 0.01468058
+v -0.01659145 0.02616924 -0.02491287
+v -0.01748852 0.02593911 -0.02481486
+v -0.01738173 0.02596297 -0.02483937
+v -0.01659145 0.02188202 0.01573820
+v -0.01748852 0.02274969 0.01463566
+v -0.01659145 0.02851314 -0.02405942
+v -0.01748852 0.02854723 -0.02381441
+v -0.01738164 0.02855746 -0.02385525
+v -0.01738173 0.02712384 -0.02440243
+v -0.01659145 0.02669768 0.01309619
+v -0.01748852 0.02490609 0.01345962
+v -0.01659145 0.03106331 -0.02285071
+v -0.01748852 0.02866315 -0.02376949
+v -0.01748852 0.03077863 -0.02272412
+v -0.01738164 0.03081272 -0.02274046
+v -0.01659145 0.02712555 0.01279809
+v -0.01748852 0.02814834 0.01138113
+v -0.01748852 0.02603286 0.01282260
+v -0.01659145 0.03253102 -0.02176450
+v -0.01748852 0.03225145 -0.02144599
+v -0.01738164 0.03229236 -0.02148683
+v -0.01659145 0.02776991 0.01234891
+v -0.01659145 0.02851655 0.01182214
+v -0.01659145 0.02883873 0.01156488
+v -0.01659145 0.03021780 0.01043376
+v -0.01748852 0.02980016 0.01002133
+v -0.01659145 0.03325549 -0.02095189
+v -0.01748852 0.03234521 -0.02134799
+v -0.01748852 0.03357768 -0.01996369
+v -0.01738164 0.03361177 -0.02000452
+v -0.01659145 0.03165312 0.00889837
+v -0.01748852 0.03082807 0.00890245
+v -0.01659145 0.03386917 -0.02025361
+v -0.01748852 0.03496697 -0.01786886
+v -0.01659145 0.03531302 -0.01831804
+v -0.01659145 0.03193779 0.00856352
+v -0.01748852 0.03120309 0.00848185
+v -0.01748852 0.03630342 -0.01485117
+v -0.01659145 0.03605284 -0.01715017
+v -0.01659145 0.03240487 0.00800409
+v -0.01659145 0.03298445 0.00728131
+v -0.01748852 0.03260261 0.00673004
+v -0.01659145 0.03652162 -0.01608030
+v -0.01748852 0.03707222 -0.01218057
+v -0.01659145 0.03816491 -0.01104944
+v -0.01659145 0.03788875 -0.01198865
+v -0.01689557 0.03678755 -0.01485117
+v -0.01659145 0.03334073 0.00673412
+v -0.01748852 0.03348733 0.00536616
+v -0.01659145 0.03702279 -0.01485117
+v -0.01748852 0.03723417 -0.01160480
+v -0.01748852 0.03751884 -0.00893828
+v -0.01659145 0.03832856 -0.00893828
+v -0.01659145 0.03404987 0.00563567
+v -0.01659145 0.03446239 0.00484755
+v -0.01659145 0.03510505 0.00353267
+v -0.01748852 0.03458513 0.00311207
+v -0.01748852 0.03732451 -0.00606351
+v -0.01659145 0.03832856 -0.00800317
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+v -0.01659145 0.03823139 -0.00670870
+v -0.01748852 0.03666481 -0.00303357
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+v -0.01659145 0.03809161 -0.00568783
+v -0.01659145 0.03542212 0.00281806
+v -0.01659145 0.03649605 -0.00008121
+v -0.01748852 0.03575793 -0.00008121
+v -0.01659145 0.03748645 -0.00303357
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+f 42 47 45
+f 43 48 49
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+f 57 63 64
+f 57 64 65
+f 58 62 59
+f 60 66 61
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+f 64 71 65
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+f 69 72 73
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+f 70 75 76
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+f 70 77 74
+f 72 78 73
+f 73 78 79
+f 73 79 80
+f 75 80 81
+f 75 81 76
+f 79 81 80
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_107.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7bef910149709c7397a84baa1c85869df343ca
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_107.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.03802426 0.01476783 -0.02202310
+v -0.03873153 0.01476783 -0.02183881
+v -0.03802426 0.01678559 -0.02098064
+v -0.03802426 0.01476783 0.00607399
+v -0.03915291 0.01476783 -0.02162427
+v -0.03915702 0.01648863 -0.02057355
+v -0.03802426 0.01693648 -0.02087061
+v -0.03802426 0.01522452 0.00581269
+v -0.03805309 0.01476783 0.00605474
+v -0.03915702 0.01476783 -0.02148674
+v -0.03915702 0.01607207 -0.02082660
+v -0.03915702 0.01784182 -0.01931929
+v -0.03802426 0.01962361 -0.01832358
+v -0.03802426 0.01641639 0.00511955
+v -0.03860200 0.01476783 0.00547162
+v -0.03915702 0.01561940 0.00460519
+v -0.03915702 0.01560415 0.00461069
+v -0.03915702 0.01476783 0.00470421
+v -0.03915702 0.01828085 -0.01889295
+v -0.03915702 0.01939888 -0.01761118
+v -0.03802426 0.01987082 -0.01802102
+v -0.03802426 0.01776558 0.00401106
+v -0.03915702 0.01565471 0.00457768
+v -0.03914682 0.01476783 0.00489125
+v -0.03915402 0.01476783 0.00488300
+v -0.03915702 0.02076252 -0.01485511
+v -0.03802426 0.02166224 -0.01485511
+v -0.03802426 0.02001529 -0.01781473
+v -0.03802426 0.01893578 0.00264403
+v -0.03915702 0.01853126 0.00191513
+v -0.03884220 0.01728481 0.00355447
+v -0.03915702 0.01645732 0.00391204
+v -0.03915702 0.02085161 -0.01462681
+v -0.03915702 0.02150252 -0.01290220
+v -0.03802426 0.02219196 -0.01333405
+v -0.03802426 0.02044549 0.00011901
+v -0.03915702 0.01874155 0.00156030
+v -0.03802426 0.02249455 -0.01245386
+v -0.03802426 0.02248572 -0.01248137
+v -0.03915702 0.02184443 -0.01164244
+v -0.03834817 0.02235810 -0.01211829
+v -0.03802426 0.02252264 -0.01236584
+v -0.03802426 0.02048722 0.00003099
+v -0.03811763 0.02036763 0.00011625
+v -0.03915702 0.01901845 0.00109271
+v -0.03915702 0.02208602 -0.00894138
+v -0.03807837 0.02292796 -0.00894138
+v -0.03802426 0.02295926 -0.00903490
+v -0.03802426 0.02261173 -0.01208253
+v -0.03802426 0.02126896 -0.00172388
+v -0.03915702 0.02082030 -0.00296989
+v -0.03915702 0.02192148 -0.00751108
+v -0.03802426 0.02250016 -0.00585799
+v -0.03802426 0.02296648 -0.00894138
+v -0.03802426 0.02176337 -0.00303040
+v -0.03915702 0.02084599 -0.00303040
+v -0.03915702 0.02083716 -0.00300840
+v -0.03915702 0.02173929 -0.00635034
+v -0.03915702 0.02142387 -0.00505207
+v -0.03915702 0.02126816 -0.00443869
+v -0.03802426 0.02185728 -0.00334397
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 28
+f 1 28 27
+f 1 27 35
+f 1 35 39
+f 1 39 38
+f 1 38 42
+f 1 42 49
+f 1 49 48
+f 1 48 54
+f 1 54 53
+f 1 53 61
+f 1 61 55
+f 1 55 50
+f 1 50 43
+f 1 43 36
+f 1 36 29
+f 1 29 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 25
+f 1 25 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 18
+f 6 18 17
+f 6 17 16
+f 6 16 23
+f 6 23 32
+f 6 32 30
+f 6 30 37
+f 6 37 45
+f 6 45 51
+f 6 51 57
+f 6 57 56
+f 6 56 60
+f 6 60 59
+f 6 59 58
+f 6 58 52
+f 6 52 46
+f 6 46 40
+f 6 40 34
+f 6 34 33
+f 6 33 26
+f 6 26 20
+f 6 20 19
+f 6 19 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 15
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 14 22 23
+f 14 23 16
+f 15 17 24
+f 17 18 25
+f 17 25 24
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 29 36 30
+f 30 32 31
+f 30 36 37
+f 34 38 39
+f 34 39 35
+f 34 40 41
+f 34 41 42
+f 34 42 38
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 41 49 42
+f 43 50 44
+f 44 50 45
+f 45 50 51
+f 46 52 47
+f 47 52 53
+f 47 53 54
+f 47 54 48
+f 50 55 56
+f 50 56 57
+f 50 57 51
+f 52 58 53
+f 53 58 59
+f 53 59 60
+f 53 60 61
+f 55 61 60
+f 55 60 56
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_108.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421d05f940cdfdf33d1f9a74b7f55e987bd8e2cb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_108.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01514582 0.02172046 -0.02274142
+v 0.01514582 0.02263994 -0.02296256
+v 0.01642082 0.02172046 -0.02267730
+v 0.01514582 0.02172046 -0.01084697
+v 0.01514582 0.02558737 -0.02358410
+v 0.01642082 0.02559814 -0.02351083
+v 0.01642082 0.02264330 -0.02287881
+v 0.01642082 0.02183548 -0.02270478
+v 0.01642082 0.02172046 -0.01309239
+v 0.01641733 0.02172046 -0.01084697
+v 0.01514582 0.02859131 -0.01084697
+v 0.01514582 0.02859131 -0.02421481
+v 0.01642082 0.02727499 -0.02386020
+v 0.01642082 0.02627883 -0.01084697
+v 0.01642082 0.02859131 -0.01084697
+v 0.01640247 0.02859131 -0.02412714
+v 0.01642082 0.02859131 -0.02412452
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 13
+f 3 13 17
+f 3 17 15
+f 3 15 14
+f 3 14 9
+f 4 10 14
+f 4 14 15
+f 4 15 11
+f 5 12 6
+f 6 12 13
+f 9 14 10
+f 11 15 17
+f 11 17 16
+f 11 16 12
+f 12 16 13
+f 13 16 17
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_109.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84dc4f9eba91b5f81369275c7c9fdc5977f3a1e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_109.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v 0.02401062 -0.03247279 0.03543033
+v 0.02565485 -0.03247279 0.03455722
+v 0.02099643 -0.03247279 0.03532556
+v 0.02167409 -0.03575734 0.03432002
+v 0.02401062 -0.03574931 0.03427637
+v 0.02554568 -0.03525165 0.03399988
+v 0.02564020 -0.03353553 0.03420361
+v 0.02588384 -0.03247279 0.03244865
+v 0.01854008 -0.03247279 0.03441606
+v 0.02083534 -0.03374102 0.03480314
+v 0.01870916 -0.03289179 0.03430547
+v 0.01970368 -0.03486316 0.03385291
+v 0.02083534 -0.03664349 0.03334795
+v 0.02226522 -0.04117700 0.03115207
+v 0.02317054 -0.04117700 0.03115207
+v 0.02514228 -0.04040804 0.03028915
+v 0.02556032 -0.03843828 0.03125976
+v 0.02562955 -0.03633848 0.03232641
+v 0.02583059 -0.03353553 0.03244865
+v 0.02576003 -0.03649259 0.02949316
+v 0.02590914 -0.03247279 0.02949316
+v 0.01707026 -0.03247279 0.03373940
+v 0.01787307 -0.03374102 0.03342945
+v 0.01621819 -0.03535600 0.03125685
+v 0.01821523 -0.03640109 0.03183456
+v 0.01700502 -0.04067774 0.02772219
+v 0.02216403 -0.04414851 0.02832319
+v 0.01587204 -0.03870797 0.02858366
+v 0.02337690 -0.04414851 0.02832319
+v 0.02425959 -0.04229433 0.02930689
+v 0.02538192 -0.04351921 0.02653767
+v 0.02552438 -0.04144028 0.02832028
+v 0.02554301 -0.04204069 0.02653767
+v 0.02548710 -0.04386115 0.02357927
+v 0.02586920 -0.03353553 0.02429522
+v 0.02587053 -0.03347774 0.02056412
+v 0.02590780 -0.03247279 0.02429522
+v 0.02548710 -0.04386115 0.02056412
+v 0.02576003 -0.03649259 0.02429522
+v 0.01613432 -0.03247279 0.03303072
+v 0.01519571 -0.03329152 0.03172396
+v 0.01424645 -0.03411667 0.03026732
+v 0.01511849 -0.04533808 0.02056412
+v 0.01674940 -0.04686156 0.02056412
+v 0.02248888 -0.04686798 0.02510285
+v 0.01390030 -0.03739961 0.02746754
+v 0.01510651 -0.04531400 0.02057576
+v 0.02267128 -0.04686798 0.02510285
+v 0.02302009 -0.04712804 0.02429522
+v 0.02332631 -0.04735761 0.02357927
+v 0.02371373 -0.04522410 0.02626700
+v 0.02396003 -0.04840751 0.02056412
+v 0.02443666 -0.04742183 0.02056412
+v 0.02541121 -0.04535734 0.02062378
+v 0.02590648 -0.03247279 0.02056412
+v 0.02541121 -0.04535734 0.02056412
+v 0.01408270 -0.03247279 0.03121610
+v 0.01353418 -0.03247279 0.03053944
+v 0.01509053 -0.04530436 0.02056412
+v 0.01817795 -0.04754544 0.02056412
+v 0.01834437 -0.04762249 0.02056412
+v 0.02109894 -0.04886985 0.02056412
+v 0.02111758 -0.04887306 0.02056412
+v 0.01353418 -0.03542824 0.02829699
+v 0.01230800 -0.03647814 0.02443492
+v 0.01230800 -0.04055092 0.02056412
+v 0.01306021 -0.04229433 0.02056412
+v 0.01381243 -0.04370704 0.02056412
+v 0.01230800 -0.03247279 0.02056412
+v 0.01230800 -0.03247279 0.02746317
+v 0.01230800 -0.03351466 0.02676322
+v 0.01328654 -0.03329152 0.02936656
+f 1 2 8
+f 1 8 21
+f 1 21 37
+f 1 37 55
+f 1 55 69
+f 1 69 70
+f 1 70 58
+f 1 58 57
+f 1 57 40
+f 1 40 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 9 22 11
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 12 14 13
+f 12 22 23
+f 14 26 27
+f 14 27 29
+f 14 29 15
+f 14 25 24
+f 14 24 28
+f 14 28 26
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 19 18
+f 17 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 35 36
+f 21 36 37
+f 21 34 38
+f 21 38 39
+f 21 39 35
+f 22 40 24
+f 22 24 23
+f 24 40 41
+f 24 41 42
+f 24 42 28
+f 26 43 44
+f 26 44 27
+f 26 28 43
+f 27 44 45
+f 27 45 48
+f 27 48 29
+f 28 42 46
+f 28 46 47
+f 28 47 43
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 31
+f 29 31 30
+f 31 34 32
+f 31 51 50
+f 31 50 52
+f 31 52 53
+f 31 53 54
+f 31 54 34
+f 32 34 33
+f 34 54 56
+f 34 56 38
+f 35 39 36
+f 36 55 37
+f 36 39 38
+f 36 38 56
+f 36 56 53
+f 36 53 52
+f 36 52 63
+f 36 63 62
+f 36 62 61
+f 36 61 60
+f 36 60 44
+f 36 44 43
+f 36 43 59
+f 36 59 68
+f 36 68 67
+f 36 67 66
+f 36 66 69
+f 36 69 55
+f 40 57 41
+f 41 57 42
+f 42 57 58
+f 42 58 46
+f 43 47 59
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 48
+f 46 58 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 59
+f 48 63 49
+f 49 63 50
+f 50 63 52
+f 53 56 54
+f 58 70 71
+f 58 71 72
+f 58 72 64
+f 64 72 65
+f 65 72 71
+f 65 71 70
+f 65 70 69
+f 65 69 66
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_11.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce9ad60ac808aa40cc243b8bd0f5ff0f0d3f99b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01230800 -0.02887750 0.02957847
+v 0.01226653 -0.02887750 0.02949226
+v 0.01230800 -0.02908081 0.02949226
+v 0.01230800 -0.02887750 0.01439569
+v 0.01082670 -0.02887750 0.02610162
+v 0.01082670 -0.03045896 0.02541042
+v 0.01230800 -0.03054894 0.02875794
+v 0.01082670 -0.02887750 0.01439569
+v 0.01230800 -0.04590018 0.01439569
+v 0.01082670 -0.03383016 0.02321193
+v 0.01230800 -0.03351520 0.02676162
+v 0.01082670 -0.04361882 0.01439569
+v 0.01230800 -0.04520027 0.01544662
+v 0.01178485 -0.04516028 0.01439569
+v 0.01082670 -0.03916610 0.01917022
+v 0.01230800 -0.03647647 0.02443381
+v 0.01082670 -0.04223068 0.01634593
+v 0.01230800 -0.04356383 0.01747119
+v 0.01230800 -0.04227401 0.01895171
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 19
+f 1 19 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 14
+f 4 14 12
+f 4 12 8
+f 5 8 12
+f 5 12 17
+f 5 17 15
+f 5 15 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 14 17
+f 13 18 17
+f 13 17 14
+f 15 17 16
+f 16 17 19
+f 17 18 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_110.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e09f5f4d883f71ec8912ab657db8a55439a3716
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_110.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00975575 -0.01984441 -0.02380202
+v 0.00975575 -0.01874862 -0.02371641
+v 0.01032247 -0.01984441 -0.02379631
+v 0.00975575 -0.01984441 0.02793004
+v 0.01082670 -0.01579226 -0.02347102
+v 0.01082670 -0.01874862 -0.02370500
+v 0.00975575 0.00347541 -0.02193019
+v 0.01082670 -0.01984441 -0.02379060
+v 0.00975575 -0.01874862 0.02832381
+v 0.01082670 -0.01984441 0.02999590
+v 0.01082670 -0.01874862 0.03054946
+v 0.01082670 -0.01864132 0.03060082
+v 0.01070898 -0.01723277 0.03096034
+v 0.01082670 0.00347541 -0.02172474
+v 0.00975575 0.00347541 0.03279793
+v 0.00975575 -0.01683555 0.02895726
+v 0.01082670 -0.01698850 0.03122856
+v 0.01082670 -0.00987727 0.03308898
+v 0.00975575 -0.00690722 0.03155385
+v 0.01082670 0.00347541 0.03449855
+v 0.00975575 -0.00102875 0.03244982
+v 0.01006836 0.00347541 0.03336861
+v 0.01082670 -0.00692548 0.03360259
+v 0.00975575 -0.00397141 0.03214736
+v 0.01053119 0.00347541 0.03417897
+v 0.01082670 0.00194359 0.03442437
+v 0.01058601 0.00194359 0.03411049
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 9
+f 1 9 16
+f 1 16 19
+f 1 19 24
+f 1 24 21
+f 1 21 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 5 7 14
+f 5 14 20
+f 5 20 26
+f 5 26 23
+f 5 23 18
+f 5 18 17
+f 5 17 12
+f 5 12 11
+f 5 11 10
+f 5 10 8
+f 5 8 6
+f 7 15 22
+f 7 22 25
+f 7 25 20
+f 7 20 14
+f 9 13 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 16
+f 15 21 22
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 21 24 23
+f 21 23 25
+f 21 25 22
+f 23 26 27
+f 23 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_111.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011f99e007b4f2d2c5e963873b1b0e6d93729ed7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_111.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00553091 -0.00397172 -0.02216815
+v 0.00411517 -0.00397172 -0.02215815
+v 0.00411504 0.00347769 -0.02227811
+v 0.00547740 0.00347769 -0.02218814
+v 0.00553091 0.00338800 -0.02218314
+v 0.00553091 -0.00397172 0.02872231
+v 0.00411504 -0.00397172 -0.02025888
+v 0.00411504 -0.00397099 -0.02215815
+v 0.00411504 0.00347769 0.02755276
+v 0.00553091 0.00347769 -0.02218314
+v 0.00553091 -0.00141299 0.02878229
+v 0.00411504 -0.00397172 0.02872731
+v 0.00411504 -0.00084787 0.02857237
+v 0.00553091 -0.00084787 0.02873231
+v 0.00553091 0.00347769 0.02769271
+v 0.00411504 -0.00304419 0.02874730
+v 0.00411504 -0.00101048 0.02858737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 14
+f 1 14 11
+f 1 11 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 12
+f 3 12 16
+f 3 16 17
+f 3 17 13
+f 3 13 9
+f 3 9 15
+f 3 15 10
+f 3 10 4
+f 4 10 5
+f 6 11 12
+f 9 13 14
+f 9 14 15
+f 11 16 12
+f 11 14 17
+f 11 17 16
+f 13 17 14
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_112.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01389444b86afae53eb1bae2233a1ec42dc42be
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_112.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00135759 0.00785636 -0.02295166
+v 0.00135759 0.01422147 -0.02345370
+v 0.00329018 0.01422147 -0.02320019
+v 0.00303423 0.00785636 -0.02258881
+v 0.00135759 0.00785636 0.02731640
+v 0.00135759 0.01422147 0.02649624
+v 0.00329018 0.01422147 0.02667519
+v 0.00329018 0.00785947 -0.02250928
+v 0.00329018 0.00785636 -0.02145550
+v 0.00326616 0.00785636 0.02687898
+v 0.00329018 0.00785822 0.02687401
+v 0.00135759 0.00887141 0.02731143
+v 0.00135759 0.01181500 0.02696348
+v 0.00329018 0.01374790 0.02672489
+v 0.00329018 0.00785636 0.02684916
+v 0.00329018 0.01079185 0.02684916
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 16
+f 3 16 11
+f 3 11 15
+f 3 15 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 12
+f 7 12 14
+f 10 15 11
+f 11 16 12
+f 12 16 14
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_113.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c5e484d0a811f1266a1f5f17b5ad9a89d01794
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_113.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.03685951 0.01536517 -0.02238482
+v -0.03692301 0.01536517 -0.02235646
+v -0.03685951 0.01547482 -0.02233945
+v -0.03685951 0.01536517 0.00658634
+v -0.03802415 0.01536517 -0.02170421
+v -0.03685951 0.01721857 -0.02156809
+v -0.03685951 0.01584996 0.00630842
+v -0.03776115 0.01536517 0.00592558
+v -0.03802415 0.01678573 -0.02098107
+v -0.03802415 0.01536517 0.00572991
+v -0.03802415 0.01693661 -0.02087047
+v -0.03685951 0.01829533 -0.02076838
+v -0.03685951 0.01664474 0.00585185
+v -0.03794526 0.01647161 0.00515423
+v -0.03801514 0.01536517 0.00573842
+v -0.03802415 0.01641637 0.00512020
+v -0.03735872 0.01886339 -0.01995732
+v -0.03802415 0.01962354 -0.01832387
+v -0.03685951 0.01905714 -0.02015300
+v -0.03685951 0.01844621 0.00465795
+v -0.03687125 0.01844208 0.00465512
+v -0.03802415 0.01776519 0.00401138
+v -0.03685951 0.02046945 -0.01852238
+v -0.03802415 0.01987088 -0.01802043
+v -0.03685951 0.01845940 0.00464377
+v -0.03794526 0.01896479 0.00269270
+v -0.03802415 0.01893594 0.00264166
+v -0.03685951 0.02138461 -0.01721504
+v -0.03802415 0.02001517 -0.01781341
+v -0.03701728 0.02150745 -0.01685489
+v -0.03685951 0.02052304 0.00160657
+v -0.03685951 0.02142171 0.00014326
+v -0.03802415 0.02044554 0.00011774
+v -0.03685951 0.02146046 -0.01710161
+v -0.03802415 0.02166163 -0.01485561
+v -0.03685951 0.02158330 -0.01691444
+v -0.03761978 0.02198399 -0.01485561
+v -0.03685951 0.02257596 -0.01485561
+v -0.03685951 0.02174737 -0.00052600
+v -0.03715842 0.02159897 -0.00074153
+v -0.03802415 0.02048759 0.00003266
+v -0.03802415 0.02219176 -0.01333559
+v -0.03685951 0.02298407 -0.01367022
+v -0.03685951 0.02178200 -0.00059973
+v -0.03685951 0.02204501 -0.00125198
+v -0.03802415 0.02126918 -0.00172557
+v -0.03802415 0.02248609 -0.01247916
+v -0.03802415 0.02249434 -0.01245363
+v -0.03802415 0.02252237 -0.01236572
+v -0.03802415 0.02261224 -0.01208214
+v -0.03685951 0.02311269 -0.01326185
+v -0.03685951 0.02206479 -0.00130303
+v -0.03685951 0.02273096 -0.00303290
+v -0.03802415 0.02176386 -0.00303290
+v -0.03685951 0.02362963 -0.01102436
+v -0.03685951 0.02352328 -0.01195452
+v -0.03802415 0.02295934 -0.00903359
+v -0.03685951 0.02342599 -0.00594817
+v -0.03802415 0.02250011 -0.00586026
+v -0.03802415 0.02185785 -0.00334485
+v -0.03685951 0.02378793 -0.00894284
+v -0.03802415 0.02296593 -0.00894284
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 19
+f 1 19 23
+f 1 23 28
+f 1 28 34
+f 1 34 36
+f 1 36 38
+f 1 38 43
+f 1 43 51
+f 1 51 56
+f 1 56 55
+f 1 55 61
+f 1 61 58
+f 1 58 53
+f 1 53 52
+f 1 52 45
+f 1 45 44
+f 1 44 39
+f 1 39 32
+f 1 32 31
+f 1 31 25
+f 1 25 20
+f 1 20 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 9 6
+f 5 10 16
+f 5 16 22
+f 5 22 27
+f 5 27 33
+f 5 33 41
+f 5 41 46
+f 5 46 54
+f 5 54 60
+f 5 60 59
+f 5 59 62
+f 5 62 57
+f 5 57 50
+f 5 50 49
+f 5 49 48
+f 5 48 47
+f 5 47 42
+f 5 42 35
+f 5 35 29
+f 5 29 24
+f 5 24 18
+f 5 18 11
+f 5 11 9
+f 6 9 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 10 15 16
+f 11 17 12
+f 11 18 17
+f 12 17 19
+f 13 20 21
+f 13 21 14
+f 14 16 15
+f 14 21 16
+f 16 21 22
+f 17 18 23
+f 17 23 19
+f 18 24 23
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 24 28
+f 24 29 30
+f 24 30 28
+f 25 31 26
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 30 34
+f 29 35 30
+f 30 36 34
+f 30 35 37
+f 30 37 38
+f 30 38 36
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 35 42 37
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 43 49 50
+f 43 50 51
+f 45 52 46
+f 46 52 53
+f 46 53 54
+f 50 55 56
+f 50 56 51
+f 50 57 55
+f 53 58 59
+f 53 59 60
+f 53 60 54
+f 55 57 61
+f 57 62 61
+f 58 61 62
+f 58 62 59
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_115.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302a1a957dda81fc3640783a105879f24c6de5a7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_115.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01449973 0.02172046 -0.01463411
+v 0.01449973 0.02792223 -0.01463411
+v 0.01514576 0.02172046 -0.01463411
+v 0.01449973 0.02172046 0.02549033
+v 0.01514576 0.02792223 -0.01463411
+v 0.01449973 0.02792223 0.02549033
+v 0.01514576 0.02172046 0.02549033
+v 0.01514576 0.02792223 0.02549033
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_116.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f153c5dd069ce697714b6bdd50ce3f2309e7d0b6
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_116.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02148878 -0.02395251 0.03797856
+v 0.02105365 -0.02395251 0.03792937
+v 0.02148878 -0.02455153 0.03787527
+v 0.02148878 -0.02395251 -0.01226604
+v 0.01957520 -0.02395251 0.03736372
+v 0.01766666 -0.02455153 0.03653246
+v 0.02105365 -0.02455153 0.03782608
+v 0.02148878 -0.02455153 -0.01226604
+v 0.01846217 -0.02395251 -0.01227096
+v 0.01788591 -0.02395251 0.03669969
+v 0.01787415 -0.02395251 0.03669478
+v 0.01751882 -0.02395251 0.03652262
+v 0.01761038 -0.02455153 0.03650295
+v 0.01846217 -0.02455153 -0.01227096
+v 0.01657631 -0.02395251 -0.01227096
+v 0.01657631 -0.02395251 0.03593729
+v 0.01657631 -0.02455153 0.03585368
+v 0.01657631 -0.02455153 -0.01227096
+v 0.01290792 -0.02395251 -0.01226604
+v 0.01574637 -0.02395251 0.03541099
+v 0.01534231 -0.02455153 0.03507652
+v 0.01290792 -0.02455153 -0.01226604
+v 0.01290792 -0.02395251 0.03251387
+v 0.01565984 -0.02395251 0.03535197
+v 0.01525495 -0.02455153 0.03501749
+v 0.01290792 -0.02455153 0.03239582
+v 0.01378910 -0.02455153 0.03375339
+v 0.01377230 -0.02395251 0.03378290
+v 0.01517599 -0.02395251 0.03500766
+v 0.01383531 -0.02455153 0.03379766
+v 0.01406715 -0.02395251 0.03405343
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 23
+f 1 23 28
+f 1 28 31
+f 1 31 29
+f 1 29 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 30
+f 3 30 27
+f 3 27 26
+f 3 26 22
+f 3 22 18
+f 3 18 14
+f 3 14 8
+f 4 8 14
+f 4 14 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 9 14 18
+f 9 18 15
+f 12 16 13
+f 13 16 17
+f 15 18 22
+f 15 22 19
+f 16 20 21
+f 16 21 17
+f 19 22 26
+f 19 26 23
+f 20 24 25
+f 20 25 21
+f 23 26 27
+f 23 27 28
+f 24 29 25
+f 25 29 30
+f 27 30 28
+f 28 30 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_118.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4872eab7e6cba5b42c8925bc728353451360d9a7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_118.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.02136319 -0.01284458 -0.02494766
+v -0.02136319 -0.01180852 -0.02496875
+v -0.02033169 -0.01284458 -0.02494345
+v -0.02136319 -0.01284458 0.01723197
+v -0.02136319 0.00299747 -0.02521334
+v -0.01984957 -0.01284458 -0.02491393
+v -0.01984957 0.00529636 -0.02521756
+v -0.02034117 -0.01284458 0.01751874
+v -0.02033865 -0.01283285 0.01752295
+v -0.02136319 -0.01280940 0.01723619
+v -0.02136319 0.01247454 -0.02525973
+v -0.01984957 0.01959408 -0.02534829
+v -0.01984957 -0.01284458 0.01747235
+v -0.02013804 -0.01284458 0.01750187
+v -0.02136319 -0.00987713 0.01753982
+v -0.02136319 -0.01273511 0.01724462
+v -0.02033865 -0.00987713 0.01773381
+v -0.02136319 0.01381557 -0.02526395
+v -0.02136319 0.01667355 -0.02526817
+v -0.02136319 0.01889425 -0.02525973
+v -0.01984957 0.02092729 -0.02528081
+v -0.01984957 -0.00987713 0.01766212
+v -0.02136319 -0.00691750 0.01745970
+v -0.01984957 -0.00938842 0.01768320
+v -0.01984957 -0.00642879 0.01759043
+v -0.02033865 -0.00881370 0.01768742
+v -0.02136319 0.02046203 -0.02510791
+v -0.02130259 0.02049331 -0.02512478
+v -0.01984957 0.02263973 -0.02510791
+v -0.02136319 0.00194576 0.01683556
+v -0.02033865 -0.00691750 0.01760308
+v -0.01984957 0.00241101 0.01696208
+v -0.02136319 0.02263582 -0.02460186
+v -0.02072372 0.02263973 -0.02490128
+v -0.01984957 0.02511065 -0.02441631
+v -0.02136319 0.00392797 0.01658675
+v -0.01984957 0.00549185 0.01651084
+v -0.02136319 0.00511652 0.01643072
+v -0.02049052 0.02359760 -0.02466512
+v -0.02136319 0.02532568 -0.02355601
+v -0.02006840 0.02532959 -0.02423497
+v -0.02013700 0.02709677 -0.02336203
+v -0.01984957 0.02709677 -0.02345902
+v -0.01984957 0.01165742 0.01556199
+v -0.02136319 0.00791976 0.01590780
+v -0.02136319 0.02709677 -0.02261138
+v -0.01984957 0.02709677 0.00999539
+v -0.01984957 0.01968401 0.01395949
+v -0.02136319 0.00969085 0.01557464
+v -0.02136319 0.02709677 0.00814829
+v -0.01984957 0.02684264 0.01021890
+v -0.01984957 0.02133389 0.01337752
+v -0.02136319 0.01968401 0.01253410
+v -0.02136319 0.01946507 0.01261001
+v -0.02136319 0.02694038 0.00827903
+v -0.02136319 0.02541952 0.00946404
+v -0.01984957 0.02548989 0.01110871
+v -0.01984957 0.02238951 0.01289677
+v -0.02136319 0.02194381 0.01169489
+v -0.02136319 0.02245206 0.01137861
+v -0.01984957 0.02518103 0.01129005
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 23
+f 1 23 30
+f 1 30 36
+f 1 36 38
+f 1 38 45
+f 1 45 49
+f 1 49 54
+f 1 54 53
+f 1 53 59
+f 1 59 60
+f 1 60 56
+f 1 56 55
+f 1 55 50
+f 1 50 46
+f 1 46 40
+f 1 40 33
+f 1 33 27
+f 1 27 20
+f 1 20 19
+f 1 19 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 6 7 12
+f 6 12 21
+f 6 21 29
+f 6 29 35
+f 6 35 43
+f 6 43 47
+f 6 47 51
+f 6 51 57
+f 6 57 61
+f 6 61 58
+f 6 58 52
+f 6 52 48
+f 6 48 44
+f 6 44 37
+f 6 37 32
+f 6 32 25
+f 6 25 24
+f 6 24 22
+f 6 22 13
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 17
+f 9 17 15
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 18 19
+f 13 22 17
+f 13 17 14
+f 15 17 23
+f 17 22 24
+f 17 24 25
+f 17 25 26
+f 17 26 23
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 23 26 31
+f 23 31 30
+f 25 32 31
+f 25 31 26
+f 27 33 34
+f 27 34 28
+f 28 34 29
+f 29 34 35
+f 30 31 32
+f 30 32 36
+f 32 37 38
+f 32 38 36
+f 33 39 34
+f 33 40 41
+f 33 41 39
+f 34 39 35
+f 35 39 41
+f 35 41 42
+f 35 42 43
+f 37 44 38
+f 38 44 45
+f 40 46 42
+f 40 42 41
+f 42 46 50
+f 42 50 47
+f 42 47 43
+f 44 48 49
+f 44 49 45
+f 47 50 51
+f 48 52 53
+f 48 53 54
+f 48 54 49
+f 50 55 51
+f 51 55 56
+f 51 56 57
+f 52 58 59
+f 52 59 53
+f 56 60 57
+f 57 60 59
+f 57 59 61
+f 58 61 59
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_119.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948527e4e42fff1355b53cd74e27742c79112674
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_119.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01177082 0.04564680 -0.02488093
+v 0.01177082 0.04618240 -0.02488093
+v 0.01236780 0.04564680 -0.02488093
+v 0.01177082 0.04564680 -0.00623104
+v 0.01177082 0.04649930 -0.02477323
+v 0.01209058 0.04624766 -0.02488093
+v 0.01236780 0.04621474 -0.02488093
+v 0.01236780 0.04564680 -0.00523287
+v 0.01177088 0.04564680 -0.00607334
+v 0.01177088 0.05165310 -0.00565599
+v 0.01177082 0.05165310 -0.00585216
+v 0.01218451 0.04654868 -0.02478477
+v 0.01177082 0.04926493 -0.02348849
+v 0.01218451 0.04925199 -0.02356349
+v 0.01218451 0.04626648 -0.02488093
+v 0.01222010 0.04625648 -0.02488093
+v 0.01236780 0.04651282 -0.02478477
+v 0.01236780 0.05165310 -0.00523287
+v 0.01177135 0.04564680 -0.00523287
+v 0.01177105 0.04564680 -0.00573677
+v 0.01177100 0.05165310 -0.00544828
+v 0.01177082 0.05165310 -0.02178448
+v 0.01236780 0.04925199 -0.02357503
+v 0.01177082 0.04961651 -0.02330001
+v 0.01177082 0.05096111 -0.02250570
+v 0.01236780 0.05106223 -0.02251532
+v 0.01177117 0.05165310 -0.00523287
+v 0.01236780 0.05165310 -0.02194218
+v 0.01177117 0.05162547 -0.00523287
+v 0.01218451 0.05165310 -0.02191333
+v 0.01177082 0.05100814 -0.02247685
+v 0.01229357 0.05165310 -0.02193064
+f 1 2 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 4
+f 1 4 11
+f 1 11 22
+f 1 22 31
+f 1 31 25
+f 1 25 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 23
+f 3 23 26
+f 3 26 28
+f 3 28 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 12 15
+f 7 16 17
+f 8 18 27
+f 8 27 29
+f 8 29 19
+f 9 20 10
+f 10 20 21
+f 10 21 27
+f 10 27 18
+f 10 18 28
+f 10 28 32
+f 10 32 30
+f 10 30 22
+f 10 22 11
+f 12 17 15
+f 12 14 23
+f 12 23 17
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 23
+f 15 17 16
+f 19 21 20
+f 19 29 21
+f 21 29 27
+f 22 30 31
+f 25 31 26
+f 26 31 28
+f 28 31 32
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_12.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6626b94e93dee8c8f5ba85980a183bd30ffdd2a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,372 @@
+# https://github.com/mikedh/trimesh
+v -0.00498884 -0.04544448 -0.00598666
+v -0.00498884 -0.04538144 -0.00535352
+v -0.00857419 -0.04233088 -0.00598666
+v -0.00857419 -0.04233362 -0.00609615
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_121.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df31666c82481a4865c6bad6891ace14c545fec4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_121.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.02556486 -0.04179669 0.02056412
+v 0.02554502 -0.04232493 0.02056412
+v 0.02556486 -0.04179669 0.01998271
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+v 0.02556306 -0.04179669 -0.02076640
+v 0.01635138 -0.04179669 0.02027112
+v 0.01635138 -0.04179834 0.02056412
+v 0.01635138 -0.04268368 0.02056412
+v 0.02543139 -0.04268368 -0.02185597
+v 0.02552338 -0.04189715 -0.02262508
+v 0.02553150 -0.04209884 -0.02185597
+v 0.02552608 -0.04179669 -0.02264797
+v 0.01635138 -0.04179669 -0.02616848
+v 0.01635138 -0.04268368 -0.02617764
+v 0.02526544 -0.04268368 -0.02364598
+v 0.02551616 -0.04179669 -0.02271206
+v 0.01809920 -0.04179669 -0.02620510
+v 0.01635138 -0.04204509 -0.02617764
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_122.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731c0da1ae109f7ade8e95b908034ab17f0eebe8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_122.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01587823 -0.00163858 -0.02099462
+v 0.01587823 0.00347769 -0.02062748
+v 0.01951814 -0.00163858 -0.02068767
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+v 0.01808619 -0.00103010 0.04024423
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_124.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991a09bf588cfe7bea92365e40390ee54788f6b9
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_124.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02861929 0.04094292 -0.00341368
+v 0.02859693 0.04034895 -0.00341368
+v 0.02859693 0.04034390 -0.00594687
+v 0.02861929 0.04094292 -0.00362240
+v 0.01910323 0.04094292 -0.00341368
+v 0.02676452 0.04034390 -0.00341368
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+v 0.02861836 0.04094292 -0.02076810
+v 0.01910323 0.04034390 -0.00341368
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+v 0.01910323 0.04034390 -0.02532037
+v 0.01925415 0.04094292 -0.02524128
+v 0.02830162 0.04034390 -0.02389449
+v 0.02849353 0.04094292 -0.02391866
+v 0.02049407 0.04094292 -0.02546538
+v 0.02011399 0.04034390 -0.02550273
+v 0.02742408 0.04034390 -0.02501938
+v 0.02733371 0.04094292 -0.02540605
+v 0.02094309 0.04094292 -0.02554007
+v 0.02080802 0.04062869 -0.02557084
+v 0.02083038 0.04034390 -0.02557743
+v 0.02687817 0.04034390 -0.02545659
+v 0.02700394 0.04067337 -0.02546538
+v 0.02700021 0.04094292 -0.02546757
+v 0.02399867 0.04094292 -0.02579713
+v 0.02401078 0.04038237 -0.02585865
+v 0.02400891 0.04034390 -0.02585205
+v 0.02404525 0.04034390 -0.02584986
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+f 29 31 30
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_126.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604c24b35e6a037ba23253199e8c2292b9c611dc
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_126.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.02329321 -0.00692608 0.01719577
+v -0.02329321 -0.00396907 0.01686270
+v -0.02329516 -0.00358752 0.01686071
+v -0.02453185 -0.00358752 0.01657918
+v -0.02471550 -0.00358752 0.01653656
+v -0.02471550 -0.00692608 0.01663668
+v -0.02329516 -0.00988070 0.01717099
+v -0.02329321 -0.00988070 0.01717099
+v -0.02329460 -0.00358752 0.00706861
+v -0.02329321 -0.00396907 0.00706861
+v -0.02471550 -0.00358752 0.00706861
+v -0.02471550 -0.00988070 0.01648303
+v -0.02336088 -0.01255154 0.01671896
+v -0.02329321 -0.01255870 0.01673779
+v -0.02329321 -0.02651862 0.00706861
+v -0.02471550 -0.02699795 0.00706861
+v -0.02471550 -0.01143074 0.01621637
+v -0.02329321 -0.01276616 0.01670409
+v -0.02329321 -0.02695264 0.00808569
+v -0.02329516 -0.02794705 0.00706861
+v -0.02471550 -0.02652816 0.00769413
+v -0.02471550 -0.01318348 0.01573162
+v -0.02438997 -0.01334803 0.01589816
+v -0.02329321 -0.01579233 0.01582778
+v -0.02329321 -0.02526428 0.00956373
+v -0.02329516 -0.02526428 0.00956373
+v -0.02329516 -0.02695264 0.00808470
+v -0.02471550 -0.02615377 0.00802225
+v -0.02471550 -0.01375342 0.01554030
+v -0.02471550 -0.01573032 0.01487513
+v -0.02329321 -0.01849417 0.01452718
+v -0.02329321 -0.02378816 0.01071265
+v -0.02471550 -0.02332792 0.01037858
+v -0.02471550 -0.01794808 0.01380056
+v -0.02471550 -0.01875171 0.01332473
+v -0.02329321 -0.01857286 0.01447960
+v -0.02329321 -0.02162049 0.01230369
+v -0.02471550 -0.02310137 0.01054313
+v -0.02329321 -0.01870164 0.01439336
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 14 18
+f 1 18 24
+f 1 24 31
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+f 1 36 39
+f 1 39 37
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+f 13 18 14
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+f 16 20 21
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+f 17 23 18
+f 18 23 24
+f 19 25 26
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+f 19 27 20
+f 20 27 21
+f 21 27 28
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+f 24 29 30
+f 24 30 31
+f 25 32 26
+f 26 28 27
+f 26 32 33
+f 26 33 28
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 32 37 33
+f 33 37 38
+f 35 38 36
+f 36 38 39
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_127.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f973f308839049ae961ed46c21e0763c14fb1aa0
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_127.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.03351503 0.00194287 0.01263191
+v -0.03351503 0.00489818 0.01243404
+v -0.03500662 0.00489818 0.01159310
+v -0.03500662 0.00194287 0.01164548
+v -0.03351503 -0.00097713 0.01261300
+v -0.03351503 0.00664313 0.01213578
+v -0.03500662 0.00502931 0.01157128
+v -0.03500662 -0.00087627 0.01147816
+v -0.03351503 -0.00396270 0.01246750
+v -0.03351503 0.00669356 0.01212705
+v -0.03500662 0.00782323 0.01108534
+v -0.03500662 -0.00336760 0.01130067
+v -0.03491872 -0.00396270 0.01132685
+v -0.03351503 -0.00476961 0.01235548
+v -0.03351503 0.00783836 0.01192628
+v -0.03351503 0.00834773 0.01179242
+v -0.03500662 0.00801487 0.01103442
+v -0.03500662 -0.00396270 0.01125411
+v -0.03461985 -0.00691801 0.01115226
+v -0.03351503 -0.00691801 0.01201794
+v -0.03351503 0.00926054 0.01154800
+v -0.03500662 0.01002711 0.01039571
+v -0.03500662 -0.00691801 0.01082345
+v -0.03419381 -0.00987836 0.01080018
+v -0.03351503 -0.00850157 0.01164984
+v -0.03351503 0.01074828 0.01103151
+v -0.03500662 0.01045578 0.01024586
+v -0.03500662 -0.00987836 0.01007563
+v -0.03385581 -0.01192590 0.01047864
+v -0.03351503 -0.01153253 0.01082054
+v -0.03351503 0.01252853 0.01034188
+v -0.03500662 0.01132825 0.00993305
+v -0.03500662 0.01080880 0.01012073
+v -0.03500662 -0.01287906 0.00905865
+v -0.03351503 -0.01214276 0.01065032
+v -0.03500662 -0.01310600 0.00897135
+v -0.03351503 -0.01385744 0.01003926
+v -0.03351503 0.01421800 0.00967262
+v -0.03500662 0.01383472 0.00890879
+v -0.03500662 -0.01579402 0.00757900
+v -0.03351503 -0.01388770 0.01002471
+v -0.03351503 0.01634623 0.00838357
+v -0.03500662 0.01584190 0.00781761
+v -0.03351503 -0.01404404 0.00993450
+v -0.03500662 -0.01870899 0.00575600
+v -0.03500662 0.01736999 0.00665223
+v -0.03351503 0.01919563 0.00619538
+v -0.03351503 -0.01591506 0.00873420
+v -0.03500662 -0.01871908 0.00574873
+v -0.03351503 -0.01863334 0.00697085
+v -0.03500662 0.01910989 0.00521041
+v -0.03351503 0.01969490 0.00577928
+v -0.03500662 -0.02179542 0.00310370
+v -0.03351503 -0.02167943 0.00446404
+v -0.03351503 0.02245353 0.00313425
+v -0.03500662 0.01921580 0.00510129
+v -0.03500662 -0.02406486 0.00031172
+v -0.03351503 -0.02428171 0.00147420
+v -0.03351503 0.02392110 0.00109447
+v -0.03500662 0.02095066 0.00313425
+v -0.03500662 -0.02546182 -0.00223146
+v -0.03480820 -0.02555260 -0.00223146
+v -0.03351503 -0.02538617 -0.00082311
+v -0.03500662 0.02300828 0.00017205
+v -0.03500662 0.02292254 0.00031027
+v -0.03500662 0.02173235 0.00204307
+v -0.03351503 0.02450106 0.00012404
+v -0.03500662 0.02411274 -0.00223146
+v -0.03473622 -0.02557277 -0.00223146
+v -0.03351503 -0.02589049 -0.00223146
+v -0.03500662 0.02311923 -0.00003163
+v -0.03351503 0.02455149 0.00003238
+v -0.03500662 0.02401187 -0.00199576
+v -0.03402926 0.02453637 -0.00087112
+v -0.03429893 0.02483391 -0.00223146
+v -0.03351503 0.02563074 -0.00223146
+v -0.03500662 0.02397657 -0.00191720
+v -0.03351503 0.02488435 -0.00058741
+v -0.03351503 0.02550970 -0.00194484
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+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
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+f 1 20 25
+f 1 25 30
+f 1 30 35
+f 1 35 37
+f 1 37 41
+f 1 41 44
+f 1 44 48
+f 1 48 50
+f 1 50 54
+f 1 54 58
+f 1 58 63
+f 1 63 70
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+f 1 42 38
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+f 1 26 21
+f 1 21 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
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+f 3 17 22
+f 3 22 27
+f 3 27 33
+f 3 33 32
+f 3 32 39
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+f 3 65 64
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+f 57 61 58
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+f 59 64 65
+f 59 65 66
+f 59 66 60
+f 59 67 64
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+f 61 75 76
+f 61 76 70
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+f 64 72 71
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+f 71 72 74
+f 71 74 77
+f 72 78 74
+f 73 77 74
+f 74 78 79
+f 74 79 76
+f 74 76 75
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_128.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f75866b3a4eb948a6caed49644d6033b1e55ee
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_128.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02768866 0.01620696 -0.02444448
+v -0.02902356 0.01620696 -0.02435620
+v -0.02768866 0.01664055 -0.02437739
+v -0.02768866 0.01620696 0.01163001
+v -0.02902356 0.01672960 -0.02425380
+v -0.02768866 0.01672960 -0.02436327
+v -0.02902356 0.01620696 0.01124511
+v -0.02768866 0.01882969 0.01060244
+v -0.02818101 0.01876926 0.01057066
+v -0.02863469 0.01620696 0.01135811
+v -0.02902356 0.01983574 -0.02296845
+v -0.02768866 0.01976365 -0.02326154
+v -0.02902356 0.01697979 0.01093437
+v -0.02768866 0.01920656 0.01039057
+v -0.02902356 0.01957442 0.00951837
+v -0.02902356 0.01825511 0.01026345
+v -0.02902356 0.02162150 0.00814827
+v -0.02902356 0.02004670 -0.02285899
+v -0.02768866 0.02157009 -0.02239287
+v -0.02768866 0.02162150 0.00852964
+v -0.02850755 0.02162150 0.00829658
+v -0.02902356 0.02162150 -0.02172901
+v -0.02814612 0.02133527 -0.02235403
+v -0.02839100 0.02162150 -0.02203269
+v -0.02768866 0.02162150 -0.02235403
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 19
+f 1 19 25
+f 1 25 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
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+f 1 7 2
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+f 2 6 3
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+f 2 22 18
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+f 2 11 5
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+f 4 9 10
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+f 9 16 13
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+f 9 17 15
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+f 11 19 12
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+f 14 21 17
+f 17 21 20
+f 17 20 25
+f 17 25 24
+f 17 24 22
+f 18 23 19
+f 18 22 24
+f 18 24 23
+f 19 23 24
+f 19 24 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_129.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84795d9efa18fca4a7ee6a4d184d1572442510bf
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_129.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01375636 -0.02606917 -0.02482492
+v -0.01505246 -0.02606917 -0.02478106
+v -0.01505246 -0.02461686 -0.02498838
+v -0.01375636 -0.02521142 -0.02494453
+v -0.01375636 -0.02606917 0.01120067
+v -0.01505246 -0.02606917 0.01080198
+v -0.01505246 -0.02399639 -0.02500433
+v -0.01375636 -0.02466323 -0.02500832
+v -0.01375636 -0.02440754 0.01278746
+v -0.01505246 -0.02476482 0.01190237
+v -0.01505246 -0.02170747 -0.02505217
+v -0.01375636 -0.02243499 -0.02505616
+v -0.01375636 -0.02189838 0.01437823
+v -0.01505246 -0.02189634 0.01403934
+v -0.01505246 -0.02255704 0.01361275
+v -0.01505246 -0.02379934 0.01271171
+v -0.01505246 -0.01910422 -0.02510400
+v -0.01375636 -0.01942196 -0.02510001
+v -0.01375636 -0.01910422 0.01562613
+v -0.01505246 -0.01910422 0.01543077
+v -0.01407344 -0.01910422 -0.02510001
+v -0.01375636 -0.01910422 -0.02508806
+f 1 2 3
+f 1 3 4
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+f 1 8 12
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+f 1 18 22
+f 1 22 19
+f 1 19 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
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+f 2 16 15
+f 2 15 14
+f 2 14 20
+f 2 20 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
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+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 14
+f 17 21 18
+f 17 20 19
+f 17 19 22
+f 17 22 21
+f 18 21 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_13.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c5b6e32463f1aeb0b404bb05037ab857a3e882
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,318 @@
+# https://github.com/mikedh/trimesh
+v -0.03590386 -0.02790483 -0.01189669
+v -0.03685961 -0.02772645 -0.01363705
+v -0.03590386 -0.02787657 -0.01268034
+v -0.03590386 -0.02780416 -0.00972205
+v -0.03802394 -0.02764697 -0.01189669
+v -0.03802394 -0.02754277 -0.01479947
+v -0.03685961 -0.02762401 -0.01485171
+v -0.03590386 -0.02769289 -0.01485171
+v -0.03685961 -0.02762048 -0.00937594
+v -0.03685961 -0.02773175 -0.01067550
+v -0.03590386 -0.02773705 -0.00893840
+v -0.03802394 -0.02764344 -0.01184118
+v -0.03802394 -0.02753747 -0.01485498
+v -0.03685961 -0.02716659 -0.01638310
+v -0.03590386 -0.02748626 -0.01554394
+v -0.03802394 -0.02739618 -0.00895799
+v -0.03590386 -0.02726372 -0.00677030
+v -0.03685961 -0.02731671 -0.00772048
+v -0.03802394 -0.02738205 -0.00888289
+v -0.03802394 -0.02739265 -0.00893840
+v -0.03802394 -0.02675685 -0.01745409
+v -0.03685961 -0.02678157 -0.01756184
+v -0.03590386 -0.02680276 -0.01764021
+v -0.03590386 -0.02708181 -0.00598991
+v -0.03685961 -0.02691580 -0.00598991
+v -0.03802394 -0.02671623 -0.00600950
+v -0.03802394 -0.02589144 -0.01892997
+v -0.03685961 -0.02596562 -0.01903772
+v -0.03590386 -0.02602567 -0.01912262
+v -0.03590386 -0.02635770 -0.00415159
+v -0.03685961 -0.02627999 -0.00427241
+v -0.03802394 -0.02618462 -0.00441934
+v -0.03802394 -0.02671092 -0.00599318
+v -0.03802394 -0.02588084 -0.01894303
+v -0.03590386 -0.02435314 -0.02079768
+v -0.03802394 -0.02537573 -0.00289122
+v -0.03802394 -0.02540929 -0.00295326
+v -0.03590386 -0.02554705 -0.00267245
+v -0.03685961 -0.02548347 -0.00279326
+v -0.03802394 -0.02440789 -0.02037973
+v -0.03590386 -0.02257288 -0.02210703
+v -0.03685961 -0.02482470 -0.00163085
+v -0.03802394 -0.02392574 -0.00043577
+v -0.03590386 -0.02437080 -0.00059904
+v -0.03802394 -0.02167746 -0.02184581
+v -0.03801398 -0.02167569 -0.02184907
+v -0.03802394 -0.02166686 -0.02184907
+v -0.03685961 -0.02087387 -0.02230947
+v -0.03590386 -0.02238214 -0.02215274
+v -0.03685961 -0.02416947 -0.00052394
+v -0.03590386 -0.02401051 0.00000829
+v -0.03685961 -0.02397166 -0.00019088
+v -0.03685961 -0.02395930 -0.00017129
+v -0.03590386 -0.02340120 0.00091929
+v -0.03685961 -0.02336764 0.00071032
+v -0.03802394 -0.02287843 0.00104010
+v -0.03802394 -0.01970292 -0.02222784
+v -0.03698601 -0.02067430 -0.02232580
+v -0.03685961 -0.02073434 -0.02234212
+v -0.03590386 -0.02119530 -0.02243681
+v -0.03590386 -0.02265589 0.00183682
+v -0.03624673 -0.02308683 0.00129153
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+v -0.03802394 -0.02286783 0.00105316
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_131.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56bf5c41e2b711ff13363dd9ce23489bd6eaf41
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_131.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01290702 -0.02455153 -0.01756038
+v 0.01290702 -0.02455153 -0.01227096
+v 0.01290702 -0.02395251 -0.01756038
+v 0.02148878 -0.02455153 -0.01756038
+v 0.01290702 -0.02395251 -0.01227096
+v 0.02148878 -0.02455153 -0.01227096
+v 0.02148878 -0.02395251 -0.01756038
+v 0.02148878 -0.02395251 -0.01227096
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_132.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b1b2c6f555c434cfbb91329ae7179810834908
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_132.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02590910 -0.03247315 0.02055961
+v 0.02266356 -0.03247315 0.02055961
+v 0.02586535 -0.03365283 0.02056411
+v 0.02581442 -0.03502674 0.02056411
+v 0.02581442 -0.03502674 -0.02076351
+v 0.02586965 -0.03353358 -0.02076351
+v 0.02590874 -0.03247315 -0.02076351
+v 0.02224576 -0.03365283 0.02055961
+v 0.02494476 -0.03365283 0.02056411
+v 0.02266356 -0.03247315 -0.02484397
+v 0.02494476 -0.03502674 0.02056411
+v 0.02565161 -0.03502674 -0.02326138
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+v 0.02224576 -0.03502674 0.02055961
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_133.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93c5f307dfea7db7353e754c646a06d64788def
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_133.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02359558 0.03695780 0.02064769
+v 0.02359558 0.03615168 0.02064769
+v 0.02359558 0.03709151 0.02064317
+v 0.01870790 0.03709151 0.02063864
+v 0.01870790 0.03680587 0.02064769
+v 0.01870790 0.03615389 0.02064769
+v 0.01870790 0.03615158 0.02063864
+v 0.02359558 0.03615158 0.02062053
+v 0.02359558 0.03709151 -0.02546773
+v 0.01870790 0.03709151 -0.02551754
+v 0.01870790 0.03615158 -0.02549943
+v 0.02359558 0.03615158 -0.02522776
+v 0.02359558 0.03683578 -0.02541340
+v 0.02105485 0.03615158 -0.02546773
+v 0.02105485 0.03709151 -0.02560809
+v 0.02309413 0.03615158 -0.02529115
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+f 7 14 16
+f 7 16 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 10 15 11
+f 11 15 14
+f 12 16 13
+f 13 16 14
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_134.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6991ae77f270536b9f1d97243eb9aaaf36fcce
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_134.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01642082 0.03615499 0.02064902
+v 0.01642082 0.03709151 0.02064902
+v 0.02394429 0.03615158 0.02064902
+v 0.01642082 0.03615158 0.02068965
+v 0.01642082 0.03709151 0.02722336
+v 0.02847725 0.03709151 0.02064902
+v 0.02844185 0.03615158 0.02064902
+v 0.01642082 0.03615158 0.02781672
+v 0.01642082 0.03653838 0.02761273
+v 0.01865013 0.03646063 0.02836268
+v 0.01812614 0.03709151 0.02772869
+v 0.02847489 0.03709151 0.02357941
+v 0.02844185 0.03615158 0.02357941
+v 0.01850379 0.03615158 0.02848795
+v 0.01946325 0.03709151 0.02810536
+v 0.02110012 0.03615158 0.02906607
+v 0.02105528 0.03684706 0.02865216
+v 0.02105528 0.03709151 0.02847864
+v 0.02845837 0.03709151 0.02438692
+v 0.02843949 0.03615158 0.02362427
+v 0.02311110 0.03615158 0.02924129
+v 0.02401038 0.03706833 0.02877913
+v 0.02401038 0.03709151 0.02876389
+v 0.02148013 0.03709151 0.02852689
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+v 0.02745642 0.03709151 0.02652166
+v 0.02401864 0.03615158 0.02929546
+v 0.02629279 0.03675560 0.02853197
+v 0.02686399 0.03709151 0.02746037
+v 0.02712480 0.03615158 0.02761865
+v 0.02730890 0.03709151 0.02678236
+v 0.02575346 0.03615158 0.02897212
+v 0.02642733 0.03615158 0.02868433
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_135.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8445d7adae3e885c110fe8ebbde6001ab41818
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_135.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v 0.00553105 -0.00471016 0.02872732
+v 0.00553105 -0.00397304 0.02872206
+v 0.00035618 -0.00397436 0.02893225
+v 0.00393357 -0.00630572 0.02873783
+v 0.00331364 -0.00988056 0.02862748
+v 0.00495253 -0.01161194 0.02805996
+v 0.00553105 -0.00960101 0.02812302
+v -0.00355811 -0.00397172 0.02704054
+v 0.00304717 -0.00397304 0.02874834
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+v -0.00158785 -0.00397436 0.02833321
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+v -0.00857281 -0.00397172 0.02409262
+v 0.00553105 -0.00689647 -0.02249084
+v -0.00259576 -0.00397436 -0.02341568
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+v -0.00107699 -0.00828105 0.02798640
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+v 0.00553105 -0.01744166 -0.02353129
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+v -0.00857419 -0.00696241 -0.02375724
+v -0.00857419 -0.00994386 0.02305218
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+v -0.00355811 -0.01744166 -0.02438256
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+v -0.00183775 -0.01744166 0.02567956
+v -0.00685798 -0.01744298 0.02217989
+v -0.00555598 -0.01744298 -0.02456647
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+v -0.00857419 -0.01744298 0.02081365
+v -0.00857419 -0.01579204 0.02147049
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+f 1 44 43
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+f 8 26 11
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+f 10 28 25
+f 11 29 15
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+f 11 26 30
+f 11 30 31
+f 11 31 29
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+f 15 34 16
+f 16 34 17
+f 17 34 19
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+f 23 36 37
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+f 26 41 59
+f 26 59 42
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+f 28 44 45
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+f 29 46 32
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+f 30 48 49
+f 30 49 32
+f 30 32 31
+f 31 32 46
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+f 32 50 33
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+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
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+f 39 57 41
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+f 42 60 47
+f 42 59 57
+f 42 57 72
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+f 42 70 80
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+f 42 81 76
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+f 44 62 63
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+f 48 64 50
+f 48 50 49
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+f 50 65 51
+f 51 65 52
+f 52 65 66
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+f 54 68 79
+f 54 79 80
+f 54 80 70
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+f 54 69 62
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+f 54 66 67
+f 55 63 69
+f 55 69 70
+f 55 70 56
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 60 73 64
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+f 64 73 75
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+f 65 74 67
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+f 67 77 78
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+f 67 74 77
+f 68 78 79
+f 73 76 75
+f 74 76 77
+f 76 81 77
+f 77 81 78
+f 78 81 80
+f 78 80 79
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_136.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f019bdbbd1caaeef4f23c98cb1b4856b34e10f
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_136.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00310878 0.04330813 -0.02286797
+v 0.00142700 0.04330813 -0.02147591
+v 0.00135740 0.04370537 -0.02123874
+v 0.00310878 0.04348149 -0.02278891
+v 0.00310878 0.04330813 0.01224634
+v 0.00135740 0.04330813 -0.02141747
+v 0.00233252 0.04422805 -0.02180588
+v 0.00135740 0.04535966 -0.01983981
+v 0.00310878 0.04595899 -0.02103595
+v 0.00310878 0.04352156 0.01202636
+v 0.00290581 0.04330813 0.01200918
+v 0.00135740 0.04330813 0.01002936
+v 0.00226567 0.04732668 -0.01874678
+v 0.00310878 0.04652001 -0.02049631
+v 0.00310878 0.04626041 -0.02076785
+v 0.00135740 0.04784326 -0.01688382
+v 0.00150209 0.04811854 -0.01677384
+v 0.00310878 0.04353463 0.01201262
+v 0.00269648 0.04330813 0.01175483
+v 0.00135740 0.04442144 0.00885040
+v 0.00310878 0.04880325 -0.01801466
+v 0.00135740 0.04827708 -0.01612764
+v 0.00135740 0.04888078 -0.01485588
+v 0.00252110 0.05006814 -0.01485588
+v 0.00310878 0.05065702 -0.01485588
+v 0.00310878 0.04909421 -0.01765375
+v 0.00310878 0.04355902 0.01198512
+v 0.00310878 0.04495022 0.01039370
+v 0.00310878 0.04622905 0.00886415
+v 0.00310878 0.04757930 0.00706306
+v 0.00135740 0.04651042 0.00589442
+v 0.00135740 0.05016048 -0.01112997
+v 0.00176096 0.05079379 -0.01062814
+v 0.00209646 0.05048802 -0.01260109
+v 0.00310878 0.05171720 -0.01178304
+v 0.00310878 0.04875098 0.00521386
+v 0.00175788 0.04785633 0.00448517
+v 0.00135740 0.04721082 0.00483920
+v 0.00135740 0.05062828 -0.00894048
+v 0.00310878 0.05175030 -0.01167648
+v 0.00159535 0.05092621 -0.00894048
+v 0.00310878 0.04985210 0.00306905
+v 0.00135740 0.04763767 0.00414489
+v 0.00135740 0.05064657 -0.00598450
+v 0.00310878 0.05176075 -0.01161118
+v 0.00159912 0.05092795 -0.00598450
+v 0.00310878 0.05220677 -0.00802963
+v 0.00310878 0.05220677 -0.00876175
+v 0.00310878 0.04993747 0.00288001
+v 0.00288472 0.04972491 0.00288001
+v 0.00135740 0.04825443 0.00288001
+v 0.00135740 0.04823962 0.00291094
+v 0.00135740 0.05028592 -0.00385001
+v 0.00176593 0.05079554 -0.00425216
+v 0.00310878 0.05212924 -0.00569578
+v 0.00310878 0.05220329 -0.00617355
+v 0.00310878 0.05058559 0.00104455
+v 0.00135740 0.04934771 -0.00007597
+v 0.00135740 0.04826227 0.00285938
+v 0.00135740 0.04960905 -0.00111744
+v 0.00310878 0.05173723 -0.00320038
+v 0.00310878 0.05097325 -0.00007597
+v 0.00310878 0.05119626 -0.00095933
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 14
+f 1 14 21
+f 1 21 26
+f 1 26 25
+f 1 25 35
+f 1 35 40
+f 1 40 45
+f 1 45 48
+f 1 48 47
+f 1 47 56
+f 1 56 55
+f 1 55 61
+f 1 61 63
+f 1 63 62
+f 1 62 57
+f 1 57 49
+f 1 49 42
+f 1 42 36
+f 1 36 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 18
+f 1 18 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
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+f 3 23 22
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+f 5 10 11
+f 7 8 9
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+f 8 17 13
+f 10 18 11
+f 11 18 19
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+f 13 17 21
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+f 16 22 17
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+f 17 24 25
+f 17 25 26
+f 17 26 21
+f 18 27 20
+f 18 20 19
+f 20 27 28
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+f 20 29 30
+f 20 30 31
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 40 35
+f 33 35 34
+f 33 39 41
+f 33 41 40
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 39 44 41
+f 40 41 45
+f 41 44 46
+f 41 46 47
+f 41 47 48
+f 41 48 45
+f 42 49 50
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 44 53 46
+f 46 53 54
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 49 57 58
+f 49 58 50
+f 50 59 51
+f 50 58 59
+f 53 60 54
+f 54 61 55
+f 54 60 58
+f 54 58 62
+f 54 62 63
+f 54 63 61
+f 57 62 58
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_137.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c550ae509b02160d03bd68914dee5b60a6cfe52
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_137.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.00004367 0.03130594 0.00665343
+v 0.00135715 0.03130594 0.00665343
+v 0.00004367 0.03130594 0.01839210
+v 0.00004367 0.03130783 -0.02457030
+v 0.00059684 0.03130783 -0.02463958
+v 0.00135715 0.03130783 -0.02469154
+v 0.00135715 0.03130594 0.01922346
+v 0.00004367 0.03138734 0.01835746
+v 0.00004367 0.03167889 -0.02459195
+v 0.00135715 0.03240966 -0.02501196
+v 0.00135715 0.03300601 0.01846571
+v 0.00135715 0.03433123 0.01770796
+v 0.00004367 0.03382954 0.01695020
+v 0.00004367 0.03430284 -0.02437112
+v 0.00135715 0.03356828 -0.02495567
+v 0.00135715 0.03522671 0.01718403
+v 0.00135715 0.03616951 0.01661246
+v 0.00135715 0.03637776 0.01647823
+v 0.00004367 0.03698168 0.01467695
+v 0.00135715 0.03756099 -0.02405070
+v 0.00135715 0.03463414 -0.02477814
+v 0.00004367 0.03766890 -0.02334058
+v 0.00135715 0.03794530 0.01530480
+v 0.00004367 0.04043862 0.01172388
+v 0.00135715 0.04037236 -0.02309809
+v 0.00004367 0.04038561 -0.02218446
+v 0.00090222 0.04038561 -0.02282530
+v 0.00135715 0.03957344 0.01391053
+v 0.00004367 0.04189258 0.01033827
+v 0.00135715 0.04176195 -0.02255251
+v 0.00004367 0.04209326 -0.02110196
+v 0.00135715 0.04239995 -0.02218879
+v 0.00135715 0.04168433 0.01187976
+v 0.00135715 0.04251165 0.01097911
+v 0.00135715 0.04441997 0.00884875
+v 0.00004367 0.04326513 0.00874916
+v 0.00004367 0.04300198 -0.02046978
+v 0.00135715 0.04370056 -0.02123619
+v 0.00135715 0.04650814 0.00589135
+v 0.00004367 0.04559374 0.00551031
+v 0.00004367 0.04537791 -0.01786744
+v 0.00134982 0.04535141 -0.01983326
+v 0.00135715 0.04535520 -0.01983759
+v 0.00135715 0.04720672 0.00483049
+v 0.00135715 0.04763269 0.00413769
+v 0.00004367 0.04691328 0.00302055
+v 0.00004367 0.04579252 -0.01728289
+v 0.00135715 0.04784094 -0.01688019
+v 0.00135715 0.04825176 0.00287766
+v 0.00004367 0.04698522 0.00287766
+v 0.00004367 0.04729760 -0.01484942
+v 0.00135715 0.04827447 -0.01612677
+v 0.00004367 0.04772735 0.00102441
+v 0.00135715 0.04934412 -0.00007974
+v 0.00004367 0.04813627 -0.00007974
+v 0.00004367 0.04834831 -0.01180975
+v 0.00107221 0.04858685 -0.01484942
+v 0.00135715 0.04887651 -0.01484942
+v 0.00135715 0.04960538 -0.00112327
+v 0.00135715 0.05028124 -0.00384685
+v 0.00004367 0.04879699 -0.00312374
+v 0.00004367 0.04884811 -0.00954082
+v 0.00135715 0.05015629 -0.01112561
+v 0.00087380 0.04939902 -0.01171882
+v 0.00135715 0.05064473 -0.00599021
+v 0.00016055 0.04924757 -0.00599021
+v 0.00004367 0.04910558 -0.00599021
+v 0.00004367 0.04896170 -0.00894328
+v 0.00025776 0.04924757 -0.00894328
+v 0.00135715 0.05062580 -0.00894328
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 24
+f 1 24 29
+f 1 29 36
+f 1 36 40
+f 1 40 46
+f 1 46 50
+f 1 50 53
+f 1 53 55
+f 1 55 61
+f 1 61 67
+f 1 67 68
+f 1 68 62
+f 1 62 56
+f 1 56 51
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+f 1 47 41
+f 1 41 37
+f 1 37 31
+f 1 31 26
+f 1 26 22
+f 1 22 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 21
+f 2 21 20
+f 2 20 25
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+f 2 30 32
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+f 2 48 52
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+f 2 33 28
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+f 2 23 18
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+f 2 17 16
+f 2 16 12
+f 2 12 11
+f 2 11 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 6
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+f 8 12 13
+f 8 11 12
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 13 17 18
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+f 14 20 21
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+f 14 22 20
+f 18 23 19
+f 19 23 24
+f 20 22 25
+f 22 26 27
+f 22 27 25
+f 23 28 24
+f 24 28 29
+f 25 27 30
+f 26 31 32
+f 26 32 30
+f 26 30 27
+f 28 33 29
+f 29 34 35
+f 29 35 36
+f 29 33 34
+f 31 37 32
+f 32 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 42
+f 37 42 38
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 41 47 48
+f 41 48 42
+f 42 48 43
+f 45 49 50
+f 45 50 46
+f 47 51 48
+f 48 51 52
+f 49 53 50
+f 49 54 55
+f 49 55 53
+f 51 56 57
+f 51 57 52
+f 52 57 58
+f 54 59 55
+f 55 59 60
+f 55 60 61
+f 56 62 63
+f 56 63 64
+f 56 64 57
+f 57 64 63
+f 57 63 58
+f 60 65 61
+f 61 65 66
+f 61 66 67
+f 62 68 69
+f 62 69 63
+f 63 69 70
+f 65 70 66
+f 66 70 67
+f 67 70 69
+f 67 69 68
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_138.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb12f9012fa604ce4e74a6bed97e79eeee4193e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_138.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00767391 0.02733624 -0.02410573
+v 0.00767391 0.03539866 -0.02530995
+v 0.00787657 0.02733624 -0.02410041
+v 0.00767391 0.02733624 0.02684440
+v 0.00767391 0.03743422 -0.02553374
+v 0.00915778 0.03744355 -0.02547513
+v 0.00939498 0.03743111 -0.02545915
+v 0.00908213 0.02733624 -0.02406843
+v 0.00908213 0.02733624 0.02889050
+v 0.00767391 0.02855716 0.02637017
+v 0.00767391 0.03792445 -0.02552309
+v 0.00920242 0.03792445 -0.02552309
+v 0.00939498 0.03792445 -0.02551243
+v 0.00939498 0.03026416 -0.02427624
+v 0.00939498 0.03026416 0.02791008
+v 0.00908213 0.02849186 0.02843759
+v 0.00767391 0.03369269 0.02428144
+v 0.00767391 0.03792445 0.02228329
+v 0.00939498 0.03792445 0.02389780
+v 0.00939498 0.03154727 0.02737191
+v 0.00815421 0.03446898 0.02453720
+v 0.00767391 0.03446898 0.02393510
+v 0.00767391 0.03382328 0.02422816
+v 0.00876895 0.03792445 0.02341824
+v 0.00939498 0.03430833 0.02604514
+v 0.00904625 0.03792445 0.02364736
+v 0.00939498 0.03790269 0.02392444
+v 0.00939498 0.03737203 0.02436670
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 23
+f 1 23 22
+f 1 22 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 19
+f 7 19 27
+f 7 27 28
+f 7 28 25
+f 7 25 20
+f 7 20 15
+f 7 15 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 24
+f 11 24 26
+f 11 26 19
+f 11 19 13
+f 11 13 12
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 22 21
+f 18 21 25
+f 18 25 24
+f 19 26 27
+f 20 25 21
+f 24 25 28
+f 24 28 26
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_14.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0253fba45db1ebae8e0a28f59af93c208924998c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,288 @@
+# https://github.com/mikedh/trimesh
+v -0.01505258 -0.03810607 -0.00894270
+v -0.01738178 -0.03729179 -0.01189997
+v -0.01505258 -0.03800460 -0.01189997
+v -0.01505258 -0.03768285 -0.00602313
+v -0.01738178 -0.03693539 -0.00598543
+v -0.01738178 -0.03733387 -0.00894270
+v -0.01748861 -0.03729427 -0.00894270
+v -0.01748861 -0.03724724 -0.01189997
+v -0.01748861 -0.03674481 -0.01484886
+v -0.01738178 -0.03678689 -0.01485305
+v -0.01505258 -0.03733882 -0.01476927
+v -0.01505258 -0.03767542 -0.00598543
+v -0.01748861 -0.03689826 -0.00598543
+v -0.01738178 -0.03617061 -0.00303235
+v -0.01748861 -0.03613843 -0.00304073
+v -0.01748861 -0.03671016 -0.01495777
+v -0.01748861 -0.03560383 -0.01773073
+v -0.01727996 -0.03563353 -0.01782707
+v -0.01505258 -0.03709626 -0.01538502
+v -0.01505258 -0.03695271 -0.00322922
+v -0.01748861 -0.03536375 -0.00066988
+v -0.01748861 -0.03542563 -0.01805327
+v -0.01748861 -0.03487122 -0.01904182
+v -0.01622672 -0.03513605 -0.01943556
+v -0.01505258 -0.03577955 -0.01837580
+v -0.01505258 -0.03578203 0.00007572
+v -0.01738178 -0.03538107 -0.00063218
+v -0.01748861 -0.03485637 0.00072079
+v -0.01748861 -0.03333175 -0.02063774
+v -0.01505258 -0.03516822 -0.01947745
+v -0.01748861 -0.03274518 -0.02124092
+v -0.01748861 -0.03186654 -0.02207867
+v -0.01604812 -0.03210167 -0.02228392
+v -0.01505258 -0.03216602 -0.02233838
+v -0.01505258 -0.03307188 -0.02148387
+v -0.01505258 -0.03556670 0.00056999
+v -0.01738178 -0.03484152 0.00084645
+v -0.01748861 -0.03482419 0.00080875
+v -0.01748861 -0.03110918 -0.02259808
+v -0.01717266 -0.03070823 -0.02295412
+v -0.01505258 -0.03060676 -0.02325991
+v -0.01505258 -0.03436632 0.00288638
+v -0.01738178 -0.03385151 0.00288219
+v -0.01748861 -0.03381934 0.00288638
+v -0.01748861 -0.03061171 -0.02292899
+v -0.01748861 -0.03039885 -0.02304627
+v -0.01748861 -0.02761940 -0.02439506
+v -0.01738178 -0.02761940 -0.02441182
+v -0.01505258 -0.02994840 -0.02357406
+v -0.01505258 -0.03278230 0.00512318
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+v -0.01748861 -0.03252985 0.00492631
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_140.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df468e03a47c4b2d59ec2f33f830e97f9abb2de
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_140.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01514582 0.05415000 -0.01285539
+v 0.01514582 0.05767391 -0.01285539
+v 0.01642082 0.05415000 -0.01285539
+v 0.01514582 0.05415000 0.00924623
+v 0.01514582 0.05791803 -0.01190269
+v 0.01642082 0.05839507 -0.01197767
+v 0.01642082 0.05814607 -0.01285539
+v 0.01642082 0.05415000 0.00967186
+v 0.01533016 0.05415000 0.00931019
+v 0.01514582 0.05436342 0.00889559
+v 0.01514582 0.05849739 -0.00894758
+v 0.01642082 0.05872982 -0.01026635
+v 0.01642082 0.05462070 0.00888236
+v 0.01640210 0.05415000 0.00966745
+v 0.01566912 0.05415000 0.00942486
+v 0.01514582 0.05608640 0.00576846
+v 0.01514582 0.05873274 -0.00598585
+v 0.01642082 0.05894909 -0.00894317
+v 0.01642082 0.05615072 0.00610367
+v 0.01514582 0.05612538 0.00569568
+v 0.01514582 0.05857487 -0.00303955
+v 0.01642082 0.05912742 -0.00598585
+v 0.01642082 0.05904313 -0.00775230
+v 0.01642082 0.05651032 0.00542222
+v 0.01514582 0.05620480 0.00554352
+v 0.01642082 0.05685238 0.00476725
+v 0.01642082 0.05907090 -0.00493832
+v 0.01514582 0.05857389 -0.00302853
+v 0.01587618 0.05679927 0.00467021
+v 0.01514582 0.05654053 0.00487531
+v 0.01642082 0.05707506 0.00423136
+v 0.01642082 0.05888623 -0.00292267
+v 0.01514582 0.05815728 -0.00008002
+v 0.01514582 0.05672325 0.00451143
+v 0.01642082 0.05755258 0.00300300
+v 0.01642082 0.05865234 -0.00126869
+v 0.01514582 0.05731236 0.00294787
+v 0.01642082 0.05842625 -0.00007561
+v 0.01514582 0.05726948 0.00309562
+v 0.01642082 0.05794678 0.00164232
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+f 29 34 30
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+f 32 33 36
+f 33 37 38
+f 33 38 36
+f 34 35 39
+f 35 40 37
+f 35 37 39
+f 37 40 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_141.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8bc39dfa02ade97d92764b179bd2d9701eb897
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_141.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00004367 0.03869978 -0.02289035
+v -0.00118620 0.03869978 -0.02225919
+v -0.00260704 0.03904825 -0.02152225
+v 0.00004367 0.04038404 -0.02218161
+v 0.00004367 0.03869978 0.01313163
+v -0.00118620 0.03869978 0.01220781
+v -0.00260704 0.04041155 -0.02042212
+v 0.00004367 0.04300672 -0.02047501
+v 0.00004367 0.04209785 -0.02110617
+v -0.00260704 0.03904825 0.01105480
+v 0.00004367 0.03870590 0.01312811
+v -0.00260704 0.04300060 -0.01741794
+v 0.00004367 0.04538078 -0.01787280
+v -0.00260704 0.03948842 0.01071630
+v 0.00004367 0.04045435 0.01170711
+v -0.00118620 0.04000500 0.01124873
+v -0.00260704 0.04418662 -0.01485451
+v 0.00004367 0.04730041 -0.01485451
+v 0.00004367 0.04579446 -0.01728042
+v -0.00260704 0.04096686 0.00940814
+v 0.00004367 0.04189509 0.01033549
+v -0.00260704 0.04457788 -0.01377555
+v -0.00260704 0.04523711 -0.01189617
+v 0.00004367 0.04834887 -0.01181154
+v -0.00260704 0.04232914 0.00792368
+v 0.00004367 0.04326858 0.00874524
+v -0.00260704 0.04579038 -0.00949141
+v -0.00260704 0.04591571 -0.00894135
+v 0.00004367 0.04885119 -0.00954430
+v 0.00004367 0.04559577 0.00550834
+v -0.00260704 0.04358138 0.00582921
+v -0.00260704 0.04616024 -0.00614873
+v 0.00004367 0.04896531 -0.00894135
+v 0.00004367 0.04691526 0.00302601
+v 0.00004367 0.04698658 0.00288145
+v -0.00260704 0.04367512 0.00563881
+v -0.00260704 0.04617247 -0.00598653
+v 0.00004367 0.04910897 -0.00598653
+v 0.00004367 0.04773039 0.00103028
+v -0.00260704 0.04485808 0.00288145
+v -0.00260704 0.04612866 -0.00303524
+v -0.00118620 0.04756125 -0.00303171
+v -0.00104427 0.04770288 -0.00303171
+v 0.00004367 0.04879719 -0.00311987
+v 0.00004367 0.04813795 -0.00007690
+v -0.00260704 0.04576185 -0.00008042
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_142.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f3505f87e358f886c52019eae9f795f3cf7e3e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_142.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.03228824 0.01983058 -0.02214285
+v -0.03351503 0.01983058 -0.02154132
+v -0.03351503 0.02013611 -0.02132105
+v -0.03228824 0.02051158 -0.02165146
+v -0.03228824 0.01983058 0.00670770
+v -0.03351503 0.01983058 0.00564868
+v -0.03351503 0.02017292 -0.02129281
+v -0.03351503 0.02116313 -0.02038629
+v -0.03228824 0.02060508 -0.02156392
+v -0.03228824 0.02033047 0.00641117
+v -0.03228824 0.02103797 0.00592261
+v -0.03228824 0.02192290 0.00523919
+v -0.03228824 0.02350134 0.00382151
+v -0.03351503 0.02245887 0.00313244
+v -0.03351503 0.02119626 -0.02035522
+v -0.03228824 0.02205100 -0.02017731
+v -0.03228824 0.02461302 0.00223157
+v -0.03351503 0.02392540 0.00109065
+v -0.03351503 0.02170425 -0.01986666
+v -0.03228824 0.02351680 -0.01850264
+v -0.03228824 0.02573501 0.00007964
+v -0.03351503 0.02489279 -0.00058966
+v -0.03351503 0.02450627 0.00012200
+v -0.03350338 0.02393350 0.00109912
+v -0.03351503 0.02426848 -0.01653428
+v -0.03228824 0.02467339 -0.01701437
+v -0.03228824 0.02680326 -0.00225585
+v -0.03299578 0.02649773 -0.00303247
+v -0.03351503 0.02551488 -0.00194803
+v -0.03351503 0.02504960 -0.01486526
+v -0.03228824 0.02591686 -0.01488220
+v -0.03228824 0.02699541 -0.00303247
+v -0.03228824 0.02735174 -0.00598925
+v -0.03319945 0.02670829 -0.00598925
+v -0.03351503 0.02642264 -0.00598925
+v -0.03351503 0.02597281 -0.00303247
+v -0.03351503 0.02597944 -0.01190000
+v -0.03228824 0.02692694 -0.01190000
+v -0.03228824 0.02730241 -0.00894322
+v -0.03351503 0.02630852 -0.00894322
+v -0.03228824 0.02711100 -0.01049362
+f 1 2 3
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+f 18 24 23
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+f 21 27 28
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+f 21 29 22
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 33
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+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 38
+f 30 38 31
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 37 40 39
+f 37 39 41
+f 37 41 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_143.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3bf38aee95c62a58d67c4de466abc8c144d64c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_143.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00377663 0.02878158 -0.01863671
+v -0.00377663 0.03565771 -0.01864037
+v -0.00260704 0.02878158 -0.01863671
+v -0.00377663 0.02878158 0.01843033
+v -0.00260704 0.03565771 -0.01864037
+v -0.00377663 0.04131660 -0.01864037
+v -0.00260704 0.02878158 0.01877829
+v -0.00377663 0.02882243 0.01840469
+v -0.00260704 0.04191756 -0.01864037
+v -0.00377663 0.04263089 -0.01713498
+v -0.00260704 0.04299691 -0.01741335
+v -0.00260704 0.03149526 0.01685901
+v -0.00377663 0.03119222 0.01679674
+v -0.00377663 0.04350594 -0.01485309
+v -0.00260704 0.04418521 -0.01485309
+v -0.00260704 0.03271760 0.01597995
+v -0.00377663 0.03350413 0.01505327
+v -0.00377663 0.04376811 -0.01391176
+v -0.00260704 0.04523731 -0.01189725
+v -0.00260704 0.04457677 -0.01377624
+v -0.00260704 0.03435535 0.01471263
+v -0.00260704 0.03948649 0.01071291
+v -0.00377663 0.03865910 0.01101692
+v -0.00377663 0.04425330 -0.01189725
+v -0.00260704 0.04591488 -0.00894141
+v -0.00260704 0.04095909 0.00940897
+v -0.00377663 0.03875955 0.01093634
+v -0.00377663 0.04476404 -0.00894141
+v -0.00377663 0.04478617 -0.00869234
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_144.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a33d29169684f1a880c69fe636bf9d25523347
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_144.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00377691 0.01367866 0.02557228
+v -0.00549528 0.01413889 0.02474869
+v -0.00549528 0.01367866 0.02488158
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+v -0.00377691 0.01492289 0.02520314
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+v -0.00549528 0.01673172 0.02392017
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+v -0.00549528 0.04027051 0.00881162
+v -0.00547879 0.04028122 0.00881162
+v -0.00549528 0.04026249 0.00883294
+v -0.00377691 0.04069061 0.00916435
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_145.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c506d92348a5faf2791b3231899f702e1d9837
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_145.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.01867029 0.02702865 -0.02389412
+v -0.01984962 0.02702865 -0.02349266
+v -0.01867029 0.02843602 -0.02336227
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+v -0.02136319 0.02709762 -0.02261081
+v -0.01867029 0.02983873 -0.02278238
+v -0.01867029 0.02760278 0.01085460
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+v -0.01984962 0.02889644 -0.02266914
+v -0.01909468 0.03026094 -0.02243238
+v -0.01964981 0.02702865 0.01032275
+v -0.02136319 0.02709762 0.00815417
+v -0.02136319 0.02748069 -0.02242895
+v -0.01867029 0.03039795 -0.02250787
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+v -0.02136319 0.02947058 -0.02088144
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+v -0.02000910 0.03121068 0.00538512
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+v -0.02033833 0.03448119 -0.01485266
+v -0.01984962 0.03457253 -0.01535362
+v -0.01867029 0.03323506 0.00419103
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+v -0.02136319 0.03258636 0.00098620
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+v -0.02136319 0.03149123 0.00287684
+v -0.01867029 0.03541415 -0.01485266
+v -0.02136319 0.03466014 -0.01190174
+v -0.02020231 0.03537221 -0.01190174
+v -0.01984962 0.03475521 -0.01485266
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_146.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da7649770dbddebeaf2bb8581fd64cdec1cfa11
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_146.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.03685951 0.00788315 -0.02426989
+v -0.03800340 0.00788315 -0.02392227
+v -0.03685951 0.01081663 -0.02384539
+v -0.03685951 0.00788315 0.00987435
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+v -0.03685951 0.01368712 -0.02307660
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+v -0.03802415 0.00788315 0.00871783
+v -0.03802415 0.01181350 -0.02313677
+v -0.03802415 0.01357505 -0.02262870
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+v -0.03685951 0.01536517 -0.02238469
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+v -0.03692301 0.01536517 -0.02235461
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+v -0.03685951 0.01503849 0.00715685
+v -0.03801514 0.01536517 0.00573960
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+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_147.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f8dab3809e11a4470d47610d52e52716d5bd38
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_147.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01375636 0.01915879 -0.02531707
+v -0.01375636 0.01978064 -0.02542150
+v -0.01210651 0.02043119 -0.02533640
+v -0.01304609 0.01915879 -0.02522424
+v -0.01375636 0.01915879 0.01389146
+v -0.01375636 0.02259544 -0.02562263
+v -0.01198977 0.02247000 -0.02551433
+v -0.01198977 0.02229674 -0.02549886
+v -0.01198977 0.02070544 -0.02535574
+v -0.01198977 0.02030788 -0.02529773
+v -0.01199410 0.01915879 -0.02508499
+v -0.01275313 0.01915879 -0.02518556
+v -0.01198977 0.01915879 0.01389146
+v -0.01375636 0.02867894 0.01389146
+v -0.01198977 0.02559307 -0.02549112
+v -0.01375636 0.02557288 -0.02542150
+v -0.01198977 0.01916198 -0.02508499
+v -0.01198977 0.01915879 -0.02493801
+v -0.01198977 0.03001831 0.01389146
+v -0.01237751 0.03001831 0.01389146
+v -0.01328562 0.03001831 0.01344666
+v -0.01375636 0.02918279 0.01362458
+v -0.01198977 0.02609481 -0.02544084
+v -0.01375636 0.02644028 -0.02532867
+v -0.01323253 0.02728004 -0.02526292
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+v -0.01356872 0.03001831 0.01321458
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+v -0.01375636 0.03001831 -0.02403680
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+f 25 30 31
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+f 26 31 32
+f 26 32 33
+f 27 34 28
+f 30 32 31
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_148.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c115b1ffd7834353a1af729ab3a8203e72c2f691
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_148.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01514114 0.03703710 -0.02535937
+v 0.01514576 0.03818635 -0.02503584
+v 0.01514576 0.03703710 -0.02519511
+v 0.01449973 0.03703710 -0.02534942
+v 0.01449973 0.03873792 -0.02503086
+v 0.01451870 0.03873792 -0.02503086
+v 0.01514234 0.03873792 -0.02502090
+v 0.01514576 0.03873792 -0.02339328
+v 0.01514576 0.03703710 0.02430072
+v 0.01449973 0.03703710 0.02549033
+v 0.01449973 0.03873792 0.02549033
+v 0.01514576 0.03873792 0.02508218
+v 0.01514329 0.03703710 0.02549033
+v 0.01514285 0.03873792 0.02549033
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 12
+f 2 12 9
+f 2 9 3
+f 4 10 11
+f 4 11 5
+f 5 11 14
+f 5 14 12
+f 5 12 8
+f 5 8 7
+f 5 7 6
+f 9 12 13
+f 10 13 14
+f 10 14 11
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_149.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb65f3d3b7eee7a65f33ceab06c62852b0311df
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_149.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.03022902 -0.00396438 0.01459596
+v -0.03022902 -0.00225715 0.01458442
+v -0.03109854 -0.00332067 0.01415591
+v -0.03109854 -0.00396438 0.01415946
+v -0.03022902 -0.00692171 0.01412131
+v -0.03022902 -0.00100705 0.01457200
+v -0.03109854 -0.00100705 0.01413284
+v -0.03109854 -0.00692171 0.01368215
+v -0.03022902 -0.00915136 0.01355262
+v -0.03022902 0.00489828 0.01405211
+v -0.03109854 0.00489828 0.01365287
+v -0.03109854 -0.00766337 0.01349051
+v -0.03087901 -0.00872223 0.01332904
+v -0.03022902 -0.01283636 0.01256517
+v -0.03099716 0.00785561 0.01339825
+v -0.03109854 0.00697401 0.01344172
+v -0.03022902 0.00785561 0.01373715
+v -0.03109854 -0.00893213 0.01313475
+v -0.03109854 -0.01285502 0.01202132
+v -0.03022902 -0.01286435 0.01255719
+v -0.03109854 0.00768768 0.01336631
+v -0.03077048 0.00947887 0.01328114
+v -0.03022902 0.00983338 0.01337429
+v -0.03109854 -0.01473484 0.01133020
+v -0.03022902 -0.01342876 0.01234781
+v -0.03109854 0.00916635 0.01313386
+v -0.03022902 0.01074763 0.01303804
+v -0.03109854 0.01556146 0.01047139
+v -0.03109854 0.00980073 0.01294311
+v -0.03109854 -0.01538788 0.01106759
+v -0.03022902 -0.01563043 0.01146505
+v -0.03022902 0.01606056 0.01071005
+v -0.03107913 0.01558944 0.01046873
+v -0.03109854 0.01557545 0.01046341
+v -0.03109854 -0.01695517 0.01011119
+v -0.03067633 -0.01725836 0.01026734
+v -0.03022902 -0.01680590 0.01079788
+v -0.03022902 0.02149477 0.00757382
+v -0.03076086 0.02128487 0.00739372
+v -0.03109854 0.02107496 0.00717636
+v -0.03109854 -0.01765019 0.00962945
+v -0.03022902 -0.01792073 0.01009966
+v -0.03109854 -0.02049090 0.00763237
+v -0.03102542 -0.02063550 0.00759334
+v -0.03051316 -0.02092004 0.00777787
+v -0.03022902 -0.02106931 0.00787990
+v -0.03022902 0.02200321 0.00719410
+v -0.03109854 0.02318334 0.00553239
+v -0.03109854 0.02179797 0.00667775
+v -0.03109854 -0.02070081 0.00746647
+v -0.03109854 -0.02209084 0.00632997
+v -0.03022902 -0.02255264 0.00681882
+v -0.03022902 0.02295011 0.00636990
+v -0.03022902 0.02377108 0.00553239
+v -0.03109854 -0.02300510 0.00553239
+v -0.03022902 -0.02271590 0.00667953
+v -0.03022902 -0.02388204 0.00553239
+v -0.03081151 -0.02334095 0.00553239
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 31
+f 1 31 37
+f 1 37 42
+f 1 42 46
+f 1 46 52
+f 1 52 56
+f 1 56 57
+f 1 57 54
+f 1 54 53
+f 1 53 47
+f 1 47 38
+f 1 38 32
+f 1 32 27
+f 1 27 23
+f 1 23 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 16
+f 3 16 21
+f 3 21 26
+f 3 26 29
+f 3 29 28
+f 3 28 34
+f 3 34 40
+f 3 40 49
+f 3 49 48
+f 3 48 55
+f 3 55 51
+f 3 51 50
+f 3 50 43
+f 3 43 41
+f 3 41 35
+f 3 35 30
+f 3 30 24
+f 3 24 19
+f 3 19 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 13 14
+f 9 12 13
+f 10 15 16
+f 10 16 11
+f 10 17 15
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 16
+f 15 17 22
+f 15 22 21
+f 17 23 22
+f 19 24 20
+f 20 24 25
+f 21 22 26
+f 22 23 27
+f 22 27 28
+f 22 28 29
+f 22 29 26
+f 24 30 31
+f 24 31 25
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 32 38 39
+f 32 39 33
+f 33 39 34
+f 34 39 40
+f 35 41 36
+f 36 42 37
+f 36 41 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 42
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 43 50 44
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 45 52 46
+f 47 53 48
+f 48 53 54
+f 48 54 57
+f 48 57 58
+f 48 58 55
+f 51 55 56
+f 51 56 52
+f 55 58 56
+f 56 58 57
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_15.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991141898de8a28f1d71329fcc37abec5c0454b2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02194704 0.02060503 -0.02203558
+v 0.02194704 0.02109636 -0.02216040
+v 0.02257484 0.02092854 -0.02206962
+v 0.02257484 0.02060503 -0.02198452
+v 0.02194704 0.02060503 0.03561346
+v 0.02194704 0.02151006 -0.02225685
+v 0.02211009 0.02133056 -0.02220579
+v 0.02194704 0.02172046 -0.02229656
+v 0.02257484 0.02158081 -0.02217742
+v 0.02257484 0.02060503 0.03566452
+v 0.02194704 0.02109450 0.03547729
+v 0.02257484 0.02172046 -0.02220011
+v 0.02194704 0.02172046 0.03530141
+v 0.02257484 0.02172046 0.03534113
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 12
+f 3 12 14
+f 3 14 10
+f 3 10 4
+f 5 10 11
+f 6 8 7
+f 8 12 9
+f 8 13 14
+f 8 14 12
+f 10 14 13
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_150.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3453eb7f2e5357db8193c6692cedc290602d052e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_150.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01082670 -0.05020871 -0.01922033
+v 0.00975575 -0.05020871 -0.01811402
+v 0.01082670 -0.04957081 -0.02058450
+v 0.01082670 -0.05020871 0.00504359
+v 0.00975575 -0.04974915 -0.01894584
+v 0.00975575 -0.05020871 0.00346315
+v 0.00975575 -0.04846768 -0.02061361
+v 0.01082670 -0.04956231 -0.02059282
+v 0.00975575 -0.04969253 -0.01904565
+v 0.01082670 -0.05019644 0.00507686
+v 0.01055016 -0.05020871 0.00463600
+v 0.01037562 -0.05002848 0.00481484
+v 0.00975575 -0.05017851 0.00353385
+v 0.00975575 -0.04675967 -0.02218990
+v 0.01082670 -0.04657755 -0.02315480
+v 0.01082670 -0.04970669 0.00605840
+v 0.01082670 -0.04882532 0.00776361
+v 0.00975575 -0.04928016 0.00540543
+v 0.00975575 -0.04566504 -0.02287614
+v 0.00975575 -0.04299168 -0.02409474
+v 0.01082670 -0.04418257 -0.02413633
+v 0.00975575 -0.04860451 0.00671137
+v 0.01082670 -0.04763066 0.00992216
+v 0.00975575 -0.04056933 -0.02474356
+v 0.01027529 -0.04056933 -0.02490992
+v 0.01082670 -0.04151581 -0.02483090
+v 0.00975575 -0.04741079 0.00879505
+v 0.01082670 -0.04713902 0.01065415
+v 0.00975575 -0.04056933 0.01618153
+v 0.01082670 -0.04056933 -0.02497230
+v 0.01050886 -0.04697860 0.01045036
+v 0.00975575 -0.04559898 0.01133208
+v 0.01082670 -0.04517245 0.01320365
+v 0.00975575 -0.04518567 0.01187275
+v 0.00975575 -0.04221034 0.01478825
+v 0.01082670 -0.04223299 0.01634374
+v 0.01082670 -0.04056933 0.01751659
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 26
+f 1 26 30
+f 1 30 37
+f 1 37 36
+f 1 36 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 18
+f 2 18 22
+f 2 22 27
+f 2 27 32
+f 2 32 34
+f 2 34 35
+f 2 35 29
+f 2 29 24
+f 2 24 20
+f 2 20 19
+f 2 19 14
+f 2 14 7
+f 2 7 9
+f 2 9 5
+f 3 7 8
+f 3 5 9
+f 3 9 7
+f 4 10 11
+f 6 11 10
+f 6 10 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 10 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 20 21
+f 15 19 20
+f 17 22 18
+f 17 23 22
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 23 27
+f 23 28 27
+f 24 29 37
+f 24 37 30
+f 24 30 25
+f 25 30 26
+f 27 28 31
+f 27 31 32
+f 28 33 34
+f 28 34 32
+f 28 32 31
+f 29 35 36
+f 29 36 37
+f 33 36 34
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_151.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..891f2e5005aa80e7214cf1fe02586f4a5696061a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_151.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.01198977 0.03001831 -0.02442119
+v -0.01375636 0.03001831 -0.02403974
+v -0.01198977 0.03154548 -0.02388111
+v -0.01198977 0.03001831 0.01415481
+v -0.01375636 0.03165617 -0.02337125
+v -0.01375636 0.03001831 0.01304444
+v -0.01198977 0.03380858 -0.02273297
+v -0.01198977 0.03068946 0.01374692
+v -0.01314934 0.03026086 0.01339568
+v -0.01328562 0.03001831 0.01344478
+v -0.01375636 0.03316804 -0.02257813
+v -0.01356872 0.03001831 0.01321439
+v -0.01375636 0.03085902 0.01234573
+v -0.01366004 0.03334348 -0.02251015
+v -0.01198977 0.03527924 -0.02162260
+v -0.01198977 0.03170915 0.01290848
+v -0.01327784 0.03331051 0.01061597
+v -0.01375636 0.03226492 0.01111828
+v -0.01375636 0.03346594 -0.02234019
+v -0.01198977 0.03705016 -0.02008923
+v -0.01198977 0.03372145 0.01104275
+v -0.01375636 0.03382624 0.00940740
+v -0.01375636 0.03307266 0.01035160
+v -0.01198977 0.03477411 0.00982285
+v -0.01198977 0.03637782 0.00781360
+v -0.01300960 0.03599868 0.00739816
+v -0.01375636 0.03476469 -0.02112407
+v -0.01375636 0.03594687 -0.01992305
+v -0.01354019 0.03631659 -0.01967001
+v -0.01226129 0.03828768 -0.01842367
+v -0.01198977 0.03800744 -0.01897131
+v -0.01375636 0.03481885 0.00810819
+v -0.01198977 0.03728212 0.00645396
+v -0.01355385 0.03640490 0.00583835
+v -0.01375636 0.03624006 0.00583835
+v -0.01375636 0.03570313 0.00682409
+v -0.01375636 0.03660390 -0.01909971
+v -0.01375636 0.03756707 -0.01787982
+v -0.01198977 0.03868449 -0.01817441
+v -0.01198977 0.03756354 0.00592144
+v -0.01198977 0.03866918 0.00382155
+v -0.01198977 0.03923554 0.00271495
+v -0.01375636 0.03634250 0.00564573
+v -0.01375636 0.03804512 -0.01715090
+v -0.01198977 0.03938626 -0.01716601
+v -0.01198977 0.03926616 0.00265452
+v -0.01375636 0.03779903 0.00266963
+v -0.01375636 0.03911662 -0.01485462
+v -0.01306356 0.03900240 -0.01645220
+v -0.01198977 0.04034119 -0.01467711
+v -0.01198977 0.03945691 0.00225796
+v -0.01375636 0.03804394 0.00215977
+v -0.01350473 0.03929088 -0.01485462
+v -0.01375636 0.03936624 -0.01404639
+v -0.01198977 0.04042008 -0.01441651
+v -0.01198977 0.04021991 -0.00007609
+v -0.01339423 0.03925203 -0.00007609
+v -0.01302119 0.03896237 0.00151016
+v -0.01375636 0.03858676 0.00087944
+v -0.01375636 0.03988551 -0.01229774
+v -0.01198977 0.04058375 -0.01386510
+v -0.01198977 0.04148216 -0.00404926
+v -0.01265023 0.04167291 -0.00598674
+v -0.01375636 0.04013277 -0.00355072
+v -0.01375636 0.03958643 -0.00186628
+v -0.01375636 0.03894942 -0.00007609
+v -0.01375636 0.04005506 -0.01170479
+v -0.01198977 0.04113833 -0.01192762
+v -0.01198977 0.04184011 -0.00521628
+v -0.01198977 0.04204734 -0.00598674
+v -0.01198977 0.04192253 -0.00894018
+v -0.01253211 0.04161403 -0.00894018
+v -0.01375636 0.04067676 -0.00894018
+v -0.01375636 0.04072269 -0.00607739
+v -0.01198977 0.04115011 -0.01188607
+v -0.01198977 0.04130671 -0.01131955
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 20
+f 1 20 31
+f 1 31 39
+f 1 39 45
+f 1 45 50
+f 1 50 55
+f 1 55 61
+f 1 61 68
+f 1 68 75
+f 1 75 76
+f 1 76 71
+f 1 71 70
+f 1 70 69
+f 1 69 62
+f 1 62 56
+f 1 56 51
+f 1 51 46
+f 1 46 42
+f 1 42 41
+f 1 41 40
+f 1 40 33
+f 1 33 25
+f 1 25 24
+f 1 24 21
+f 1 21 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 18
+f 2 18 23
+f 2 23 22
+f 2 22 32
+f 2 32 36
+f 2 36 35
+f 2 35 43
+f 2 43 47
+f 2 47 52
+f 2 52 59
+f 2 59 66
+f 2 66 65
+f 2 65 64
+f 2 64 74
+f 2 74 73
+f 2 73 67
+f 2 67 60
+f 2 60 54
+f 2 54 48
+f 2 48 44
+f 2 44 38
+f 2 38 37
+f 2 37 28
+f 2 28 27
+f 2 27 19
+f 2 19 11
+f 2 11 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 11 7
+f 6 12 9
+f 6 9 13
+f 7 11 14
+f 7 14 15
+f 8 16 9
+f 9 12 10
+f 9 16 17
+f 9 17 18
+f 9 18 13
+f 11 19 14
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 22 23
+f 17 23 18
+f 17 21 24
+f 17 24 25
+f 17 25 26
+f 17 26 22
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 22 26 32
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 32
+f 28 37 29
+f 29 37 30
+f 30 38 39
+f 30 39 31
+f 30 37 38
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 38 44 45
+f 38 45 39
+f 42 46 43
+f 43 46 47
+f 44 48 49
+f 44 49 45
+f 45 49 50
+f 46 51 47
+f 47 51 52
+f 48 53 49
+f 48 54 53
+f 49 53 50
+f 50 53 55
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 52 58 59
+f 53 54 55
+f 54 60 55
+f 55 60 61
+f 56 62 63
+f 56 63 64
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 58
+f 58 66 59
+f 60 67 68
+f 60 68 61
+f 62 69 63
+f 63 69 70
+f 63 70 71
+f 63 71 72
+f 63 72 73
+f 63 73 74
+f 63 74 64
+f 67 75 68
+f 67 73 72
+f 67 72 75
+f 71 76 72
+f 72 76 75
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_152.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d406a894e0cb376cbcd744059b187a8657b5756e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_152.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02663328 -0.01283877 0.03540254
+v 0.02606145 -0.01283877 0.03786850
+v 0.02600684 -0.01579408 0.03782629
+v 0.02652484 -0.01579408 0.03540254
+v 0.02663328 -0.01283877 -0.01781147
+v 0.02401052 -0.01283877 0.03882715
+v 0.02401052 -0.01579408 0.03869450
+v 0.02652484 -0.01579408 0.01470418
+v 0.02652406 -0.01579408 -0.01781147
+v 0.02602245 -0.01579408 -0.02091050
+v 0.02606145 -0.01283877 -0.02030155
+v 0.02652484 -0.01579350 0.01174986
+v 0.02105465 -0.01283877 0.03879700
+v 0.02104529 -0.01579408 0.03834481
+v 0.02600138 -0.01579408 -0.02098888
+v 0.02485461 -0.01579408 -0.02220679
+v 0.02401052 -0.01283877 -0.02154357
+v 0.01866437 -0.01283877 0.03846539
+v 0.01866437 -0.01579408 0.03772380
+v 0.02401052 -0.01579408 -0.02235752
+v 0.01866437 -0.01284195 -0.02209826
+v 0.02105465 -0.01283877 -0.02184503
+v 0.01866437 -0.01283877 -0.02012670
+v 0.01866437 -0.01579408 -0.02276751
+v 0.02307906 -0.01579408 -0.02244796
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 11
+f 1 11 17
+f 1 17 22
+f 1 22 23
+f 1 23 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 14
+f 3 14 19
+f 3 19 24
+f 3 24 25
+f 3 25 20
+f 3 20 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 8 12
+f 5 12 9
+f 6 13 7
+f 7 13 14
+f 8 9 12
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 23 21
+f 18 21 24
+f 18 24 19
+f 20 25 21
+f 21 23 22
+f 21 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_154.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea950f06331e9de293d2e2ef7df4b69f4d03b3c3
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_154.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03022893 0.02835584 -0.01061637
+v -0.03022893 0.02821903 -0.01190002
+v -0.03026401 0.02833874 -0.01061637
+v -0.03022893 -0.02987789 -0.01061637
+v -0.03022893 0.02797392 -0.01257463
+v -0.03109854 0.02759200 -0.01257463
+v -0.03109854 0.02779151 -0.01190002
+v -0.03084136 0.02805372 -0.01061637
+v -0.03109854 -0.02926796 -0.01061637
+v -0.03109854 -0.02915966 -0.01190002
+v -0.03022893 -0.02971258 -0.01190002
+v -0.03022893 -0.02958717 -0.01257463
+v -0.03109854 -0.02906275 -0.01257463
+v -0.03109854 0.02792262 -0.01061637
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 10
+f 6 10 9
+f 6 9 14
+f 6 14 7
+f 7 14 8
+f 10 13 11
+f 11 13 12
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_155.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60444896dbbe6382f644181439c5e4c781bc0f4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_155.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.04723108 -0.01552863 -0.00950430
+v -0.04723108 -0.01552854 -0.01955946
+v -0.04723020 -0.01552854 -0.01972121
+v -0.04720941 -0.01552854 -0.01975018
+v -0.04664608 -0.01552854 -0.02000850
+v -0.04663446 -0.01552854 -0.02001333
+v -0.04663446 -0.01552863 -0.00950430
+v -0.04723108 -0.01552863 0.00377382
+v -0.04723108 -0.01552793 -0.01972121
+v -0.04723108 -0.01550559 -0.01975259
+v -0.04723108 -0.01462685 -0.01997712
+v -0.04663446 -0.01462685 -0.02023061
+v -0.04663446 -0.01552863 0.00402972
+v -0.04686234 -0.01552863 0.00394281
+v -0.04663446 -0.01527467 0.00417940
+v -0.04723108 -0.01546931 0.00380037
+v -0.04723108 -0.01462685 -0.00950430
+v -0.04663446 -0.01462685 -0.00950430
+v -0.04663446 -0.01468979 0.00443289
+v -0.04723108 -0.01468979 0.00413595
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 16
+f 1 16 20
+f 1 20 17
+f 1 17 11
+f 1 11 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 4
+f 4 10 5
+f 4 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 18
+f 6 18 19
+f 6 19 15
+f 6 15 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 11 17 18
+f 11 18 12
+f 13 15 14
+f 15 19 16
+f 16 19 20
+f 17 20 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_156.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb0cceb3a27ba5ce0307f3429820d981027755d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_156.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01449973 0.02792284 -0.02407019
+v 0.01514101 0.02792284 -0.02406520
+v 0.01449973 0.02792284 0.02548533
+v 0.01449973 0.03265465 -0.02528423
+v 0.01514576 0.03262075 -0.02529922
+v 0.01514576 0.02854554 -0.02419510
+v 0.01514576 0.02792284 -0.02355561
+v 0.01514576 0.02792284 0.02548533
+v 0.01449973 0.02941179 0.02549033
+v 0.01449973 0.03446833 -0.02544910
+v 0.01514108 0.03446833 -0.02554902
+v 0.01514101 0.03345310 -0.02541413
+v 0.01514108 0.03345310 -0.02541413
+v 0.01514576 0.03446209 -0.02554402
+v 0.01514576 0.02941179 0.02549033
+v 0.01449973 0.03703675 0.02549033
+v 0.01449973 0.03508033 -0.02548906
+v 0.01449973 0.03510442 -0.02548906
+v 0.01449973 0.03684049 -0.02541413
+v 0.01514108 0.03671113 -0.02544910
+v 0.01514576 0.03671291 -0.02544910
+v 0.01514576 0.03446833 -0.02554402
+v 0.01514576 0.03551390 0.02549033
+v 0.01449973 0.03703675 -0.02534418
+v 0.01514323 0.03703675 0.02549033
+v 0.01514108 0.03703675 -0.02535917
+v 0.01514576 0.03703675 -0.02519430
+v 0.01514576 0.03703675 0.02430128
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 24
+f 1 24 19
+f 1 19 18
+f 1 18 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 15
+f 3 15 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 22
+f 5 22 21
+f 5 21 27
+f 5 27 28
+f 5 28 23
+f 5 23 15
+f 5 15 8
+f 5 8 7
+f 5 7 6
+f 9 15 23
+f 9 23 25
+f 9 25 16
+f 10 17 11
+f 11 14 13
+f 11 13 12
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 16 25 28
+f 16 28 27
+f 16 27 26
+f 16 26 24
+f 19 21 20
+f 19 24 26
+f 19 26 21
+f 21 26 27
+f 23 28 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_157.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6faeefc2575b0edd7a1b11dd4185c7b9aa4faf
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_157.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02645548 -0.00254628 -0.02504032
+v -0.02645548 0.00515434 -0.02503623
+v -0.02645139 0.00756289 -0.02508945
+v -0.02606081 0.00756289 -0.02509764
+v -0.02471550 0.00641304 -0.02508945
+v -0.02471601 -0.00254628 -0.02501985
+v -0.02645548 -0.00254628 0.01612365
+v -0.02645548 0.00756289 -0.01497347
+v -0.02471550 0.00756289 -0.02507307
+v -0.02471550 -0.00101051 -0.02501167
+v -0.02471550 -0.00254628 0.00695745
+v -0.02625738 -0.00254628 0.01619734
+v -0.02645548 -0.00101051 0.01617687
+v -0.02645548 0.00756289 0.01534172
+v -0.02471550 0.00756289 0.01576748
+v -0.02471550 -0.00254628 0.01655351
+v -0.02603816 -0.00254628 0.01626694
+v -0.02558694 -0.00101051 0.01649619
+v -0.02556463 0.00194624 0.01658626
+v -0.02645548 0.00019079 0.01620962
+v -0.02645548 0.00522559 0.01579614
+v -0.02499928 0.00667923 0.01628741
+v -0.02590632 0.00756289 0.01560782
+v -0.02471550 0.00685635 0.01621372
+v -0.02471550 -0.00101051 0.01663129
+v -0.02491633 -0.00254628 0.01652485
+v -0.02548968 -0.00254628 0.01643888
+v -0.02471550 0.00011460 0.01666814
+v -0.02471550 0.00194624 0.01672545
+v -0.02530129 0.00490201 0.01645935
+v -0.02645548 0.00194624 0.01612774
+v -0.02645548 0.00490201 0.01585345
+v -0.02471550 0.00496138 0.01647982
+v -0.02471550 0.00667923 0.01628741
+v -0.02471550 0.00682568 0.01623009
+v -0.02471550 0.00684151 0.01622190
+v -0.02645548 0.00294271 0.01603768
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 16
+f 1 16 26
+f 1 26 27
+f 1 27 17
+f 1 17 12
+f 1 12 7
+f 1 7 13
+f 1 13 20
+f 1 20 31
+f 1 31 37
+f 1 37 32
+f 1 32 21
+f 1 21 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 14
+f 3 14 23
+f 3 23 15
+f 3 15 9
+f 3 9 4
+f 4 9 5
+f 5 9 15
+f 5 15 24
+f 5 24 36
+f 5 36 35
+f 5 35 34
+f 5 34 33
+f 5 33 29
+f 5 29 28
+f 5 28 25
+f 5 25 16
+f 5 16 11
+f 5 11 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 22
+f 14 22 23
+f 15 23 24
+f 16 25 26
+f 17 27 18
+f 18 25 28
+f 18 28 29
+f 18 29 19
+f 18 27 25
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 32 30
+f 21 30 22
+f 22 30 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 25 27 26
+f 29 33 30
+f 30 32 37
+f 30 37 31
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_158.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758662e7cb8f94dc03027279303776925d047a88
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_158.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02151908 0.04034390 0.02624151
+v 0.02151908 0.04060360 0.02605863
+v 0.02063739 0.04094292 0.02573061
+v 0.02092245 0.04034390 0.02617474
+v 0.02151908 0.04034390 -0.00341368
+v 0.02151908 0.04094292 0.02581479
+v 0.01958253 0.04094292 0.02550129
+v 0.01910254 0.04034390 0.02574513
+v 0.01910254 0.04094292 0.02539679
+v 0.01910254 0.04042646 0.02569868
+v 0.01910254 0.04034390 -0.00341368
+v 0.02151908 0.04094292 -0.00341368
+v 0.01910254 0.04094292 -0.00341368
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 12
+f 3 12 13
+f 3 13 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 11 13
+f 5 13 12
+f 8 10 9
+f 8 9 13
+f 8 13 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_159.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a754f9aa6a5a1e108a827e2f3514b4605e8e4486
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_159.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01230800 -0.03778696 -0.02544940
+v 0.01082670 -0.03778696 -0.02521150
+v 0.01082670 -0.03667656 -0.02529340
+v 0.01082670 -0.03564553 -0.02529340
+v 0.01082888 -0.03563856 -0.02529340
+v 0.01082670 -0.03456479 -0.02524659
+v 0.01230800 -0.03696877 -0.02540650
+v 0.01230800 -0.03778696 0.01439420
+v 0.01082670 -0.03778696 0.01439420
+v 0.01082670 -0.03434585 -0.02522319
+v 0.01110379 -0.03462672 -0.02523880
+v 0.01230800 -0.03503233 -0.02518029
+v 0.01230800 -0.02887584 0.01439420
+v 0.01082670 -0.02887584 0.01439420
+v 0.01082670 -0.03057764 -0.02472008
+v 0.01218431 -0.02887584 -0.02444317
+v 0.01230800 -0.02887584 -0.02443537
+v 0.01082670 -0.02887584 -0.02448607
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 17
+f 1 17 13
+f 1 13 8
+f 1 8 9
+f 1 9 2
+f 2 9 14
+f 2 14 18
+f 2 18 15
+f 2 15 10
+f 2 10 6
+f 2 6 4
+f 2 4 3
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 13 17 16
+f 13 16 18
+f 13 18 14
+f 15 18 16
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_16.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a27e8d2695a8d52c12a09c0a686e832e2c2cec
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v 0.02828056 0.03176155 0.02357137
+v 0.02828056 0.03176155 0.02332304
+v 0.02827360 0.03176155 0.02627938
+v 0.02816215 0.02855607 0.02652771
+v 0.02816215 0.02855607 0.02357137
+v 0.02827127 0.03151188 0.01765868
+v 0.02827940 0.03176155 -0.01780562
+v 0.02826199 0.03176155 0.02652771
+v 0.02826431 0.03151188 0.02652771
+v 0.02805302 0.02561009 0.02652771
+v 0.02794274 0.02264347 0.02948406
+v 0.02805302 0.02561009 0.02651589
+v 0.02794274 0.02264347 -0.01485519
+v 0.02805186 0.02559928 -0.01780562
+v 0.02827708 0.03176155 -0.01805986
+v 0.02706858 0.03176155 0.02976195
+v 0.02804954 0.02855607 0.02948406
+v 0.02803677 0.02561009 0.02947814
+v 0.02790791 0.02172046 0.02948406
+v 0.02789398 0.02172046 0.03040644
+v 0.02790791 0.02172046 -0.01485519
+v 0.02793926 0.02264347 -0.01780562
+v 0.02790559 0.02172046 -0.01688324
+v 0.02814822 0.03176155 -0.02076788
+v 0.02706626 0.03176155 0.02976787
+v 0.02671335 0.02855607 0.03190826
+v 0.02762930 0.02264347 0.03244631
+v 0.02767690 0.02172046 0.03244631
+v 0.02789863 0.02172046 -0.01780562
+v 0.02812965 0.03151188 -0.02076788
+v 0.02802633 0.03176155 -0.02098665
+v 0.02705697 0.03176155 0.02977969
+v 0.02626989 0.03095945 0.03145298
+v 0.02640223 0.02264347 0.03452167
+v 0.02646724 0.02172046 0.03467540
+v 0.02731121 0.02172046 0.03324453
+v 0.02705581 0.02172046 -0.01972133
+v 0.02669013 0.02172046 -0.02051954
+v 0.02673889 0.03151188 -0.02298513
+v 0.02675282 0.03176155 -0.02301469
+v 0.02406069 0.03176155 0.03151802
+v 0.02403516 0.03176155 0.03152393
+v 0.02597270 0.02463301 0.03414917
+v 0.02565577 0.02172046 0.03499468
+v 0.02482921 0.02172046 -0.02163113
+v 0.02528312 0.02444527 -0.02218692
+v 0.02626292 0.02855607 -0.02263628
+v 0.02651600 0.03176155 -0.02312113
+v 0.02402587 0.03176155 0.03152393
+v 0.02400962 0.02496329 0.03429698
+v 0.02400962 0.02264347 0.03517206
+v 0.02400962 0.02172046 0.03544996
+v 0.02413731 0.02172046 -0.02195633
+v 0.02400149 0.03176155 -0.02406716
+v 0.02131865 0.03176155 0.03139386
+v 0.02105629 0.02561009 0.03395405
+v 0.02105629 0.02489744 0.03424968
+v 0.02105629 0.02264347 0.03498285
+v 0.02105629 0.02172046 0.03523710
+v 0.02175747 0.02172046 -0.02232291
+v 0.02331307 0.02330207 -0.02244116
+v 0.02368572 0.03176155 -0.02412037
+v 0.02111782 0.03176155 0.03135838
+v 0.01642082 0.03041684 0.03115143
+v 0.02122114 0.03163475 0.03143524
+v 0.02105629 0.02855607 0.03271238
+v 0.01809948 0.02855607 0.03228076
+v 0.01906070 0.02454455 0.03408413
+v 0.02013337 0.02172046 0.03510702
+v 0.02062211 0.02172046 -0.02241751
+v 0.02109808 0.02244688 -0.02254168
+v 0.02105629 0.02561009 -0.02323938
+v 0.02078464 0.03176155 -0.02454608
+v 0.01930913 0.03176155 0.03103318
+v 0.01642082 0.02855607 0.03198512
+v 0.01642082 0.03176155 0.03048921
+v 0.01642198 0.02558159 0.03308488
+v 0.01642198 0.02172046 0.03429107
+v 0.01719049 0.02172046 0.03448028
+v 0.01642198 0.02172046 -0.02267176
+v 0.01642082 0.03176155 -0.02495406
+v 0.01812618 0.03176155 -0.02482398
+v 0.01642082 0.02561009 0.03307306
+v 0.01642082 0.02561009 -0.02350545
+f 1 2 7
+f 1 7 15
+f 1 15 24
+f 1 24 31
+f 1 31 40
+f 1 40 48
+f 1 48 54
+f 1 54 62
+f 1 62 73
+f 1 73 82
+f 1 82 81
+f 1 81 76
+f 1 76 74
+f 1 74 63
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+f 1 55 49
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+f 1 42 41
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+f 1 32 25
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+f 1 16 8
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+f 3 9 4
+f 4 10 12
+f 4 12 5
+f 4 9 11
+f 4 11 10
+f 5 12 13
+f 5 13 6
+f 6 13 14
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+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 18 11
+f 9 17 18
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+f 10 13 12
+f 11 19 21
+f 11 21 13
+f 11 18 20
+f 11 20 19
+f 13 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 22
+f 15 22 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 20
+f 19 20 28
+f 19 28 36
+f 19 36 35
+f 19 35 44
+f 19 44 52
+f 19 52 59
+f 19 59 69
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+f 38 47 39
+f 39 47 48
+f 39 48 40
+f 42 49 50
+f 42 50 43
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+f 43 52 44
+f 45 53 46
+f 46 53 54
+f 46 54 47
+f 47 54 48
+f 49 55 56
+f 49 56 57
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+f 51 58 52
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+f 53 61 54
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+f 55 63 64
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+f 55 65 56
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+f 57 68 58
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+f 58 69 59
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+f 60 70 71
+f 60 71 72
+f 60 72 61
+f 61 72 73
+f 61 73 62
+f 63 74 64
+f 64 75 67
+f 64 67 65
+f 64 74 76
+f 64 76 81
+f 64 81 84
+f 64 84 83
+f 64 83 75
+f 65 67 66
+f 67 75 68
+f 68 77 78
+f 68 78 79
+f 68 79 69
+f 68 75 77
+f 70 80 81
+f 70 81 71
+f 71 81 82
+f 71 82 72
+f 72 82 73
+f 75 83 77
+f 77 83 78
+f 78 83 84
+f 78 84 80
+f 80 84 81
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_160.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18afbf2b71e2fdf00626a18e835eeeaec598ed80
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_160.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00411417 -0.00050713 0.02835944
+v 0.00411417 0.00127887 0.02788798
+v 0.00282979 0.00127887 0.02834407
+v 0.00342888 -0.00050713 0.02848243
+v 0.00411417 -0.00050713 -0.02218958
+v 0.00411417 0.00127887 -0.02222032
+v 0.00035809 0.00127887 0.02876429
+v 0.00035809 -0.00050713 0.02895902
+v 0.00397146 -0.00050713 -0.02222032
+v 0.00324633 0.00127887 -0.02240481
+v -0.00181515 0.00127887 0.02843119
+v -0.00184412 -0.00050713 0.02848243
+v 0.00035809 -0.00050713 -0.02286090
+v 0.00035809 0.00127887 -0.02293777
+v 0.00319127 0.00127887 -0.02241506
+v -0.00328498 0.00127887 0.02756001
+v -0.00328498 -0.00050713 0.02754463
+v -0.00259824 -0.00050713 -0.02328624
+v -0.00259824 0.00127887 -0.02332211
+v -0.00328498 0.00127887 -0.02339386
+v -0.00328498 -0.00050713 -0.02335286
+v -0.00328498 -0.00032339 -0.02335798
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 14
+f 2 14 19
+f 2 19 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 22
+f 16 22 21
+f 16 21 17
+f 18 21 22
+f 18 22 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_161.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9441dd03f98593fa8a6e358a02cec8ac1bd0156c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_161.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01198977 0.01915879 0.01967993
+v -0.01198977 0.01920024 0.01966633
+v -0.01375636 0.01976150 0.01839146
+v -0.01375636 0.01915879 0.01858354
+v -0.01198977 0.01915879 0.01389146
+v -0.01198977 0.02102221 0.01905609
+v -0.01375636 0.02014737 0.01823961
+v -0.01375636 0.01915879 0.01389146
+v -0.01198977 0.03001831 0.01389146
+v -0.01198977 0.02259119 0.01838240
+v -0.01375636 0.02253591 0.01722142
+v -0.01375636 0.02867894 0.01389146
+v -0.01237751 0.03001831 0.01389146
+v -0.01198977 0.03001831 0.01415890
+v -0.01198977 0.02264115 0.01836087
+v -0.01198977 0.02475756 0.01737213
+v -0.01375636 0.02306209 0.01697494
+v -0.01375636 0.02836961 0.01411187
+v -0.01232182 0.03001831 0.01392999
+v -0.01225454 0.03001831 0.01397645
+v -0.01198977 0.02859921 0.01516576
+v -0.01198977 0.02600020 0.01673640
+v -0.01263692 0.02660398 0.01596468
+v -0.01375636 0.02595130 0.01549043
+v -0.01198977 0.02697496 0.01618962
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 21
+f 1 21 25
+f 1 25 22
+f 1 22 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 24
+f 3 24 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 13
+f 5 13 9
+f 6 10 11
+f 6 11 7
+f 9 13 19
+f 9 19 20
+f 9 20 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 14 20 18
+f 14 18 21
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 24 23
+f 18 23 25
+f 18 25 21
+f 18 20 19
+f 22 25 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_162.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9703f3cfc54396360e75778fad9aa53620f70c20
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_162.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01082670 -0.05331254 -0.01208339
+v 0.01082670 -0.05330737 -0.00895720
+v 0.00975575 -0.05267009 -0.00894295
+v 0.00975575 -0.05265035 -0.01023523
+v 0.00975575 -0.05254039 -0.01204539
+v 0.00975575 -0.05174637 -0.01485563
+v 0.01082670 -0.05239367 -0.01485563
+v 0.01082670 -0.05319134 -0.00800461
+v 0.00975575 -0.05241919 -0.00563859
+v 0.00975575 -0.05246931 -0.00616120
+v 0.00975575 -0.05253553 -0.00698076
+v 0.00975575 -0.05053468 -0.01772290
+v 0.01082670 -0.05133994 -0.01777991
+v 0.01082670 -0.05302367 -0.00663156
+v 0.00975575 -0.05205195 -0.00303263
+v 0.00975575 -0.05032326 -0.01797945
+v 0.01082670 -0.05020966 -0.01922186
+v 0.01082670 -0.05278005 -0.00490930
+v 0.01082670 -0.05245291 -0.00303263
+v 0.00975575 -0.05193621 -0.00237223
+v 0.00975575 -0.05020966 -0.01811724
+v 0.01082670 -0.05020966 0.00504654
+v 0.01082670 -0.05210267 -0.00103719
+v 0.01082670 -0.05151551 0.00139773
+v 0.00975575 -0.05123271 0.00041188
+v 0.00975575 -0.05020966 0.00346206
+v 0.00975575 -0.05034483 0.00313424
+v 0.01082670 -0.05049640 0.00435051
+v 0.01082670 -0.05109268 0.00273040
+v 0.00975575 -0.05051584 0.00267101
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 28
+f 1 28 29
+f 1 29 24
+f 1 24 23
+f 1 23 19
+f 1 19 18
+f 1 18 14
+f 1 14 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 15
+f 3 15 20
+f 3 20 25
+f 3 25 30
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+f 3 26 21
+f 3 21 16
+f 3 16 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 26
+f 17 26 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 22 26 27
+f 22 27 28
+f 24 29 25
+f 25 29 30
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_163.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678f415cd19ecbd6ef60e2bf3b48dd94a0652e66
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_163.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02581444 -0.03502674 0.02055956
+v 0.02576542 -0.03631340 0.02055956
+v 0.02581444 -0.03502674 -0.02076751
+v 0.01516182 -0.03502674 0.02055956
+v 0.01516182 -0.03631340 0.02055956
+v 0.02576542 -0.03631340 -0.02076751
+v 0.02562672 -0.03631340 -0.02343039
+v 0.02564966 -0.03502674 -0.02326197
+v 0.01516182 -0.03502674 -0.02535586
+v 0.01516182 -0.03631340 -0.02562443
+v 0.02526068 -0.03631340 -0.02491432
+v 0.02478619 -0.03502674 -0.02479142
+v 0.01560607 -0.03502674 -0.02544690
+v 0.01516182 -0.03600836 -0.02556980
+v 0.01791388 -0.03631340 -0.02592030
+v 0.02516266 -0.03631340 -0.02496440
+v 0.02397382 -0.03502674 -0.02522841
+v 0.01656340 -0.03502674 -0.02554704
+v 0.01809950 -0.03502674 -0.02566994
+v 0.01809950 -0.03631340 -0.02593396
+v 0.02349620 -0.03502674 -0.02543324
+v 0.02380592 -0.03631340 -0.02553339
+v 0.02105178 -0.03502674 -0.02566084
+v 0.02105178 -0.03631340 -0.02589299
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 23
+f 1 23 19
+f 1 19 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
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+f 2 20 24
+f 2 24 22
+f 2 22 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 10 14 13
+f 10 13 15
+f 11 16 17
+f 11 17 12
+f 13 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 16 22 21
+f 19 23 20
+f 20 23 24
+f 21 22 24
+f 21 24 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_164.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9d0ca692eef952ea119230be7d7418930e9090
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_164.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01866436 -0.01283877 0.03847085
+v 0.01809754 -0.01283877 0.03839205
+v 0.01866436 -0.01579408 0.03771914
+v 0.01866436 -0.01283877 -0.02012658
+v 0.01564920 -0.01283877 0.03742815
+v 0.01618864 -0.01519631 0.03707048
+v 0.01785986 -0.01579408 0.03753727
+v 0.01866436 -0.01579408 -0.02276365
+v 0.01866436 -0.01284195 -0.02210287
+v 0.01865939 -0.01283877 -0.02210287
+v 0.01417148 -0.01283877 0.03657944
+v 0.01510540 -0.01579408 0.03639151
+v 0.01521304 -0.01579408 0.03645214
+v 0.01737828 -0.01579408 0.03735541
+v 0.01546129 -0.01579408 0.03656732
+v 0.01857912 -0.01579408 -0.02277577
+v 0.01530574 -0.01283877 -0.02270303
+v 0.01554716 -0.01283877 -0.02266665
+v 0.01590305 -0.01283877 -0.02261209
+v 0.01754939 -0.01345796 -0.02246660
+v 0.01719473 -0.01283877 -0.02238779
+v 0.01262407 -0.01283877 0.03510026
+v 0.01288726 -0.01579408 0.03478502
+v 0.01289411 -0.01579408 0.03479109
+v 0.01514148 -0.01579408 -0.02324863
+v 0.01514148 -0.01579350 -0.02324863
+v 0.01230800 -0.01296058 -0.02309707
+v 0.01230800 -0.01283877 -0.02307282
+v 0.01230800 -0.01283877 0.03463347
+v 0.01230800 -0.01579408 0.03390600
+v 0.01230800 -0.01579408 -0.02346080
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 21
+f 1 21 19
+f 1 19 18
+f 1 18 17
+f 1 17 28
+f 1 28 29
+f 1 29 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 15
+f 3 15 13
+f 3 13 12
+f 3 12 24
+f 3 24 23
+f 3 23 30
+f 3 30 31
+f 3 31 25
+f 3 25 16
+f 3 16 8
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 14
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 19 21 20
+f 22 29 23
+f 23 29 30
+f 25 31 26
+f 26 31 27
+f 27 31 30
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_165.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f7c2149cc112d7e1088d3e6dcf7cee59508a28
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_165.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.03590386 -0.00992561 -0.02397636
+v -0.03590386 -0.00992561 0.00937220
+v -0.03593950 -0.00992561 -0.02396937
+v -0.03685941 -0.00518477 -0.02424570
+v -0.03590386 -0.00613956 -0.02430866
+v -0.03590386 -0.00987778 0.00938620
+v -0.03685941 -0.00987778 0.00900493
+v -0.03685941 -0.00992561 0.00898744
+v -0.03685941 -0.00992561 -0.02375600
+v -0.03685941 -0.00399082 -0.02433664
+v -0.03615257 -0.00428516 -0.02442409
+v -0.03590386 -0.00428516 -0.02445907
+v -0.03590386 -0.00692142 0.01005429
+v -0.03685941 -0.00692142 0.00963104
+v -0.03685941 -0.00223760 -0.02443108
+v -0.03590386 -0.00396690 -0.02448355
+v -0.03590386 -0.00428516 0.01047053
+v -0.03590386 -0.00396690 0.01051600
+v -0.03685941 -0.00478004 0.00987240
+v -0.03685941 -0.00103446 -0.02449055
+v -0.03590386 -0.00318320 -0.02452552
+v -0.03590386 -0.00085417 0.01081332
+v -0.03685941 -0.00220449 0.01004729
+v -0.03685941 -0.00101054 -0.02449055
+v -0.03590386 0.00482859 -0.02470741
+v -0.03590386 0.00208196 -0.02469692
+v -0.03590386 -0.00101054 -0.02463046
+v -0.03590386 0.00194582 0.01097772
+v -0.03685941 -0.00085417 0.01013124
+v -0.03685941 0.00202125 -0.02448355
+v -0.03590386 0.00785854 -0.02456051
+v -0.03685941 0.00485987 -0.02445907
+v -0.03590386 0.00490218 0.01102669
+v -0.03679300 0.00490218 0.01045304
+v -0.03685941 0.00153741 0.01024317
+v -0.03685941 0.00785854 -0.02427018
+v -0.03590386 0.00886852 -0.02440660
+v -0.03590386 0.00737286 0.01070489
+v -0.03674203 0.00680992 0.01039358
+v -0.03685941 0.00490218 0.01038658
+v -0.03685941 0.00476052 0.01039008
+v -0.03685941 0.00886852 -0.02410229
+v -0.03590386 0.00886852 0.01028514
+v -0.03590386 0.00842148 0.01042156
+v -0.03685941 0.00663515 0.01028514
+v -0.03630176 0.00878022 0.01010326
+v -0.03685941 0.00688719 0.01024667
+v -0.03685941 0.00666275 0.01028165
+v -0.03685941 0.00886852 0.00944566
+v -0.03621215 0.00886852 0.01012424
+v -0.03627491 0.00886852 0.01008227
+v -0.03651988 0.00886852 0.00981993
+v -0.03685941 0.00843436 0.00966952
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 16
+f 1 16 21
+f 1 21 27
+f 1 27 26
+f 1 26 25
+f 1 25 31
+f 1 31 37
+f 1 37 43
+f 1 43 44
+f 1 44 38
+f 1 38 33
+f 1 33 28
+f 1 28 22
+f 1 22 18
+f 1 18 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 8
+f 4 8 7
+f 4 7 14
+f 4 14 19
+f 4 19 23
+f 4 23 29
+f 4 29 35
+f 4 35 41
+f 4 41 40
+f 4 40 45
+f 4 45 48
+f 4 48 47
+f 4 47 53
+f 4 53 49
+f 4 49 42
+f 4 42 36
+f 4 36 32
+f 4 32 30
+f 4 30 24
+f 4 24 20
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+f 6 13 7
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+f 10 16 11
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 29
+f 22 29 23
+f 24 30 25
+f 25 30 32
+f 25 32 31
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 31 32 36
+f 31 36 37
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 37 42 49
+f 37 49 52
+f 37 52 51
+f 37 51 50
+f 37 50 43
+f 38 44 39
+f 39 45 40
+f 39 44 46
+f 39 46 47
+f 39 47 48
+f 39 48 45
+f 43 50 44
+f 44 50 46
+f 46 50 51
+f 46 51 52
+f 46 52 53
+f 46 53 47
+f 49 53 52
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_166.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326ce0ab8ab8b79086b4eab98b0516453c848477
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_166.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.03915721 -0.00692041 -0.02355700
+v -0.04015864 -0.00692041 -0.02341435
+v -0.03915721 -0.00396536 -0.02399465
+v -0.03915712 0.00536016 -0.02365101
+v -0.03915721 -0.00692041 0.00890077
+v -0.04015992 -0.00692041 -0.02340138
+v -0.04015992 -0.00483981 -0.02371261
+v -0.04015992 -0.00396536 -0.02384228
+v -0.03915721 -0.00100829 -0.02406921
+v -0.03915721 0.00494605 -0.02370288
+v -0.03915712 0.00785889 -0.02341111
+v -0.03915712 0.00536016 0.00810650
+v -0.03915721 -0.00504486 0.00900451
+v -0.04015992 -0.00604797 0.00864790
+v -0.04015992 -0.00692041 0.00859927
+v -0.04015992 -0.00100829 -0.02383580
+v -0.04015992 0.00498826 -0.02330089
+v -0.04015992 0.00785889 -0.02295725
+v -0.03915712 0.01081596 -0.02290862
+v -0.03915712 0.00605771 0.00800276
+v -0.03915721 0.00385851 0.00851174
+v -0.03915721 -0.00216418 0.00904017
+v -0.03915721 -0.00264463 0.00904665
+v -0.03915721 -0.00368593 0.00904989
+v -0.03915721 -0.00396536 0.00904989
+v -0.04015992 -0.00396536 0.00873219
+v -0.04015992 0.01029330 -0.02253905
+v -0.04006195 0.01081596 -0.02249690
+v -0.03915712 0.01195577 -0.02270438
+v -0.03915712 0.00693016 0.00778880
+v -0.04015992 0.00609792 0.00719877
+v -0.04015992 0.00267850 0.00800276
+v -0.04015992 -0.00010569 0.00837234
+v -0.04015992 -0.00312508 0.00872895
+v -0.04015992 0.01081596 -0.02244179
+v -0.03972552 0.01255482 -0.02233481
+v -0.03915712 0.01289656 -0.02243530
+v -0.03915712 0.00842176 0.00740301
+v -0.04015992 0.00883788 0.00650825
+v -0.04015992 0.00808203 0.00670277
+v -0.04015992 0.01297496 -0.02191336
+v -0.04015992 0.01361221 -0.02159241
+v -0.03915712 0.01361221 -0.02206573
+v -0.03915712 0.01066720 0.00675140
+v -0.04015992 0.01070339 0.00585015
+v -0.04015992 0.01361221 0.00444317
+v -0.03915712 0.01361221 0.00554217
+v -0.03915712 0.01233771 0.00612895
+v -0.04015992 0.01158186 0.00551948
+v -0.04015992 0.01343128 0.00457933
+v -0.03999980 0.01361221 0.00465389
+v -0.03991469 0.01361221 0.00474467
+v -0.03915712 0.01347149 0.00561349
+v -0.03915712 0.01279002 0.00595713
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 19
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+f 4 47 53
+f 4 53 54
+f 4 54 48
+f 4 48 44
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+f 5 13 14
+f 5 14 15
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+f 6 39 45
+f 6 45 49
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+f 6 41 35
+f 6 35 27
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+f 28 36 29
+f 29 36 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
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+f 36 41 42
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+f 37 42 43
+f 38 44 39
+f 39 44 45
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+f 42 51 52
+f 42 52 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 46 50 51
+f 47 52 50
+f 47 50 49
+f 47 49 53
+f 48 54 49
+f 49 54 53
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_167.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..598358af19419d5d22fe5b18c231c5018508c058
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_167.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01867017 -0.00690588 -0.02459147
+v -0.01867017 0.00586952 -0.02520694
+v -0.01863860 0.00588596 -0.02520694
+v -0.01748884 0.00490273 -0.02505413
+v -0.01750607 -0.00690588 -0.02439621
+v -0.01867017 -0.00690588 0.01749405
+v -0.01867017 0.01963473 -0.02542766
+v -0.01748884 0.01968077 -0.02552104
+v -0.01748884 -0.00690588 -0.02439197
+v -0.01757523 -0.00690588 0.01742189
+v -0.01867017 -0.00666254 0.01750678
+v -0.01748884 0.02264032 -0.02549133
+v -0.01867017 0.02264032 -0.02533428
+v -0.01748884 -0.00690588 0.01741340
+v -0.01748884 -0.00406800 0.01754498
+v -0.01867017 -0.00525182 0.01757045
+v -0.01748884 0.02274884 -0.02548284
+v -0.01867017 0.02393266 -0.02525787
+v -0.01748884 -0.00111174 0.01767232
+v -0.01748884 0.00465610 0.01784211
+v -0.01867017 0.00353476 0.01740066
+v -0.01867017 0.02421217 -0.02522816
+v -0.01748884 0.02445880 -0.02529607
+v -0.01748884 0.01080868 0.01752800
+v -0.01748884 0.01273239 0.01732002
+v -0.01748884 0.01363999 0.01721390
+v -0.01867017 0.00672779 0.01698469
+v -0.01867017 0.02565907 -0.02454902
+v -0.01748884 0.02668833 -0.02451931
+v -0.01748884 0.02593529 -0.02481643
+v -0.01748884 0.01672450 0.01668332
+v -0.01867017 0.01642526 0.01561792
+v -0.01867017 0.02668833 -0.02405240
+v -0.01748884 0.02668833 0.01237078
+v -0.01748884 0.01968406 0.01597022
+v -0.01804267 0.01968406 0.01555001
+v -0.01867017 0.01968406 0.01499820
+v -0.01867017 0.02668833 0.01133509
+v -0.01768775 0.02668833 0.01221373
+v -0.01748884 0.02603065 0.01282495
+v -0.01748884 0.02018060 0.01577073
+v -0.01867017 0.02221612 0.01402618
+v -0.01867017 0.02559659 0.01211610
+v -0.01807390 0.02559659 0.01264668
+v -0.01867017 0.02408064 0.01309236
+v -0.01867017 0.02398527 0.01314754
+v -0.01748884 0.02490273 0.01345740
+v -0.01748884 0.02106189 0.01538446
+v -0.01867017 0.02388991 0.01319848
+v -0.01748884 0.02265676 0.01467985
+v -0.01748884 0.02274884 0.01463316
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 10
+f 1 10 6
+f 1 6 11
+f 1 11 16
+f 1 16 21
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+f 1 27 32
+f 1 32 37
+f 1 37 42
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+f 39 44 40
+f 40 44 45
+f 40 45 46
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+f 41 48 42
+f 42 48 50
+f 42 50 49
+f 43 45 44
+f 46 49 51
+f 46 51 47
+f 49 50 51
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_168.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b1bbda329ac7210bea325bce346f494d7e25ed
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_168.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v -0.02471550 -0.03384823 -0.00894084
+v -0.02612642 -0.03297590 -0.00894084
+v -0.02471550 -0.03362885 -0.01189454
+v -0.02471550 -0.03373595 -0.00598713
+v -0.02612796 -0.03291371 -0.00598713
+v -0.02645548 -0.03275134 -0.00828575
+v -0.02645548 -0.03274961 -0.00894084
+v -0.02585068 -0.03288953 -0.01189454
+v -0.02471550 -0.03328683 -0.01370087
+v -0.02471550 -0.03323846 -0.00309933
+v -0.02571306 -0.03266497 -0.00303343
+v -0.02645548 -0.03270297 -0.00598713
+v -0.02645548 -0.03256824 -0.01087896
+v -0.02645548 -0.03242314 -0.01189454
+v -0.02645548 -0.03214157 -0.01326286
+v -0.02543834 -0.03259761 -0.01485212
+v -0.02471550 -0.03306227 -0.01480173
+v -0.02471550 -0.03251642 -0.00048673
+v -0.02519836 -0.03235232 -0.00073094
+v -0.02645548 -0.03215712 -0.00303343
+v -0.02645548 -0.03180992 -0.01485212
+v -0.02504967 -0.03226249 -0.01675148
+v -0.02471550 -0.03257687 -0.01640262
+v -0.02471550 -0.03203448 0.00098237
+v -0.02621073 -0.03122952 0.00012184
+v -0.02645548 -0.03114487 -0.00015725
+v -0.02645548 -0.03133488 -0.00066504
+v -0.02645548 -0.03165272 -0.01532115
+v -0.02471550 -0.03234886 -0.01693367
+v -0.02645548 -0.03059384 -0.01794925
+v -0.02645548 -0.03053338 -0.01807716
+v -0.02471550 -0.03144544 -0.01853068
+v -0.02471550 -0.03195156 0.00118781
+v -0.02645548 -0.03103950 0.00009858
+v -0.02645548 -0.02948140 -0.01967805
+v -0.02471550 -0.03099632 -0.01917802
+v -0.02645548 -0.02966105 0.00242433
+v -0.02471550 -0.02931730 0.00459503
+v -0.02495003 -0.02923439 0.00451751
+v -0.02606170 -0.02979233 0.00266854
+v -0.02570318 -0.02975433 -0.01995327
+v -0.02645548 -0.02801140 -0.02087582
+v -0.02471550 -0.02847261 -0.02167432
+v -0.02471550 -0.03003589 -0.02024399
+v -0.02645548 -0.02917566 0.00306004
+v -0.02512069 -0.02640839 0.00757975
+v -0.02471550 -0.02652930 0.00769216
+v -0.02602049 -0.02742754 0.00561836
+v -0.02645548 -0.02723062 0.00544005
+v -0.02645548 -0.02791985 0.00460278
+v -0.02645548 -0.02789567 -0.02096885
+v -0.02471550 -0.02770565 -0.02225576
+v -0.02645548 -0.02665886 0.00606801
+v -0.02471550 -0.02615446 0.00801776
+v -0.02488208 -0.02327491 0.01033576
+v -0.02598659 -0.02440635 0.00860308
+v -0.02645548 -0.02422497 0.00839376
+v -0.02645548 -0.02488656 0.00780457
+v -0.02645548 -0.02781621 -0.02102699
+v -0.02535369 -0.02671241 -0.02258912
+v -0.02471550 -0.02699224 -0.02268990
+v -0.02471550 -0.02333019 0.01037452
+v -0.02645548 -0.02170645 0.01018846
+v -0.02645548 -0.02173409 0.01016908
+v -0.02471550 -0.02310217 0.01054120
+v -0.02471550 -0.01875435 0.01332435
+v -0.02645548 -0.02601627 -0.02222475
+v -0.02645548 -0.02442190 -0.02289922
+v -0.02471550 -0.02461364 -0.02354655
+v -0.02645548 -0.01895645 0.01192115
+v -0.02471550 -0.01797012 0.01378562
+v -0.02521283 -0.01775938 0.01354530
+v -0.02645548 -0.02150435 -0.02380239
+v -0.02471550 -0.02324382 -0.02395744
+v -0.02645548 -0.01620128 0.01343676
+v -0.02471550 -0.01794939 0.01379725
+v -0.02471550 -0.01620128 0.01464615
+v -0.02594657 -0.01620128 0.01379338
+v -0.02645548 -0.01875090 -0.02447685
+v -0.02471550 -0.02028654 -0.02462028
+v -0.02645548 -0.01620128 -0.02482959
+v -0.02471550 -0.01620128 -0.02494200
+v -0.02645548 -0.01854706 -0.02451949
+v -0.02471550 -0.01733099 -0.02495363
+v -0.02584404 -0.01620128 -0.02490712
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+f 1 4 5
+f 1 5 2
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+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
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+f 6 12 20
+f 6 20 27
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+f 6 57 64
+f 6 64 63
+f 6 63 70
+f 6 70 75
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+f 6 79 73
+f 6 73 68
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+f 6 42 35
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+f 6 28 21
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+f 8 14 15
+f 8 15 16
+f 8 16 9
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+f 10 18 19
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+f 15 21 16
+f 16 22 23
+f 16 23 17
+f 16 21 22
+f 18 24 19
+f 19 24 25
+f 19 25 26
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+f 19 27 20
+f 21 28 22
+f 22 29 23
+f 22 28 30
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+f 22 31 32
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+f 24 33 25
+f 25 34 26
+f 25 33 34
+f 31 35 32
+f 32 35 36
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+f 33 38 39
+f 33 39 40
+f 33 40 37
+f 35 41 36
+f 35 42 43
+f 35 43 41
+f 36 41 44
+f 37 40 45
+f 38 46 39
+f 38 47 46
+f 39 45 40
+f 39 46 48
+f 39 48 49
+f 39 49 50
+f 39 50 45
+f 41 43 44
+f 42 51 43
+f 43 51 52
+f 46 53 49
+f 46 49 48
+f 46 47 54
+f 46 54 55
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 53
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 54 62 55
+f 55 63 64
+f 55 64 57
+f 55 57 56
+f 55 62 65
+f 55 65 66
+f 55 66 63
+f 59 67 60
+f 60 67 68
+f 60 68 69
+f 60 69 61
+f 63 66 70
+f 66 71 72
+f 66 72 70
+f 68 73 69
+f 69 73 74
+f 70 72 75
+f 71 76 72
+f 72 76 77
+f 72 77 78
+f 72 78 75
+f 73 79 74
+f 74 79 80
+f 75 78 77
+f 75 77 82
+f 75 82 85
+f 75 85 81
+f 79 83 80
+f 80 83 81
+f 80 81 84
+f 81 85 84
+f 82 84 85
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_169.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4e2ec54be596618c11958eee86bac0e5d2ef94
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_169.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.02853059 0.03853628 0.02061537
+v 0.02852940 0.03853628 0.02256639
+v 0.02849385 0.03757467 0.02357254
+v 0.02847607 0.03709160 0.02357254
+v 0.02847607 0.03709160 -0.02076449
+v 0.02852940 0.03853628 -0.02076449
+v 0.02848911 0.03853628 0.02478298
+v 0.02847844 0.03801743 0.02513539
+v 0.02845948 0.03709160 0.02437950
+v 0.02724819 0.03709160 -0.02376251
+v 0.02847844 0.03802012 -0.02241928
+v 0.02848318 0.03853628 -0.02263889
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+v 0.02000538 0.03709160 0.02651949
+v 0.02722804 0.03709160 -0.02378805
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+v 0.02604165 0.03814470 -0.02539177
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+v 0.02713915 0.03773729 0.02651949
+v 0.02000538 0.03853628 0.02651949
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+v 0.02713915 0.03709160 -0.02383402
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+v 0.02568608 0.03853628 -0.02546838
+v 0.02661884 0.03853628 0.02651438
+v 0.02279299 0.03853628 0.02651949
+v 0.01741451 0.03853628 0.02651438
+v 0.01642249 0.03811897 0.02651438
+v 0.01642249 0.03709160 -0.02549902
+v 0.02378264 0.03709160 -0.02545305
+v 0.02279299 0.03732861 -0.02555520
+v 0.02105547 0.03742619 -0.02565735
+v 0.02096895 0.03853628 -0.02562160
+v 0.01644619 0.03853628 0.02624369
+v 0.01642249 0.03851549 0.02624880
+v 0.01642249 0.03713573 -0.02549902
+v 0.01793363 0.03763633 -0.02556541
+v 0.01797630 0.03709160 -0.02555520
+v 0.02105547 0.03709160 -0.02560627
+v 0.01829631 0.03853628 -0.02548880
+v 0.01642249 0.03853628 0.02623347
+v 0.01642249 0.03853628 -0.02514150
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+f 1 3 4
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+f 1 5 6
+f 1 6 12
+f 1 12 17
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+f 1 50 43
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+f 19 24 25
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+f 20 37 27
+f 21 28 23
+f 22 23 29
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 29
+f 23 28 30
+f 24 34 25
+f 25 34 35
+f 26 36 37
+f 27 37 44
+f 27 44 50
+f 27 50 51
+f 27 51 45
+f 27 45 38
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 36 43 37
+f 37 43 44
+f 38 45 46
+f 38 46 47
+f 39 48 40
+f 40 48 41
+f 41 48 47
+f 41 47 46
+f 41 46 42
+f 42 46 49
+f 43 50 44
+f 45 51 49
+f 45 49 46
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_17.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2cc29706796c84f894482fa102e8ffdfb16860
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00135740 0.00347769 -0.02284459
+v 0.00135740 0.00437167 -0.02287965
+v 0.00489177 0.00347769 -0.02218848
+v 0.00135740 0.00347769 0.02821148
+v 0.00135740 0.00490309 -0.02289968
+v 0.00135740 0.00679905 -0.02294476
+v 0.00489177 0.00468709 -0.02220351
+v 0.00489177 0.00347769 0.02757040
+v 0.00203625 0.00347769 0.02809128
+v 0.00489177 0.00685519 0.02728492
+v 0.00489177 0.00785588 0.02711463
+v 0.00135740 0.00785588 0.02731998
+v 0.00135740 0.00785588 -0.02295477
+v 0.00489177 0.00492452 -0.02220351
+v 0.00489177 0.00785588 -0.02215342
+v 0.00303445 0.00785588 -0.02258916
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 13
+f 1 13 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 14
+f 3 14 15
+f 3 15 11
+f 3 11 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 13 7
+f 7 13 14
+f 8 10 9
+f 11 15 16
+f 11 16 13
+f 11 13 12
+f 13 16 14
+f 14 16 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_170.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bfadb3da4e767269248796f90b48935a9bac4b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_170.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00947788 0.01357440 0.02288075
+v -0.00947788 0.01371686 0.02285378
+v -0.00974837 0.01357440 0.02272629
+v -0.00947788 0.01357440 -0.00216553
+v -0.00947788 0.01473921 0.02256203
+v -0.01026787 0.01357440 0.02240267
+v -0.00947788 0.04208295 -0.00216553
+v -0.01049381 0.01357440 -0.00216553
+v -0.00998813 0.01524759 0.02209866
+v -0.00947788 0.01972807 0.02097825
+v -0.01049381 0.02259959 0.01950725
+v -0.01049381 0.01962472 0.02042417
+v -0.01049381 0.01357440 0.02222860
+v -0.01036334 0.04171144 -0.00216553
+v -0.00947788 0.04211088 -0.00216062
+v -0.01049381 0.04165278 -0.00216553
+v -0.00947788 0.02264429 0.01998532
+v -0.01047850 0.02264429 0.01949989
+v -0.01049381 0.02262753 0.01949499
+v -0.00947788 0.04175613 0.00024201
+v -0.01049381 0.04119467 -0.00007180
+v -0.00968542 0.04170585 -0.00007180
+v -0.00947788 0.02435938 0.01926944
+v -0.01002751 0.02417502 0.01917137
+v -0.01049381 0.02380351 0.01897769
+v -0.00947788 0.04174496 0.00030330
+v -0.00947788 0.04155222 0.00121042
+v -0.01049381 0.04041255 0.00275252
+v -0.00947788 0.04115557 0.00285795
+v -0.00947788 0.02489570 0.01897523
+v -0.00947788 0.02824488 0.01691828
+v -0.01049381 0.02781191 0.01668537
+v -0.01049381 0.02460798 0.01857806
+v -0.01049381 0.03937343 0.00493696
+v -0.00947788 0.04091534 0.00335809
+v -0.00947788 0.02835382 0.01684718
+v -0.00953556 0.02970578 0.01593516
+v -0.01049381 0.02803259 0.01653827
+v -0.01049381 0.03933433 0.00501051
+v -0.01044687 0.03935388 0.00504729
+v -0.00947788 0.03990417 0.00544691
+v -0.00947788 0.02964153 0.01600381
+v -0.01049381 0.02921136 0.01568754
+v -0.00947788 0.02972254 0.01594987
+v -0.00947788 0.03144043 0.01457203
+v -0.01049381 0.03115551 0.01423125
+v -0.01049381 0.03928963 0.00508897
+v -0.00977969 0.03869745 0.00701843
+v -0.00947788 0.03911645 0.00673649
+v -0.00947788 0.03304658 0.01327020
+v -0.01049381 0.03211920 0.01344672
+v -0.01049381 0.03838460 0.00656242
+v -0.00947788 0.03883153 0.00719495
+v -0.01049381 0.03779801 0.00744502
+v -0.00947788 0.03417508 0.01220862
+v -0.01049381 0.03325049 0.01245379
+v -0.01049381 0.03269462 0.01297599
+v -0.01049381 0.03700750 0.00844531
+v -0.00947788 0.03746560 0.00888415
+v -0.01049381 0.03420022 0.01153441
+v -0.00947788 0.03452704 0.01186784
+v -0.01049381 0.03624772 0.00937449
+v -0.00947788 0.03717230 0.00923965
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 8
+f 1 8 4
+f 1 4 7
+f 1 7 15
+f 1 15 20
+f 1 20 26
+f 1 26 27
+f 1 27 29
+f 1 29 35
+f 1 35 41
+f 1 41 49
+f 1 49 53
+f 1 53 59
+f 1 59 63
+f 1 63 61
+f 1 61 55
+f 1 55 50
+f 1 50 45
+f 1 45 44
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+f 8 60 62
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+f 8 58 54
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+f 8 28 21
+f 8 21 16
+f 9 11 12
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 14 16 15
+f 15 16 20
+f 16 21 22
+f 16 22 20
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 20 22 26
+f 21 27 22
+f 21 28 29
+f 21 29 27
+f 22 27 26
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 28 34 29
+f 29 34 35
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 37 43 38
+f 37 42 44
+f 37 44 45
+f 37 45 46
+f 37 46 43
+f 39 47 40
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 45 50 46
+f 46 50 51
+f 47 52 48
+f 48 53 49
+f 48 52 54
+f 48 54 53
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+f 50 56 57
+f 50 57 51
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+f 53 58 59
+f 55 60 56
+f 55 61 60
+f 58 62 59
+f 59 62 63
+f 60 61 63
+f 60 63 62
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_171.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290e331fd9018160b8d502526c36730df9b5b5af
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_171.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01984957 -0.00690341 -0.02478697
+v -0.01984957 0.00301103 -0.02516504
+v -0.01867029 0.00587129 -0.02521965
+v -0.01867029 -0.00690341 -0.02459793
+v -0.01984957 -0.00690341 0.01757356
+v -0.01984957 0.00529973 -0.02521965
+v -0.01867029 0.01070603 -0.02526586
+v -0.01867029 -0.00690341 0.01749375
+v -0.01867029 -0.00667825 0.01750635
+v -0.01984957 -0.00643330 0.01759877
+v -0.01984957 0.01086439 -0.02527005
+v -0.01867029 0.01705009 -0.02531206
+v -0.01867029 -0.00525307 0.01757356
+v -0.01867029 0.00353310 0.01740553
+v -0.01984957 0.00241472 0.01696025
+v -0.01984957 0.01836888 -0.02530787
+v -0.01876760 0.01836888 -0.02531627
+v -0.01867029 0.01829218 -0.02531627
+v -0.01867029 0.00672492 0.01698546
+v -0.01867029 0.01642657 0.01561601
+v -0.01984957 0.00549273 0.01651077
+v -0.01984957 0.01836888 0.01417934
+v -0.01867029 0.01836888 -0.02531627
+v -0.01867029 0.01836888 0.01522534
+v -0.01984957 0.01165863 0.01556560
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 15
+f 1 15 21
+f 1 21 25
+f 1 25 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 18
+f 3 18 23
+f 3 23 24
+f 3 24 20
+f 3 20 19
+f 3 19 14
+f 3 14 13
+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
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+f 10 14 15
+f 10 13 14
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+f 12 16 17
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+f 14 19 15
+f 15 19 20
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+f 16 22 24
+f 16 24 23
+f 16 23 17
+f 17 23 18
+f 20 24 25
+f 20 25 21
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_172.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef876a23ab09085fec02de64ba358fbaed0b8a4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_172.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.02902356 -0.02571612 -0.02058888
+v -0.03022885 -0.02571612 -0.01949899
+v -0.03022885 -0.02460125 -0.02104183
+v -0.03022885 -0.02406840 -0.02149123
+v -0.02902356 -0.02513411 -0.02104183
+v -0.02902356 -0.02571612 0.00460244
+v -0.03022885 -0.02571612 0.00344178
+v -0.03022885 -0.02306678 -0.02215649
+v -0.02902356 -0.02333803 -0.02228388
+v -0.03006533 -0.02571612 0.00364702
+v -0.02902356 -0.02481018 0.00569587
+v -0.03016880 -0.02571612 0.00351963
+v -0.03010273 -0.02565730 0.00368241
+v -0.03022885 -0.02558093 0.00361517
+v -0.03022885 -0.02192470 -0.02285005
+v -0.02902356 -0.02213539 -0.02288190
+v -0.02902356 -0.02465919 0.00585865
+v -0.03022885 -0.02410352 0.00531016
+v -0.03022885 -0.01875129 -0.02405318
+v -0.02902356 -0.01893564 -0.02411334
+v -0.02902356 -0.02449504 0.00601081
+v -0.03012939 -0.02260942 0.00687069
+v -0.03022885 -0.02271652 0.00667606
+v -0.03022885 -0.01674893 -0.02443181
+v -0.02902356 -0.01674893 -0.02458751
+v -0.02902356 -0.01875129 -0.02415580
+v -0.02902356 -0.02193260 0.00816936
+v -0.03022885 -0.02107670 0.00787565
+v -0.03022885 -0.02255675 0.00681407
+v -0.02916985 -0.02165696 0.00825782
+v -0.03022885 -0.01792963 0.01009790
+v -0.03022885 -0.01674893 0.01082685
+v -0.02902356 -0.01674893 0.01156288
+v -0.02902356 -0.02166047 0.00836044
+v -0.02902356 -0.01901201 0.01015097
+v -0.02902356 -0.01853798 0.01046945
+v -0.03022885 -0.01681301 0.01079500
+v -0.03016408 -0.01674893 0.01087285
+v -0.02902356 -0.01699297 0.01141780
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 20
+f 1 20 26
+f 1 26 25
+f 1 25 33
+f 1 33 39
+f 1 39 36
+f 1 36 35
+f 1 35 34
+f 1 34 27
+f 1 27 21
+f 1 21 17
+f 1 17 11
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+f 1 12 7
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+f 2 24 19
+f 2 19 15
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+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 11 10
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 10 11 13
+f 10 13 12
+f 11 17 18
+f 11 18 13
+f 13 18 14
+f 15 19 20
+f 15 20 16
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+f 17 22 23
+f 17 23 18
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 22 28 29
+f 22 29 23
+f 22 27 30
+f 22 30 31
+f 22 31 28
+f 24 32 38
+f 24 38 33
+f 24 33 25
+f 27 34 30
+f 30 34 31
+f 31 35 36
+f 31 36 37
+f 31 34 35
+f 32 37 38
+f 33 38 39
+f 36 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_173.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88f5ce52d64d4fb119bc4302155db0d08a8dec6
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_173.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01552777 -0.00386236 -0.02413868
+v -0.01375636 -0.00386236 -0.02385231
+v -0.01552777 -0.00386236 0.01839593
+v -0.01552777 0.00490258 -0.02471589
+v -0.01442522 0.00490431 -0.02453243
+v -0.01375636 0.00490431 -0.02441162
+v -0.01375636 -0.00386236 0.02011413
+v -0.01552777 0.00194696 0.01919239
+v -0.01378047 -0.00386236 0.02009176
+v -0.01375636 -0.00100866 0.02055264
+v -0.01404579 -0.00100866 0.02027074
+v -0.01552777 0.00615842 -0.02476958
+v -0.01375636 0.00785820 -0.02453243
+v -0.01552777 0.00437918 0.01939374
+v -0.01426412 0.00194696 0.02036471
+v -0.01375636 0.00194696 0.02081216
+v -0.01552777 0.00785820 -0.02483222
+v -0.01552777 0.00907949 -0.02482327
+v -0.01375636 0.01378154 -0.02441162
+v -0.01552777 0.00574902 0.01946981
+v -0.01375636 0.00496995 0.02087927
+v -0.01469505 0.00502350 0.02012756
+v -0.01552777 0.01378154 -0.02468456
+v -0.01375636 0.01378154 0.02006044
+v -0.01552777 0.00785820 0.01950113
+v -0.01375636 0.00785820 0.02072267
+v -0.01552777 0.01081555 0.01945191
+v -0.01552777 0.01378154 0.01914317
+v -0.01375636 0.01370380 0.02007834
+v -0.01375636 0.01081555 0.02044525
+v -0.01552777 0.01280209 0.01931320
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 25
+f 1 25 27
+f 1 27 31
+f 1 31 28
+f 1 28 23
+f 1 23 18
+f 1 18 17
+f 1 17 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 13
+f 2 13 19
+f 2 19 24
+f 2 24 29
+f 2 29 30
+f 2 30 26
+f 2 26 21
+f 2 21 16
+f 2 16 10
+f 2 10 7
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 7 10 9
+f 8 11 10
+f 8 10 15
+f 8 15 14
+f 10 16 15
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 15 16
+f 14 16 20
+f 16 21 22
+f 16 22 20
+f 18 23 19
+f 19 23 28
+f 19 28 24
+f 20 22 25
+f 21 26 27
+f 21 27 25
+f 21 25 22
+f 24 28 29
+f 26 30 31
+f 26 31 27
+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_174.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8391736aa39ef82b01470d643bfa828ea981cf7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_174.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.01658776 -0.00604858 -0.02427675
+v -0.01552795 -0.00604858 -0.02409364
+v -0.01658776 -0.00604858 0.01779003
+v -0.01658776 0.00500638 -0.02490890
+v -0.01552795 0.00500638 -0.02473016
+v -0.01552795 -0.00604858 0.01815188
+v -0.01552795 0.00194709 0.01918949
+v -0.01658776 -0.00582146 0.01781619
+v -0.01658776 0.00547808 -0.02493070
+v -0.01658776 0.00736878 -0.02501354
+v -0.01552795 0.00615943 -0.02477811
+v -0.01552795 0.00437744 0.01939876
+v -0.01658776 -0.00270201 0.01806905
+v -0.01658776 0.00785990 -0.02503097
+v -0.01552795 0.00785990 -0.02483479
+v -0.01552795 0.00574985 0.01947288
+v -0.01658776 0.00042328 0.01832191
+v -0.01658776 0.01008448 -0.02500482
+v -0.01552795 0.00915854 -0.02481735
+v -0.01552795 0.00785990 0.01950775
+v -0.01596210 0.00785990 0.01920693
+v -0.01592060 0.00609149 0.01916334
+v -0.01658776 0.00308074 0.01845706
+v -0.01658776 0.01040671 -0.02500046
+v -0.01552795 0.01378240 -0.02468656
+v -0.01552795 0.01081436 0.01945544
+v -0.01597694 0.01081436 0.01921565
+v -0.01658776 0.00972536 0.01856606
+v -0.01658776 0.00629531 0.01853554
+v -0.01658776 0.01081436 -0.02498738
+v -0.01658776 0.01377852 -0.02486967
+v -0.01658776 0.01378240 -0.02429855
+v -0.01552795 0.01378240 0.01914154
+v -0.01552795 0.01280211 0.01931593
+v -0.01594032 0.01247211 0.01917206
+v -0.01658776 0.01172282 0.01849194
+v -0.01658776 0.01081436 0.01853554
+v -0.01658776 0.01037565 0.01854862
+v -0.01658776 0.01378240 0.01815624
+v -0.01572806 0.01378240 0.01904562
+v -0.01658776 0.01371835 0.01817368
+v -0.01658776 0.01320588 0.01830883
+f 1 2 6
+f 1 6 3
+f 1 3 8
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+f 1 13 17
+f 1 17 23
+f 1 23 29
+f 1 29 28
+f 1 28 38
+f 1 38 37
+f 1 37 36
+f 1 36 42
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+f 2 16 12
+f 2 12 7
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+f 4 9 5
+f 5 9 10
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+f 8 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 23
+f 21 23 22
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 39
+f 25 39 40
+f 25 40 33
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 33 40 34
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_175.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd6c10278b9b1b08602891c23b104ebab291b9d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_175.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.03351503 0.00109989 -0.00223369
+v -0.03351503 0.00109989 -0.02500126
+v -0.03500662 0.00109989 -0.00223369
+v -0.03351503 -0.02589536 -0.00223369
+v -0.03496296 0.00109989 -0.02486307
+v -0.03351503 -0.00557747 -0.02470259
+v -0.03500662 0.00109989 -0.02485415
+v -0.03500662 -0.02546521 -0.00223369
+v -0.03480820 -0.02556048 -0.00223369
+v -0.03351503 -0.02707609 -0.00353979
+v -0.03500662 0.00052251 -0.02483186
+v -0.03351503 -0.01444309 -0.02423008
+v -0.03500662 -0.00408784 -0.02461344
+v -0.03500662 -0.00100465 -0.02476054
+v -0.03500662 -0.02558646 -0.00244766
+v -0.03500662 -0.02646985 -0.00401453
+v -0.03351503 -0.02745139 -0.00445361
+v -0.03351503 -0.01579127 -0.02410081
+v -0.03500662 -0.01295923 -0.02405177
+v -0.03500662 -0.02723487 -0.00587784
+v -0.03500662 -0.02726951 -0.00598705
+v -0.03351503 -0.02791618 -0.00598705
+v -0.03500662 -0.01579127 -0.02377985
+v -0.03351503 -0.01584612 -0.02409189
+v -0.03500662 -0.02788442 -0.00881321
+v -0.03351503 -0.02815867 -0.00710815
+v -0.03500662 -0.01591252 -0.02375980
+v -0.03351503 -0.01740215 -0.02383335
+v -0.03500662 -0.02789597 -0.00894471
+v -0.03351503 -0.02834055 -0.00894471
+v -0.03351503 -0.02816445 -0.00716165
+v -0.03500662 -0.01875032 -0.02324270
+v -0.03351503 -0.01875032 -0.02358595
+v -0.03500662 -0.02802588 -0.01176419
+v -0.03351503 -0.02838962 -0.00998558
+v -0.03500662 -0.02180176 -0.02248490
+v -0.03351503 -0.02320190 -0.02226202
+v -0.03376630 -0.02320190 -0.02226202
+v -0.03500662 -0.02802299 -0.01190238
+v -0.03351503 -0.02836364 -0.01190238
+v -0.03500662 -0.02285258 -0.02217732
+v -0.03351503 -0.02603104 -0.01913273
+v -0.03500662 -0.02607146 -0.01918845
+v -0.03500662 -0.02516786 -0.02012679
+v -0.03489959 -0.02432778 -0.02099381
+v -0.03500662 -0.02433067 -0.02097152
+v -0.03351503 -0.02826260 -0.01311041
+v -0.03500662 -0.02778626 -0.01473078
+v -0.03351503 -0.02651315 -0.01833035
+v -0.03500662 -0.02610899 -0.01912827
+v -0.03351503 -0.02803165 -0.01466391
+v -0.03500662 -0.02776894 -0.01484667
+v -0.03351503 -0.02685092 -0.01765501
+v -0.03500662 -0.02681916 -0.01771073
+v -0.03351503 -0.02802299 -0.01471517
+v -0.03500662 -0.02776606 -0.01486005
+v -0.03500662 -0.02687112 -0.01760375
+v -0.03351503 -0.02687401 -0.01760598
+v -0.03351503 -0.02795948 -0.01491131
+v -0.03351503 -0.02755532 -0.01615723
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 26
+f 1 26 31
+f 1 31 30
+f 1 30 35
+f 1 35 40
+f 1 40 47
+f 1 47 51
+f 1 51 55
+f 1 55 59
+f 1 59 60
+f 1 60 58
+f 1 58 53
+f 1 53 49
+f 1 49 42
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+f 3 20 16
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+f 3 15 8
+f 4 9 10
+f 5 11 7
+f 5 6 11
+f 6 12 13
+f 6 13 14
+f 6 14 11
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+f 8 10 9
+f 10 16 17
+f 10 15 16
+f 12 18 19
+f 12 19 13
+f 16 20 17
+f 17 21 22
+f 17 20 21
+f 18 23 19
+f 18 24 23
+f 21 25 22
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+f 23 24 27
+f 24 28 27
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 28 32
+f 28 33 32
+f 29 34 35
+f 29 35 30
+f 32 33 36
+f 33 37 38
+f 33 38 36
+f 34 39 40
+f 34 40 35
+f 36 38 41
+f 37 42 43
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 41
+f 39 47 40
+f 39 48 47
+f 42 49 50
+f 42 50 43
+f 44 46 45
+f 47 48 51
+f 48 52 51
+f 49 53 54
+f 49 54 50
+f 51 52 55
+f 52 56 55
+f 53 57 54
+f 53 58 57
+f 55 56 59
+f 56 60 59
+f 56 57 60
+f 57 58 60
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_176.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a5e94491c488d0bd5b056b1ceb30f6aee5cbd4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_176.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.01236786 0.02172207 -0.02303768
+v 0.01236786 0.02264603 -0.02324124
+v 0.01449946 0.03265605 -0.02527096
+v 0.01449946 0.02264603 -0.02302024
+v 0.01449946 0.02172207 -0.02280505
+v 0.01236786 0.02172207 0.03306176
+v 0.01236786 0.02287382 -0.02328195
+v 0.01348092 0.03270725 -0.02525351
+v 0.01449946 0.03446815 -0.02543962
+v 0.01449967 0.03556615 -0.02546288
+v 0.01449946 0.02172207 0.03392250
+v 0.01313786 0.02172207 0.03353866
+v 0.01236786 0.02332685 0.03266047
+v 0.01236786 0.03158620 -0.02474753
+v 0.01237099 0.03125348 -0.02470101
+v 0.01236786 0.03710951 -0.02528259
+v 0.01236786 0.03721444 -0.02528841
+v 0.01449946 0.03510289 -0.02549196
+v 0.01237141 0.03163995 -0.02475917
+v 0.01236786 0.03394602 -0.02499762
+v 0.01236786 0.03554056 -0.02514301
+v 0.01449946 0.04382551 -0.02508485
+v 0.01449967 0.03683820 -0.02539891
+v 0.01449967 0.03556615 0.02774610
+v 0.01449946 0.02230818 0.03373640
+v 0.01399238 0.02172207 0.03385853
+v 0.01236786 0.02841504 0.03132283
+v 0.01236786 0.02560220 0.03209052
+v 0.01236786 0.03165787 -0.02475917
+v 0.01236807 0.04333665 -0.02544543
+v 0.01236807 0.04314981 -0.02544543
+v 0.01236807 0.04069274 -0.02541636
+v 0.01236786 0.03821007 -0.02528259
+v 0.01335822 0.04333665 -0.02531167
+v 0.01371819 0.04484673 -0.02520117
+v 0.01449946 0.04411217 -0.02506740
+v 0.01449946 0.04563505 -0.02491619
+v 0.01449967 0.03821007 -0.02501506
+v 0.01449967 0.03821007 0.02592575
+v 0.01449946 0.03411750 0.02878713
+v 0.01449946 0.03108455 0.03061330
+v 0.01449946 0.03020154 0.03103204
+v 0.01449946 0.02853022 0.03166015
+v 0.01354353 0.03015291 0.03100296
+v 0.01236786 0.02966917 0.03071217
+v 0.01236807 0.04504125 -0.02527096
+v 0.01335801 0.04485441 -0.02523025
+v 0.01236807 0.04786945 -0.02416595
+v 0.01236807 0.04651038 -0.02477662
+v 0.01236786 0.03821007 0.02542558
+v 0.01335801 0.04490048 -0.02522443
+v 0.01449946 0.04606503 -0.02478825
+v 0.01449946 0.04753672 -0.02426482
+v 0.01449946 0.04724494 0.01863270
+v 0.01449946 0.04578605 0.02002850
+v 0.01449946 0.04541493 0.02037745
+v 0.01449946 0.04414544 0.02153480
+v 0.01449946 0.04382551 0.02180814
+v 0.01449946 0.04269167 0.02268633
+v 0.01449946 0.04217978 0.02307018
+v 0.01449946 0.04015525 0.02456484
+v 0.01449946 0.03980717 0.02481492
+v 0.01449946 0.03919802 0.02525111
+v 0.01449946 0.04753672 0.01830120
+v 0.01335801 0.03900862 0.02512898
+v 0.01236807 0.03884737 0.02501266
+v 0.01236786 0.03367984 0.02854868
+v 0.01236786 0.03171674 0.02967114
+v 0.01244382 0.03125348 0.02996193
+v 0.01236786 0.03119461 0.02995030
+v 0.01335801 0.04631586 -0.02478243
+v 0.01236807 0.04786945 0.01740556
+v 0.01335801 0.04786945 -0.02408453
+v 0.01236807 0.04237686 0.02233157
+v 0.01236807 0.04376153 0.02116258
+v 0.01236807 0.04386134 0.02107535
+v 0.01236807 0.04686358 0.01835936
+v 0.01335822 0.04394069 0.02133706
+v 0.01449695 0.04382551 0.02180814
+v 0.01335801 0.04305000 0.02209312
+v 0.01335801 0.04224377 0.02270959
+v 0.01335801 0.04786945 0.01760912
+v 0.01236786 0.03129443 0.02989795
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 26
+f 1 26 12
+f 1 12 6
+f 1 6 13
+f 1 13 28
+f 1 28 27
+f 1 27 45
+f 1 45 70
+f 1 70 83
+f 1 83 68
+f 1 68 67
+f 1 67 50
+f 1 50 33
+f 1 33 17
+f 1 17 16
+f 1 16 21
+f 1 21 20
+f 1 20 29
+f 1 29 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 10 24
+f 5 24 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 19
+f 8 19 20
+f 8 20 21
+f 8 21 16
+f 9 18 10
+f 10 18 22
+f 10 22 23
+f 10 23 38
+f 10 38 39
+f 10 39 24
+f 11 24 25
+f 11 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 14 29 15
+f 15 29 19
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 17 33 30
+f 18 32 31
+f 18 31 30
+f 18 30 34
+f 18 34 35
+f 18 35 22
+f 19 29 20
+f 22 36 23
+f 22 35 36
+f 23 36 37
+f 23 37 38
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
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+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 30 33 46
+f 30 46 47
+f 30 47 35
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+f 33 48 49
+f 33 49 46
+f 33 50 72
+f 33 72 48
+f 35 47 51
+f 35 51 37
+f 35 37 36
+f 37 52 38
+f 37 51 46
+f 37 46 52
+f 38 52 53
+f 38 53 64
+f 38 64 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 39 64 54
+f 40 63 65
+f 40 65 66
+f 40 66 67
+f 40 67 44
+f 40 44 41
+f 41 44 42
+f 42 44 43
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 46 51 47
+f 46 49 71
+f 46 71 52
+f 48 72 82
+f 48 82 73
+f 48 73 53
+f 48 53 49
+f 49 53 71
+f 50 67 66
+f 50 66 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 72
+f 52 71 53
+f 53 73 82
+f 53 82 64
+f 54 64 72
+f 54 72 55
+f 55 72 77
+f 55 77 56
+f 56 77 57
+f 57 77 78
+f 57 78 79
+f 57 79 58
+f 58 79 59
+f 59 79 80
+f 59 80 74
+f 59 74 81
+f 59 81 66
+f 59 66 60
+f 60 66 61
+f 61 66 65
+f 61 65 62
+f 62 65 63
+f 64 82 72
+f 66 81 74
+f 68 83 69
+f 69 83 70
+f 74 80 75
+f 75 80 78
+f 75 78 76
+f 76 78 77
+f 78 80 79
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_177.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae1dce9e04583ca6463d211f398fafeb35ae621
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_177.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v -0.03109877 -0.02945403 -0.00894499
+v -0.03228800 -0.02866125 -0.01189502
+v -0.03109877 -0.02916081 -0.01189502
+v -0.03109866 -0.02575619 0.00167738
+v -0.03109866 -0.02575619 0.00223746
+v -0.03109877 -0.02934000 -0.00599114
+v -0.03228800 -0.02878885 -0.00894499
+v -0.03228800 -0.02823228 -0.01460719
+v -0.03109877 -0.02899519 -0.01305354
+v -0.03228812 -0.02479780 0.00167738
+v -0.03109866 -0.00172028 0.00167738
+v -0.03109877 -0.02874813 -0.01457267
+v -0.03109877 -0.02726030 -0.01781424
+v -0.03109877 -0.02671459 -0.01872725
+v -0.03109877 -0.02446114 -0.02102512
+v -0.03109877 -0.02337785 -0.02193813
+v -0.03109877 -0.02305205 -0.02214912
+v -0.03109877 -0.02191990 -0.02282045
+v -0.03109877 -0.01874877 -0.02398281
+v -0.03109877 -0.01578942 -0.02451988
+v -0.03109877 -0.01283821 -0.02465414
+v -0.03109877 -0.00799193 -0.02482677
+v -0.03109877 -0.00171756 -0.02503009
+v -0.03109877 -0.02603312 0.00187303
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diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_178.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d254b47f2bf2056ead0eeb30c7a21e2ca67e56
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_178.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_179.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8196f9f08fc98fe8471aeaea346a9ad422aeca
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_179.obj
@@ -0,0 +1,306 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_18.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702880ca5bdb6fecfd41bea60a1a65f3e568e9b4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v 0.02783505 0.01969386 0.02948750
+v 0.02749761 0.01059343 0.03244797
+v 0.02783505 0.01969386 0.02652109
+v 0.01850048 0.01969475 0.03542033
+v 0.02778265 0.01969386 0.03244203
+v 0.02778265 0.01968495 0.03244203
+v 0.02772641 0.01683767 0.03244797
+v 0.02772385 0.01672809 0.03244797
+v 0.02749761 0.01059343 -0.00006368
+v 0.02749378 0.01059343 0.03266198
+v 0.02761521 0.01377212 -0.01484818
+v 0.02772385 0.01672809 -0.01484818
+v 0.02783250 0.01968495 -0.01484224
+v 0.02783250 0.01969386 -0.01485413
+v 0.01850048 0.01969475 -0.02200562
+v 0.01809785 0.01969475 0.03536088
+v 0.02105429 0.01969386 0.03580079
+v 0.02115143 0.01969386 0.03581268
+v 0.02400945 0.01969386 0.03604452
+v 0.02660927 0.01969386 0.03500420
+v 0.02661311 0.01969386 0.03499826
+v 0.02660927 0.01968495 0.03501014
+v 0.02711416 0.01377212 0.03539655
+v 0.02732378 0.01081704 0.03539655
+v 0.02732506 0.01059343 0.03539655
+v 0.02750528 0.01081704 -0.01484818
+v 0.02749633 0.01059343 -0.01484818
+v 0.02781205 0.01968495 -0.01780271
+v 0.02772768 0.01683767 -0.01496113
+v 0.02781205 0.01969386 -0.01780271
+v 0.02663867 0.01969386 -0.02038866
+v 0.02399923 0.01969386 -0.02164299
+v 0.02109391 0.01969386 -0.02188673
+v 0.01477841 0.01969475 -0.02227908
+v 0.01515164 0.01969475 0.03482586
+v 0.01597862 0.01563408 0.03708485
+v 0.01809913 0.01377212 0.03771499
+v 0.02400945 0.01081704 0.03841647
+v 0.02579124 0.01584522 0.03703729
+v 0.02631402 0.01081704 0.03769121
+v 0.02725348 0.01059343 0.03559273
+v 0.02672687 0.01059343 -0.01780865
+v 0.02760242 0.01672809 -0.01780865
+v 0.02761009 0.01683767 -0.01780865
+v 0.02663867 0.01968495 -0.02038866
+v 0.02390847 0.01683767 -0.02120903
+v 0.02105557 0.01377212 -0.02098313
+v 0.02649040 0.01683767 -0.02013898
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+v 0.01477713 0.01404919 0.03720969
+v 0.01505322 0.01378726 0.03737020
+v 0.01809913 0.01081704 0.03825596
+v 0.02400945 0.01059343 0.03845214
+v 0.02614146 0.01059343 0.03778038
+v 0.02632041 0.01059343 0.03770904
+v 0.02572222 0.01059343 -0.01941967
+v 0.02400945 0.01672809 -0.02117931
+v 0.02415388 0.01059343 -0.01972285
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+v 0.01477713 0.01683767 0.03602075
+v 0.01477713 0.01361087 0.03729886
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+v 0.01514269 0.01059343 0.03788144
+v 0.01477713 0.01076893 0.03771499
+v 0.01477713 0.01081704 0.03771499
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_180.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22a48cb6dc9d76f50ffe18fc2c5120a8fdd356d0
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_180.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.03228824 -0.02879398 -0.00894147
+v -0.03228824 -0.02851357 -0.00598913
+v -0.03351503 -0.02834131 -0.00894147
+v -0.03351503 -0.02838858 -0.00998160
+v -0.03351503 -0.02838858 -0.01003085
+v -0.03351503 -0.02836374 -0.01189670
+v -0.03228824 -0.02866499 -0.01189670
+v -0.03351503 -0.02745198 -0.00445357
+v -0.03351503 -0.02791668 -0.00598913
+v -0.03351503 -0.02816024 -0.00711038
+v -0.03351503 -0.02816585 -0.00716253
+v -0.03228824 -0.02762905 -0.00328596
+v -0.03351503 -0.02826199 -0.01310488
+v -0.03351503 -0.02803285 -0.01466362
+v -0.03228824 -0.02864977 -0.01199811
+v -0.03351503 -0.02710586 -0.00361335
+v -0.03228824 -0.02757457 -0.00314979
+v -0.03351503 -0.02802484 -0.01471287
+v -0.03228824 -0.02823395 -0.01460857
+v -0.03351503 -0.02707542 -0.00354092
+v -0.03228824 -0.02586401 -0.00007576
+v -0.03351503 -0.02428886 0.00147139
+v -0.03351503 -0.02795834 -0.01491858
+v -0.03228824 -0.02811778 -0.01496493
+v -0.03228824 -0.02446753 0.00242750
+v -0.03351503 -0.02168818 0.00446140
+v -0.03351503 -0.02755454 -0.01615572
+v -0.03351503 -0.02685269 -0.01765362
+v -0.03228824 -0.02687833 -0.01761016
+v -0.03228824 -0.02159605 0.00557975
+v -0.03228824 -0.02060977 0.00635333
+v -0.03258617 -0.02060977 0.00609257
+v -0.03351503 -0.02060977 0.00527264
+v -0.03228824 -0.02684788 -0.01767100
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+v -0.03228824 -0.02599541 -0.01908778
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+v -0.03228824 -0.02202068 -0.02272967
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+f 41 48 42
+f 42 48 47
+f 42 47 46
+f 45 46 49
+f 46 47 50
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+f 46 51 49
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_181.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b1918dbe8b2190660170246867bf5b40e3dac8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_181.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02266345 -0.03247290 0.02055962
+v 0.01530907 -0.03247290 0.02055962
+v 0.02266345 -0.03365255 0.02055962
+v 0.02266345 -0.03247290 -0.02484376
+v 0.01530907 -0.03365255 0.02055962
+v 0.01530907 -0.03247290 -0.02394856
+v 0.02266345 -0.03365255 -0.02522613
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+v 0.02105378 -0.03247290 -0.02509568
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+v 0.01802881 -0.03247290 -0.02505969
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+v 0.02105378 -0.03365255 -0.02539258
+v 0.01809792 -0.03247290 -0.02506869
+v 0.01809792 -0.03365255 -0.02536559
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
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+f 1 6 2
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+f 3 5 10
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+f 3 15 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 9
+f 9 13 15
+f 9 15 14
+f 10 12 15
+f 11 14 12
+f 12 14 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_184.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f935ef3b2498d79f362cab2e172c650cf7d6dfd
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_184.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.04348840 -0.00396240 0.00769915
+v -0.04457454 -0.00100790 0.00705042
+v -0.04482256 -0.00131667 0.00697833
+v -0.04482256 -0.00396240 0.00714953
+v -0.04348840 -0.00401386 0.00769615
+v -0.04348840 -0.00100790 0.00741082
+v -0.04482256 -0.00100790 0.00694830
+v -0.04373434 0.00169535 0.00674707
+v -0.04482256 0.00178011 0.00635663
+v -0.04482256 -0.00691993 0.00690325
+v -0.04378305 -0.00979876 0.00694830
+v -0.04348840 -0.00865147 0.00717656
+v -0.04348840 0.00203439 0.00675008
+v -0.04348840 0.00533702 0.00577397
+v -0.04482256 0.00489202 0.00538954
+v -0.04482256 -0.00982298 0.00653083
+v -0.04348840 -0.00997736 0.00700536
+v -0.04348840 -0.00979876 0.00703840
+v -0.04398236 -0.01282591 0.00625151
+v -0.04348840 0.00793129 0.00476483
+v -0.04482256 0.00661750 0.00474381
+v -0.04482256 -0.01282591 0.00590913
+v -0.04348840 -0.01223259 0.00653383
+v -0.04348840 -0.01282591 0.00637465
+v -0.04348840 0.00906042 0.00423023
+v -0.04482256 0.00664475 0.00473180
+v -0.04482256 -0.01282591 0.00175844
+v -0.04348840 -0.01282591 0.00175844
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+v -0.04482256 0.01064362 0.00272553
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_185.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c42f342204e2ba6fad98b67872b285f9518a075
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_185.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00805005 0.01877209 -0.02458678
+v -0.00805005 0.01922492 -0.02465723
+v -0.00759659 0.01877209 -0.02457738
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+v -0.00750309 0.01877209 0.02235981
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+v -0.00805005 0.02514357 -0.02537118
+v -0.00691015 0.01877209 0.02258057
+v -0.00745711 0.01893277 0.02233633
+v -0.00805005 0.02008808 0.02163647
+v -0.00691015 0.02267094 -0.02503299
+v -0.00805005 0.02541447 -0.02539466
+v -0.00691015 0.02591245 -0.02535239
+v -0.00691015 0.01920765 0.02246784
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+v -0.00805005 0.02845148 -0.02533360
+v -0.00691015 0.02852054 -0.02533830
+v -0.00726877 0.02267094 0.02094131
+v -0.00805005 0.02484744 0.01950873
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+v -0.00805005 0.02871309 -0.02532421
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+v -0.00805005 0.02630552 0.01871024
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+v -0.00691015 0.02943018 -0.02529602
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+v -0.00691015 0.02541182 0.01959797
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+v -0.00805005 0.03092810 0.01577930
+v -0.00805005 0.03022828 0.01633825
+v -0.00691015 0.03233838 0.01496202
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_186.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d16b32120f2a141f6bc680221caedaf2fd627be
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_186.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01642082 0.05814634 -0.01285660
+v 0.01642082 0.05761000 -0.01490409
+v 0.01514582 0.05713607 -0.01494039
+v 0.01514582 0.05767045 -0.01285660
+v 0.01642082 0.03822376 -0.01285660
+v 0.01642082 0.05721408 -0.01617106
+v 0.01514582 0.05712242 -0.01498517
+v 0.01514582 0.03822376 -0.01285660
+v 0.01642082 0.03822180 -0.02046450
+v 0.01642082 0.05690788 -0.01683541
+v 0.01514582 0.05592882 -0.01765102
+v 0.01514582 0.05711266 -0.01500937
+v 0.01514582 0.03822180 -0.02046450
+v 0.01642082 0.03822180 -0.02521778
+v 0.01642082 0.05612385 -0.01831657
+v 0.01514582 0.05589176 -0.01772483
+v 0.01514582 0.03822180 -0.02503747
+v 0.01514582 0.04334141 -0.02497334
+v 0.01514582 0.04351109 -0.02496729
+v 0.01642082 0.04220242 -0.02498302
+v 0.01642082 0.05561286 -0.01917574
+v 0.01514582 0.05587421 -0.01775630
+v 0.01514582 0.04604456 -0.02478698
+v 0.01642082 0.04615378 -0.02474221
+v 0.01642082 0.05474302 -0.02043304
+v 0.01514582 0.05430224 -0.02002644
+v 0.01514582 0.04924505 -0.02376203
+v 0.01642082 0.04924895 -0.02400163
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+v 0.01514582 0.05387122 -0.02046450
+v 0.01514582 0.05137480 -0.02267172
+v 0.01642082 0.05177267 -0.02287623
+v 0.01642082 0.05316520 -0.02180892
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_187.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9d23e328dcf497e9f00cb0298a215c7bbe9940
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_187.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00975575 -0.05267029 -0.00894001
+v 0.00975575 -0.05253537 -0.00697824
+v 0.00876731 -0.05215324 -0.00591214
+v 0.00876731 -0.05225514 -0.00894001
+v 0.00975575 -0.05264953 -0.01023093
+v 0.00975575 -0.05246838 -0.00615510
+v 0.00975575 -0.05241837 -0.00563656
+v 0.00876731 -0.05177112 -0.00303296
+v 0.00876731 -0.05200511 -0.01200776
+v 0.00975575 -0.05253914 -0.01204402
+v 0.00975575 -0.05205134 -0.00303296
+v 0.00975575 -0.05193529 -0.00237662
+v 0.00975575 -0.05123143 0.00040829
+v 0.00876731 -0.05112859 -0.00053814
+v 0.00876731 -0.05123615 -0.01485068
+v 0.00975575 -0.05174564 -0.01485431
+v 0.00975575 -0.05063607 0.00228665
+v 0.00876731 -0.05028980 0.00213798
+v 0.00876731 -0.05104650 -0.01530396
+v 0.00975575 -0.05053417 -0.01771899
+v 0.00975575 -0.05051530 0.00266740
+v 0.00975575 -0.05034358 0.00313155
+v 0.00975575 -0.05017846 0.00353406
+v 0.00975575 -0.04928024 0.00540154
+v 0.00876731 -0.04835748 0.00598536
+v 0.00876731 -0.05017375 -0.01735275
+v 0.00876731 -0.05000957 -0.01770449
+v 0.00876731 -0.04963500 -0.01845148
+v 0.00876731 -0.04951140 -0.01867993
+v 0.00975575 -0.04969256 -0.01904618
+v 0.00975575 -0.04860468 0.00670697
+v 0.00975575 -0.04741208 0.00879202
+v 0.00876731 -0.04672142 0.00879202
+v 0.00876731 -0.04805744 -0.02043863
+v 0.00975575 -0.04846787 -0.02060906
+v 0.00975575 -0.04559958 0.01133035
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+v 0.00975575 -0.04518538 0.01187065
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+v 0.00933807 -0.04303134 0.01353144
+v 0.00876731 -0.04303134 0.01310355
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+v 0.00975575 -0.04566563 -0.02287542
+v 0.00975575 -0.04303134 0.01353144
+v 0.00876731 -0.04303134 -0.02351363
+v 0.00876731 -0.04476552 -0.02294432
+v 0.00876731 -0.04350781 -0.02351363
+v 0.00975575 -0.04423526 -0.02351363
+v 0.00975575 -0.04303134 -0.02351363
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 20
+f 1 20 30
+f 1 30 35
+f 1 35 39
+f 1 39 47
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+f 1 52 53
+f 1 53 48
+f 1 48 41
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+f 2 6 3
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+f 16 19 20
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+f 34 38 35
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+f 38 45 39
+f 39 45 46
+f 39 46 47
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+f 46 50 47
+f 47 50 51
+f 47 51 52
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+f 49 52 51
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_188.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e43b979a7bd949caf9883621ad4e7dbb2494499
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_188.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00805016 0.04281006 -0.00216781
+v -0.00805016 0.04351043 -0.00598886
+v -0.00851205 0.04338736 -0.00598886
+v -0.01049381 0.04273387 -0.00598886
+v -0.01049381 0.04221519 -0.00360127
+v -0.00860701 0.04257856 -0.00216781
+v -0.00805016 0.01357319 -0.00216781
+v -0.00805016 0.04341959 -0.00894481
+v -0.00851205 0.04330530 -0.00894481
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+v -0.00805016 0.02514545 -0.02537486
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+v -0.01049381 0.03422684 -0.02287314
+v -0.01049381 0.02911032 -0.02502334
+v -0.00936743 0.02933010 -0.02510780
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+v -0.00805016 0.03467520 -0.02311966
+v -0.00843407 0.03129935 -0.02462845
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+f 33 43 35
+f 33 35 34
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+f 33 45 43
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+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 50 57 51
+f 51 57 58
+f 51 58 52
+f 52 58 56
+f 52 56 54
+f 54 56 55
+f 56 58 57
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_189.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8805a1cdd59feb8dc6fca98f71c88a66a7e4f7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_189.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.02902356 0.02583414 -0.01765332
+v -0.02902356 0.02567975 -0.01787548
+v -0.02929267 0.02571470 -0.01765332
+v -0.02902356 -0.00392515 -0.01765332
+v -0.02902356 0.02558944 -0.01798769
+v -0.03022885 0.02428150 -0.01894108
+v -0.03022885 0.02523697 -0.01765332
+v -0.03022885 -0.00392515 -0.01765332
+v -0.02902356 -0.00392515 -0.02500706
+v -0.02902356 0.02323282 -0.02045249
+v -0.03022885 0.02376881 -0.01947124
+v -0.03022885 -0.00392515 -0.02496640
+v -0.03022885 0.00014432 -0.02520060
+v -0.02902356 -0.00111701 -0.02510120
+v -0.02924477 -0.00392515 -0.02500179
+v -0.02902356 0.02274052 -0.02092692
+v -0.03022885 0.02248126 -0.02064000
+v -0.03022885 0.00134740 -0.02523148
+v -0.02974123 0.00490418 -0.02529775
+v -0.02902356 0.00784340 -0.02533465
+v -0.02902356 0.02236183 -0.02119954
+v -0.03011712 0.02093154 -0.02207686
+v -0.03022885 0.02091115 -0.02205578
+v -0.03022885 0.00564991 -0.02531281
+v -0.03022885 0.00788127 -0.02534595
+v -0.02902356 0.00789584 -0.02533540
+v -0.02902356 0.02004599 -0.02286081
+v -0.03022885 0.01956534 -0.02287437
+v -0.03022885 0.00913095 -0.02532636
+v -0.02902356 0.00805605 -0.02533314
+v -0.02902356 0.00791040 -0.02533540
+v -0.02902356 0.01983334 -0.02297076
+v -0.02916242 0.01984208 -0.02294064
+v -0.03022885 0.01672807 -0.02409735
+v -0.03022885 0.01024663 -0.02530829
+v -0.02920843 0.01024372 -0.02530001
+v -0.02902356 0.01017381 -0.02529097
+v -0.02902356 0.01672807 -0.02425625
+v -0.02920843 0.01672807 -0.02424044
+v -0.03022885 0.01377137 -0.02482557
+v -0.03022885 0.01149923 -0.02513960
+v -0.02920843 0.01377137 -0.02490239
+v -0.02920843 0.01171770 -0.02517349
+v -0.02902356 0.01165070 -0.02516973
+v -0.02902356 0.01377137 -0.02490389
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+f 22 27 28
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+f 28 33 32
+f 28 32 34
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+f 29 36 30
+f 30 36 37
+f 32 38 39
+f 32 39 34
+f 34 39 40
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+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 38 45 42
+f 38 42 40
+f 38 40 39
+f 40 42 41
+f 42 45 43
+f 43 45 44
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_19.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f5daa190959ed11eddef7a084f1553f67e1247
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01748861 -0.01282124 -0.02478538
+v -0.01748861 -0.01272976 -0.02478116
+v -0.01738178 -0.01282124 -0.02477694
+v -0.01748861 -0.01282124 0.01723575
+v -0.01748861 -0.00604974 -0.02443517
+v -0.01506522 -0.01282124 -0.02454487
+v -0.01505258 -0.01282124 0.01759440
+v -0.01505258 -0.01081001 0.01800369
+v -0.01505258 -0.00605040 0.01832014
+v -0.01675084 -0.00604974 0.01773364
+v -0.01748861 -0.00604974 0.01745516
+v -0.01745975 -0.00604974 -0.02443095
+v -0.01505258 -0.01282124 -0.02454066
+v -0.01738178 -0.00604974 -0.02441829
+v -0.01530010 -0.00604974 -0.02406386
+v -0.01505258 -0.00604974 -0.02401323
+v -0.01505258 -0.00604974 0.01461972
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 7
+f 1 7 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 5 11 10
+f 5 10 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 12
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 13 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 10
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_190.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7358b8869a97377aa51beeb142d65bbb7d535ea6
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_190.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.02700984 -0.00264541 0.03539194
+v 0.02635791 -0.00264541 0.03842932
+v 0.02686684 -0.00649872 0.03539194
+v 0.02696584 -0.00384233 0.03538587
+v 0.02700984 -0.00264541 -0.01780776
+v 0.02562971 -0.00264541 0.03993286
+v 0.02616724 -0.00649872 0.03801706
+v 0.02686684 -0.00649872 -0.01780170
+v 0.02159860 -0.00649910 0.04000561
+v 0.02696584 -0.00384233 0.03510699
+v 0.02696511 -0.00384233 -0.01780776
+v 0.02617751 -0.00649872 -0.02017220
+v 0.02624864 -0.00264541 -0.02020251
+v 0.02560991 -0.00278989 0.03992073
+v 0.02391079 -0.00264541 0.04026024
+v 0.02400979 -0.00649872 0.03949028
+v 0.02159860 -0.00649910 -0.02121497
+v 0.02145193 -0.00649910 0.04003592
+v 0.02254679 -0.00649872 0.03984798
+v 0.02401125 -0.00649872 -0.02120284
+v 0.02401125 -0.00264541 -0.02106340
+v 0.02383672 -0.00384233 0.04009049
+v 0.02237740 -0.00264541 0.04052094
+v 0.02159860 -0.00371559 0.04049062
+v 0.01951814 -0.00649910 -0.02134229
+v 0.02159860 -0.00633689 0.04004198
+v 0.02105887 -0.00649910 0.04009655
+v 0.01951814 -0.00396719 -0.02104522
+v 0.01951814 -0.00264541 -0.02080271
+v 0.02159860 -0.00440515 0.04037543
+v 0.02105447 -0.00264541 0.04059369
+v 0.02159860 -0.00342362 0.04053306
+v 0.02105447 -0.00396719 0.04053306
+v 0.01951814 -0.00649910 0.04012686
+v 0.02105520 -0.00453906 0.04043606
+v 0.02075820 -0.00453906 0.04044212
+v 0.01951814 -0.00264541 0.04054518
+v 0.01951814 -0.00396719 0.04050275
+v 0.01951814 -0.00557566 0.04027843
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+f 27 35 36
+f 27 36 34
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+f 31 33 32
+f 33 36 35
+f 33 38 39
+f 33 39 36
+f 34 36 39
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_191.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65eedfce13d807b7e0c5d89ff5b98b8ad6335a09
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_191.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01642082 0.03709160 0.02651949
+v 0.01642082 0.03709160 0.02722313
+v 0.01642082 0.03811897 0.02651949
+v 0.02745722 0.03709160 0.02651949
+v 0.01812554 0.03709160 0.02772922
+v 0.01741362 0.03853628 0.02651949
+v 0.02736755 0.03738617 0.02651949
+v 0.02736755 0.03738673 0.02652080
+v 0.02745614 0.03709160 0.02652234
+v 0.01795161 0.03853628 0.02667243
+v 0.01946296 0.03709160 0.02810566
+v 0.02661890 0.03853628 0.02651949
+v 0.02686521 0.03709160 0.02746156
+v 0.02731030 0.03709160 0.02678319
+v 0.02104129 0.03853628 0.02745343
+v 0.02105533 0.03709160 0.02847946
+v 0.02401104 0.03853628 0.02778614
+v 0.02401104 0.03709160 0.02876448
+v 0.02147989 0.03709160 0.02852736
+v 0.02399268 0.03853628 0.02778460
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 18
+f 1 18 19
+f 1 19 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 5 11 10
+f 6 10 15
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+f 6 20 17
+f 6 17 12
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 11 15
+f 11 16 15
+f 12 17 13
+f 13 17 18
+f 15 16 19
+f 15 19 20
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_192.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3964e1e4d94b57c786ca6b1c89ebcff1251d38
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_192.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.02614666 -0.02604010 0.03244620
+v 0.02608028 -0.02604010 0.03540221
+v 0.02597869 -0.03057686 0.03244620
+v 0.02597869 -0.03057686 -0.02076806
+v 0.02614531 -0.02604010 -0.02076806
+v 0.02575247 -0.02604010 0.03726203
+v 0.02595024 -0.02762057 0.03540221
+v 0.02565494 -0.03247216 0.03455236
+v 0.02576195 -0.03247216 0.03357318
+v 0.02588387 -0.03247216 0.03244620
+v 0.02590825 -0.03247216 0.02949020
+v 0.02590825 -0.03247216 -0.02076806
+v 0.02569829 -0.03247216 -0.02297890
+v 0.02581749 -0.02604010 -0.02276336
+v 0.02401044 -0.02604010 0.03781628
+v 0.02565087 -0.02762057 0.03709575
+v 0.02548967 -0.02910281 0.03688021
+v 0.02401044 -0.03247216 0.03542684
+v 0.02413236 -0.03247216 -0.02449386
+v 0.02401044 -0.02762057 -0.02411819
+v 0.02401044 -0.02604010 -0.02391497
+v 0.02262874 -0.02604010 0.03765616
+v 0.02239575 -0.02919285 0.03691716
+v 0.02401044 -0.02762057 0.03742215
+v 0.02401044 -0.02917207 0.03690484
+v 0.02099644 -0.03247216 0.03532215
+v 0.02314891 -0.03247216 -0.02477098
+v 0.02105334 -0.02762057 -0.02483256
+v 0.02105334 -0.02604010 -0.02452465
+v 0.02116171 -0.02604010 0.03747757
+v 0.02126737 -0.02739578 0.03715734
+v 0.02042480 -0.02823198 0.03666467
+v 0.02126737 -0.03033696 0.03620895
+v 0.01787272 -0.03080795 0.03484796
+v 0.01854054 -0.03247216 0.03441071
+v 0.02105334 -0.03247216 -0.02509737
+v 0.02105334 -0.03057686 -0.02503579
+v 0.01809894 -0.03247216 -0.02506658
+v 0.01230800 -0.03247216 -0.02486335
+v 0.01230800 -0.02604010 -0.02419210
+v 0.01947387 -0.02604010 -0.02458007
+v 0.01970550 -0.02604010 0.03703417
+v 0.01949012 -0.02626111 0.03691100
+v 0.01834277 -0.02739578 0.03621511
+v 0.01608193 -0.02997615 0.03432450
+v 0.01673621 -0.03194765 0.03386878
+v 0.01706944 -0.03247216 0.03373945
+v 0.01230800 -0.03247216 0.02745794
+v 0.01230800 -0.02604010 0.03068492
+v 0.01943729 -0.02604010 0.03692947
+v 0.01798922 -0.02604010 0.03635675
+v 0.01666035 -0.02604010 0.03567933
+v 0.01554822 -0.02762057 0.03473711
+v 0.01406898 -0.02762057 0.03336379
+v 0.01363416 -0.03214284 0.03101131
+v 0.01613476 -0.03247216 0.03303124
+v 0.01353392 -0.03247216 0.03053711
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+v 0.01315056 -0.02762057 0.03187963
+v 0.01298124 -0.02604010 0.03209518
+v 0.01539921 -0.02604010 0.03489106
+v 0.01392133 -0.02604010 0.03357318
+v 0.01230800 -0.02908077 0.02949020
+v 0.01261143 -0.03057686 0.02949020
+v 0.01408253 -0.03247216 0.03121453
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+f 39 64 59
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+f 44 53 45
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+f 45 54 55
+f 45 55 46
+f 46 55 56
+f 46 56 47
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+f 53 62 63
+f 53 63 54
+f 54 63 61
+f 54 61 60
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+f 55 64 65
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+f 55 66 56
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_193.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6cb350e1ac9ff07e3a6f46adb2ce8d654eea11
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_193.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.01261447 -0.02551142 -0.02495335
+v -0.01338912 -0.02551142 -0.02492128
+v -0.01146529 -0.02538597 -0.02504039
+v -0.01261447 -0.02551142 0.01228969
+v -0.01375603 -0.02551142 -0.02489380
+v -0.01375603 -0.02520962 -0.02493960
+v -0.01146529 -0.02486963 -0.02511368
+v -0.01146507 -0.01284114 -0.02439447
+v -0.01146507 -0.01388836 -0.02200322
+v -0.01146529 -0.02538597 0.01361358
+v -0.01375603 -0.02551142 0.01166668
+v -0.01375603 -0.02466055 -0.02499916
+v -0.01146529 -0.02466055 -0.02512284
+v -0.01146888 -0.01283751 -0.02439447
+v -0.01146888 -0.00693962 -0.02366610
+v -0.01146507 -0.00988493 -0.02401426
+v -0.01146529 -0.02172070 -0.02511826
+v -0.01146529 -0.01934809 -0.02501290
+v -0.01146529 -0.01875176 -0.02498542
+v -0.01146529 -0.01579918 -0.02473805
+v -0.01146888 -0.01579554 -0.02473805
+v -0.01146507 -0.01388836 0.01945886
+v -0.01146529 -0.02437148 0.01440150
+v -0.01261402 -0.02438784 0.01359068
+v -0.01375603 -0.02440420 0.01278443
+v -0.01375603 -0.02243339 -0.02504955
+v -0.01375603 -0.01942081 -0.02509536
+v -0.01261402 -0.02056803 -0.02510910
+v -0.01261402 -0.01579554 -0.02480676
+v -0.01375603 -0.00693962 -0.02383102
+v -0.01146507 -0.00693962 -0.02107329
+v -0.01179744 -0.01934809 -0.02502664
+v -0.01146888 -0.01874812 -0.02498542
+v -0.01146507 -0.01283751 0.01991237
+v -0.01146529 -0.01855722 0.01750280
+v -0.01146529 -0.02170434 0.01583534
+v -0.01375603 -0.02189524 0.01436944
+v -0.01375603 -0.01937354 -0.02509536
+v -0.01375603 -0.01874994 -0.02506787
+v -0.01375603 -0.01646278 -0.02492586
+v -0.01375603 -0.01579736 -0.02487089
+v -0.01375603 -0.00693962 0.01948176
+v -0.01146507 -0.00693962 0.02167603
+v -0.01146507 -0.01066307 0.02062700
+v -0.01375603 -0.01481377 0.01751196
+v -0.01375603 -0.01596462 0.01711800
+v -0.01375603 -0.01853722 0.01613768
+v -0.01146529 -0.01579554 0.01869384
+v -0.01261402 -0.01854449 0.01682024
+v -0.01375603 -0.00800320 0.01925730
+v -0.01348847 -0.00693962 0.01976120
+v -0.01198045 -0.00693962 0.02124084
+v -0.01375603 -0.01216299 0.01832737
+v -0.01146507 -0.01019946 0.02077817
+v -0.01261425 -0.00693962 0.02062242
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 22
+f 3 22 10
+f 4 10 11
+f 5 11 25
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+f 5 47 46
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+f 5 53 50
+f 5 50 42
+f 5 42 30
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+f 5 41 40
+f 5 40 39
+f 5 39 38
+f 5 38 27
+f 5 27 26
+f 5 26 12
+f 5 12 6
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+f 7 13 8
+f 7 12 13
+f 8 14 15
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+f 8 31 43
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+f 8 18 19
+f 8 19 20
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+f 15 55 52
+f 15 52 43
+f 15 43 31
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+f 17 32 18
+f 18 32 33
+f 18 33 19
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+f 19 21 20
+f 21 33 29
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 25
+f 27 38 28
+f 28 38 39
+f 28 39 32
+f 29 33 40
+f 29 40 41
+f 29 41 30
+f 32 39 33
+f 33 39 40
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 37
+f 35 37 36
+f 37 49 47
+f 42 50 51
+f 43 52 53
+f 43 53 54
+f 44 54 45
+f 45 54 53
+f 47 49 48
+f 50 53 51
+f 51 53 55
+f 52 55 53
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_194.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f3ca647b57e32b74877a31b7329293c788a31c5
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_194.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.05165356 -0.02194392
+v 0.01218443 0.05165356 -0.02191270
+v 0.01236780 0.05254129 -0.02109902
+v 0.01236780 0.05165356 -0.00318172
+v 0.01177082 0.05165356 -0.02178412
+v 0.01177082 0.05283298 -0.02066004
+v 0.01218443 0.05252045 -0.02107331
+v 0.01177082 0.05315057 -0.02032943
+v 0.01236780 0.05396316 -0.01961862
+v 0.01236780 0.05472145 -0.00317988
+v 0.01177082 0.05165356 -0.00318172
+v 0.01177082 0.05390192 -0.01954331
+v 0.01236780 0.05517542 -0.01780393
+v 0.01236780 0.05637063 -0.00317988
+v 0.01177082 0.05472145 -0.00317988
+v 0.01177082 0.05499800 -0.01778923
+v 0.01218437 0.05512743 -0.01781128
+v 0.01218437 0.05635358 -0.01546761
+v 0.01236780 0.05632327 -0.01560720
+v 0.01177082 0.05637063 -0.00317988
+v 0.01236780 0.05799139 -0.00318172
+v 0.01177082 0.05625193 -0.01534638
+v 0.01210449 0.05637126 -0.01537210
+v 0.01236780 0.05637126 -0.01551536
+v 0.01233402 0.05798444 -0.00318172
+v 0.01218449 0.05795035 -0.00318172
+v 0.01188407 0.05784364 -0.00318172
+v 0.01177082 0.05780324 -0.00318172
+v 0.01236780 0.05799328 -0.00321478
+v 0.01177082 0.05637126 -0.01511312
+v 0.01177082 0.05644324 -0.01497169
+v 0.01236780 0.05684858 -0.01404965
+v 0.01236780 0.05810377 -0.00598824
+v 0.01218449 0.05806210 -0.00598824
+v 0.01177082 0.05791562 -0.00598824
+v 0.01177082 0.05679555 -0.01387700
+v 0.01236780 0.05735053 -0.01190068
+v 0.01236780 0.05787585 -0.00894538
+v 0.01218449 0.05783544 -0.00894538
+v 0.01177082 0.05771042 -0.00894538
+v 0.01177082 0.05721920 -0.01190068
+v 0.01218449 0.05731328 -0.01190068
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 19
+f 1 19 24
+f 1 24 32
+f 1 32 37
+f 1 37 38
+f 1 38 33
+f 1 33 29
+f 1 29 21
+f 1 21 14
+f 1 14 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 2 7 3
+f 3 7 6
+f 3 6 8
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+f 4 10 15
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+f 5 11 15
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+f 5 28 35
+f 5 35 40
+f 5 40 41
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+f 5 36 31
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+f 5 22 16
+f 5 16 12
+f 5 12 8
+f 5 8 6
+f 8 12 9
+f 9 12 13
+f 10 14 20
+f 10 20 15
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+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 21 20
+f 16 22 23
+f 16 23 18
+f 16 18 17
+f 18 23 24
+f 18 24 19
+f 20 21 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 25
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 25 29 33
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 31 36 32
+f 32 36 37
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 36 41 42
+f 36 42 37
+f 37 42 38
+f 38 42 39
+f 39 42 41
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_195.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf98a1657c691a32b7948de8c98c1f36ddc4a8a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_195.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.03022902 0.02797416 -0.01257482
+v -0.03022902 0.02748958 -0.01432090
+v -0.03103061 0.02734872 -0.01392315
+v -0.03109854 0.02740506 -0.01354917
+v -0.03109854 0.02758537 -0.01257482
+v -0.03022902 -0.02958955 -0.01257482
+v -0.03022902 0.02692612 -0.01544284
+v -0.03109854 0.02726420 -0.01398569
+v -0.03022902 0.02671763 -0.01577929
+v -0.03109854 0.02641336 -0.01535903
+v -0.03109854 -0.02906553 -0.01257482
+v -0.03109854 -0.02899791 -0.01303261
+v -0.03109854 -0.02874999 -0.01457605
+v -0.03022902 -0.02924584 -0.01457605
+v -0.03022902 0.02427783 -0.01894124
+v -0.03043408 0.02400736 -0.01916887
+v -0.03109854 0.02447504 -0.01809822
+v -0.03109854 0.02503287 -0.01733900
+v -0.03109854 -0.02725680 -0.01782180
+v -0.03022902 -0.02757234 -0.01799565
+v -0.03022902 0.02376507 -0.01947031
+v -0.03109854 0.02383269 -0.01892998
+v -0.03109854 0.02427219 -0.01836213
+v -0.03109854 0.02074489 -0.02189055
+v -0.03109854 0.02230006 -0.02044591
+v -0.03109854 -0.02686237 -0.01848471
+v -0.03022902 -0.02730188 -0.01844718
+v -0.03022902 0.02247473 -0.02063853
+v -0.03109854 0.01933623 -0.02281987
+v -0.03022902 0.02090830 -0.02205565
+v -0.03109854 -0.02671024 -0.01873361
+v -0.03022902 -0.02459724 -0.02104503
+v -0.03109854 -0.02445637 -0.02103002
+v -0.03109854 0.01672174 -0.02397433
+v -0.03022902 0.01956161 -0.02287365
+v -0.03109854 -0.02415210 -0.02128893
+v -0.03109854 -0.02337452 -0.02194308
+v -0.03022902 -0.02406195 -0.02149405
+v -0.03022902 0.01672174 -0.02409690
+v -0.03109854 0.01376918 -0.02475981
+v -0.03109854 -0.02305334 -0.02215321
+v -0.03022902 -0.02305898 -0.02215946
+v -0.03022902 0.01376918 -0.02482485
+v -0.03109854 0.01024188 -0.02531515
+v -0.03109854 -0.02192077 -0.02282487
+v -0.03022902 -0.02192077 -0.02285364
+v -0.03022902 0.01149278 -0.02514004
+v -0.03022902 0.01024188 -0.02530765
+v -0.03022902 0.00912622 -0.02532641
+v -0.03109854 0.00835990 -0.02534517
+v -0.03022902 -0.01874846 -0.02405438
+v -0.03109854 -0.01874846 -0.02398433
+v -0.03022902 0.00787532 -0.02534517
+v -0.03109854 0.00786405 -0.02535267
+v -0.03022902 -0.01578463 -0.02463723
+v -0.03109854 -0.01578463 -0.02452717
+v -0.03022902 0.00784151 -0.02534517
+v -0.03109854 0.00784715 -0.02535267
+v -0.03022902 -0.01283206 -0.02477232
+v -0.03109854 -0.01283206 -0.02465975
+v -0.03022902 0.00564400 -0.02531265
+v -0.03109854 0.00696814 -0.02533891
+v -0.03038939 0.00030797 -0.02521759
+v -0.03022902 0.00013893 -0.02520008
+v -0.03109854 0.00078692 -0.02522384
+v -0.03079993 0.00030797 -0.02521759
+v -0.03022902 0.00133911 -0.02523135
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 14
+f 1 14 20
+f 1 20 27
+f 1 27 32
+f 1 32 38
+f 1 38 42
+f 1 42 46
+f 1 46 51
+f 1 51 55
+f 1 55 59
+f 1 59 64
+f 1 64 67
+f 1 67 61
+f 1 61 57
+f 1 57 53
+f 1 53 49
+f 1 49 48
+f 1 48 47
+f 1 47 43
+f 1 43 39
+f 1 39 35
+f 1 35 30
+f 1 30 28
+f 1 28 21
+f 1 21 15
+f 1 15 9
+f 1 9 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 18
+f 4 18 17
+f 4 17 23
+f 4 23 22
+f 4 22 25
+f 4 25 24
+f 4 24 29
+f 4 29 34
+f 4 34 40
+f 4 40 44
+f 4 44 50
+f 4 50 54
+f 4 54 58
+f 4 58 62
+f 4 62 65
+f 4 65 60
+f 4 60 56
+f 4 56 52
+f 4 52 45
+f 4 45 41
+f 4 41 37
+f 4 37 36
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+f 4 31 26
+f 4 26 19
+f 4 19 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 22 23
+f 16 23 17
+f 16 21 24
+f 16 24 25
+f 16 25 22
+f 19 26 20
+f 20 26 27
+f 21 28 24
+f 24 28 30
+f 24 30 29
+f 26 31 27
+f 27 31 33
+f 27 33 32
+f 29 30 35
+f 29 35 34
+f 32 33 36
+f 32 36 37
+f 32 37 38
+f 34 35 39
+f 34 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 44
+f 41 45 46
+f 41 46 42
+f 43 47 44
+f 44 48 49
+f 44 49 50
+f 44 47 48
+f 45 51 46
+f 45 52 51
+f 49 53 54
+f 49 54 50
+f 51 52 55
+f 52 56 55
+f 53 57 58
+f 53 58 54
+f 55 56 59
+f 56 60 59
+f 57 61 58
+f 58 61 62
+f 59 63 64
+f 59 60 65
+f 59 65 66
+f 59 66 63
+f 61 67 63
+f 61 63 62
+f 62 63 66
+f 62 66 65
+f 63 67 64
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_196.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8731b0ac76414e151f1937c32d6daa79b5564bca
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_196.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02105407 0.00347769 0.03987543
+v 0.02105407 0.00487940 0.03928450
+v 0.02094458 0.00487940 0.03927268
+v 0.02004301 0.00347769 0.03972179
+v 0.02105407 0.00347769 -0.02020425
+v 0.02105407 0.00487940 -0.02005652
+v 0.01848030 0.00487940 0.03887085
+v 0.01809795 0.00487940 0.03880585
+v 0.01807605 0.00487940 0.03879994
+v 0.01675253 0.00487940 0.03842174
+v 0.01808531 0.00347769 0.03913676
+v 0.01675253 0.00347769 -0.02049381
+v 0.01675253 0.00487940 -0.02045244
+v 0.01675253 0.00425422 0.03849856
+v 0.01675253 0.00347769 0.03859311
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 15
+f 1 15 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 10 14 11
+f 10 13 12
+f 10 12 15
+f 10 15 14
+f 11 14 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_197.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc9ea20c97ac0741b43b63fa2dd57181ae0d038
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_197.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02228473 0.01969475 0.03590574
+v 0.02228473 0.02053430 0.03565872
+v 0.02194664 0.02172046 0.03529682
+v 0.02105364 0.02172046 0.03523937
+v 0.02105364 0.02060529 0.03555532
+v 0.02105437 0.01969475 0.03580808
+v 0.02228473 0.01969475 -0.02178061
+v 0.02228473 0.02060529 0.03563575
+v 0.02194664 0.02172046 -0.02229187
+v 0.02013197 0.02172046 0.03510151
+v 0.01901628 0.02060529 0.03525086
+v 0.01809755 0.01969475 0.03537150
+v 0.02109406 0.01969475 -0.02188401
+v 0.02013859 0.02098402 -0.02229761
+v 0.02194664 0.02150987 -0.02225740
+v 0.02228473 0.02060529 -0.02199890
+v 0.02175481 0.02172046 -0.02232059
+v 0.01514147 0.01969475 0.03483152
+v 0.01718838 0.02172046 0.03447535
+v 0.01477692 0.01969475 -0.02227463
+v 0.01477692 0.02033561 -0.02245271
+v 0.01477692 0.02172046 -0.02278015
+v 0.01923236 0.02172046 -0.02250441
+v 0.02062000 0.02172046 -0.02241825
+v 0.01477692 0.02172046 0.03394686
+v 0.01477692 0.01969475 0.03471662
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 18
+f 1 18 26
+f 1 26 20
+f 1 20 13
+f 1 13 7
+f 1 7 16
+f 1 16 8
+f 1 8 2
+f 2 8 3
+f 3 8 16
+f 3 16 9
+f 3 9 17
+f 3 17 24
+f 3 24 23
+f 3 23 22
+f 3 22 25
+f 3 25 19
+f 3 19 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 9 16 15
+f 9 15 17
+f 10 18 12
+f 10 12 11
+f 10 19 18
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 17
+f 14 17 15
+f 18 19 25
+f 18 25 26
+f 20 26 25
+f 20 25 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_198.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e701935bde72fc3c7784fa8b56f52e92b0c8709
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_198.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.00411366 -0.00304487 0.02874932
+v 0.00035761 -0.00101074 0.02901275
+v 0.00411366 -0.00397172 0.02872866
+v 0.00411366 -0.00084829 0.02857369
+v 0.00035761 -0.00050713 0.02895593
+v -0.00184584 -0.00050713 0.02848071
+v -0.00185330 -0.00101074 0.02849621
+v 0.00035636 -0.00397172 0.02893011
+v 0.00411366 -0.00397172 -0.02026060
+v 0.00411366 -0.00050713 0.02835674
+v 0.00342927 -0.00050713 0.02848071
+v -0.00734453 -0.00050713 0.02527296
+v -0.00159122 -0.00397172 0.02834125
+v -0.00730975 -0.00101074 0.02524713
+v 0.00263682 -0.00397172 -0.02235778
+v 0.00411366 -0.00397138 -0.02215633
+v 0.00411366 -0.00050713 -0.02219248
+v -0.00839285 -0.00050713 0.02460662
+v -0.00857295 -0.00382250 0.02412106
+v -0.00857295 -0.00397172 0.02409523
+v -0.00857295 -0.00101074 0.02444132
+v 0.00035761 -0.00397172 -0.02292081
+v 0.00397082 -0.00050713 -0.02222348
+v -0.00857047 -0.00050713 0.02449298
+v -0.00857295 -0.00397172 -0.02363365
+v -0.00857295 -0.00051289 0.02448781
+v 0.00035761 -0.00396698 -0.02292081
+v -0.00259854 -0.00397172 -0.02343220
+v 0.00035761 -0.00050713 -0.02286399
+v -0.00857295 -0.00050713 0.02439483
+v -0.00857295 -0.00094834 -0.02375762
+v -0.00851085 -0.00397172 -0.02363365
+v -0.00259854 -0.00396698 -0.02343220
+v -0.00555470 -0.00397172 -0.02360266
+v -0.00259854 -0.00050713 -0.02328756
+v -0.00857295 -0.00050713 -0.02375245
+v -0.00851085 -0.00050713 -0.02375245
+v -0.00555470 -0.00396698 -0.02360266
+v -0.00555470 -0.00050713 -0.02358716
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 5
+f 3 8 13
+f 3 13 20
+f 3 20 25
+f 3 25 32
+f 3 32 34
+f 3 34 28
+f 3 28 22
+f 3 22 15
+f 3 15 9
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 17
+f 5 17 23
+f 5 23 29
+f 5 29 35
+f 5 35 39
+f 5 39 37
+f 5 37 36
+f 5 36 30
+f 5 30 24
+f 5 24 18
+f 5 18 12
+f 5 12 6
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 13
+f 9 15 16
+f 12 18 14
+f 13 14 19
+f 13 19 20
+f 14 18 21
+f 14 21 19
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 18 24 21
+f 19 21 26
+f 19 26 30
+f 19 30 36
+f 19 36 31
+f 19 31 25
+f 19 25 20
+f 21 24 26
+f 22 27 23
+f 22 28 33
+f 22 33 27
+f 23 27 29
+f 24 30 26
+f 25 31 32
+f 27 33 29
+f 28 34 38
+f 28 38 33
+f 29 33 35
+f 31 36 37
+f 31 37 38
+f 31 38 34
+f 31 34 32
+f 33 38 39
+f 33 39 35
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_199.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6045d09c1545a6f24b27332523889a268149aac
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_199.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01019153 -0.02489988 -0.02521789
+v -0.01022907 -0.02466359 -0.02522206
+v -0.01005012 -0.02489988 -0.02521789
+v -0.01143338 -0.02489988 -0.02511773
+v -0.01030483 -0.02289131 -0.02522624
+v -0.01005012 -0.02287231 -0.02523041
+v -0.01005012 -0.02463724 -0.02522206
+v -0.01146496 -0.02466359 -0.02512191
+v -0.01005012 -0.02489988 0.01562108
+v -0.01146496 -0.02489988 -0.02511356
+v -0.01141814 -0.02176934 -0.02512191
+v -0.01146496 -0.02176934 -0.02511773
+v -0.01005012 -0.02176934 -0.02513443
+v -0.01005012 -0.02355266 0.01643068
+v -0.01014305 -0.02349964 0.01636391
+v -0.01049500 -0.02489988 0.01514116
+v -0.01146496 -0.02489988 0.01394762
+v -0.01146496 -0.02176934 0.01580470
+v -0.01005012 -0.02176934 0.01740304
+v -0.01005012 -0.02331852 0.01656422
+v -0.01053087 -0.02176934 0.01686469
+v -0.01146496 -0.02437368 0.01440668
+v -0.01111107 -0.02489988 0.01439833
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 23
+f 1 23 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 5
+f 3 7 6
+f 3 6 13
+f 3 13 19
+f 3 19 20
+f 3 20 14
+f 3 14 9
+f 4 10 8
+f 5 11 6
+f 5 8 12
+f 5 12 11
+f 6 11 13
+f 8 10 17
+f 8 17 22
+f 8 22 18
+f 8 18 12
+f 9 14 15
+f 9 15 16
+f 11 12 18
+f 11 18 21
+f 11 21 19
+f 11 19 13
+f 14 20 15
+f 15 20 19
+f 15 19 21
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 17 23 22
+f 18 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_2.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab64b208f540c701774305777ac26029af2ae12
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00805016 0.01357349 -0.02404320
+v -0.00805016 0.01877001 -0.02459569
+v -0.00555546 0.01357349 -0.02396566
+v -0.00805016 0.01357349 0.02367872
+v -0.00759653 0.01877001 -0.02458115
+v -0.00805016 0.01877001 0.02206489
+v -0.00549870 0.01357349 -0.02396082
+v -0.00549545 0.01877001 -0.02445514
+v -0.00589106 0.01357349 0.02475945
+v -0.00805016 0.01405321 0.02353818
+v -0.00805016 0.01686386 0.02267068
+v -0.00750276 0.01877001 0.02236536
+v -0.00549545 0.01371288 -0.02396566
+v -0.00549545 0.01357349 -0.02384450
+v -0.00549545 0.01877001 0.02318924
+v -0.00549545 0.01357349 0.02491454
+v -0.00549545 0.01384972 0.02483215
+v -0.00549545 0.01413816 0.02474491
+v -0.00567550 0.01401404 0.02471099
+v -0.00555546 0.01672905 0.02390165
+v -0.00563574 0.01877001 0.02315047
+v -0.00549545 0.01678908 0.02389680
+v -0.00549545 0.01659220 0.02395981
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 21
+f 2 21 15
+f 2 15 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 6 11 12
+f 7 13 14
+f 7 8 13
+f 8 15 22
+f 8 22 23
+f 8 23 18
+f 8 18 17
+f 8 17 16
+f 8 16 14
+f 8 14 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 12
+f 9 12 10
+f 10 12 11
+f 12 20 21
+f 15 21 22
+f 18 23 20
+f 18 20 19
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_20.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b580d80f41d26abb39c8c4e5200aab83e04c81c2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00694249 -0.00774492 -0.02259435
+v 0.00707255 -0.00774273 -0.02259435
+v 0.00707255 -0.00774492 -0.02058454
+v 0.00553105 -0.00774492 -0.02257904
+v 0.00553105 0.00347769 -0.02218626
+v 0.00639309 0.00347769 -0.02217606
+v 0.00707255 0.00347769 -0.02215566
+v 0.00707255 -0.00774492 0.02788030
+v 0.00553105 -0.00774492 0.02832409
+v 0.00553105 0.00347769 0.02769157
+v 0.00707255 0.00347769 0.02905354
+v 0.00596607 -0.00774492 0.02822207
+v 0.00707255 -0.00684632 0.02861995
+v 0.00707255 -0.00573900 0.02894642
+v 0.00707255 -0.00396707 0.02923208
+v 0.00707255 -0.00389237 0.02924228
+v 0.00553105 -0.00470638 0.02872707
+v 0.00553105 0.00248023 0.02793642
+v 0.00616781 0.00347769 0.02827818
+v 0.00553105 -0.00084943 0.02872707
+v 0.00707255 0.00270652 0.02921167
+v 0.00707255 -0.00279383 0.02936980
+v 0.00553105 -0.00141408 0.02877298
+v 0.00707255 -0.00092413 0.02950753
+v 0.00707255 -0.00039244 0.02951773
+v 0.00707255 0.00045892 0.02951263
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 21
+f 2 21 26
+f 2 26 25
+f 2 25 24
+f 2 24 22
+f 2 22 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 8
+f 2 8 3
+f 4 9 17
+f 4 17 23
+f 4 23 20
+f 4 20 18
+f 4 18 10
+f 4 10 5
+f 5 10 19
+f 5 19 11
+f 5 11 7
+f 5 7 6
+f 8 13 12
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 12 13
+f 10 18 19
+f 11 19 20
+f 11 20 21
+f 16 22 17
+f 17 22 24
+f 17 24 25
+f 17 25 23
+f 18 20 19
+f 20 23 26
+f 20 26 21
+f 23 25 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_200.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305d8bb776b583cf05e3b5d0e2f47784a63b182c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_200.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00004367 0.03451085 -0.02430261
+v -0.00015892 0.03451085 -0.02425487
+v 0.00004367 0.03766485 -0.02334763
+v 0.00004367 0.03451085 0.01634803
+v -0.00118596 0.03451085 -0.02401214
+v -0.00118596 0.03737618 -0.02309296
+v 0.00004367 0.03869978 -0.02289003
+v 0.00004367 0.03534609 0.01579095
+v -0.00118596 0.03574957 0.01468078
+v -0.00118596 0.03451085 0.01537713
+v -0.00118596 0.03807981 -0.02269107
+v -0.00118596 0.03869978 -0.02226133
+v 0.00004367 0.03869978 0.01313290
+v 0.00004367 0.03540473 0.01575116
+v 0.00004367 0.03698132 0.01467680
+v -0.00118596 0.03869978 0.01221373
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 10 9
+f 5 9 16
+f 5 16 12
+f 5 12 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 16
+f 7 16 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 13 16 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_201.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c946ba4366d6794baccd54cc7119b16d97285b43
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_201.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01198960 0.02339416 -0.00267106
+v -0.01198960 0.04103168 -0.00267106
+v -0.01049381 0.02339416 -0.00267106
+v -0.01198960 0.02339416 0.01800874
+v -0.01156572 0.04131822 -0.00267106
+v -0.01198960 0.04021892 -0.00007219
+v -0.01049381 0.04041355 0.00275108
+v -0.01049381 0.04180300 -0.00267106
+v -0.01049381 0.02339416 0.01916284
+v -0.01101198 0.02339416 0.01876959
+v -0.01049381 0.02380505 0.01898117
+v -0.01198960 0.02475838 0.01737184
+v -0.01049381 0.04119568 -0.00007219
+v -0.01134112 0.04142095 -0.00267106
+v -0.01198960 0.03945661 0.00225952
+v -0.01144683 0.03971612 0.00265277
+v -0.01049381 0.03937372 0.00493319
+v -0.01049381 0.02460880 0.01858151
+v -0.01198960 0.02600185 0.01673495
+v -0.01198960 0.03932325 0.00253736
+v -0.01198960 0.03926559 0.00265704
+v -0.01049381 0.03933587 0.00500799
+v -0.01049381 0.02780940 0.01668793
+v -0.01066585 0.02773371 0.01664946
+v -0.01198960 0.02697681 0.01618782
+v -0.01198960 0.03866908 0.00382397
+v -0.01198960 0.03756437 0.00592486
+v -0.01198960 0.03728143 0.00645703
+v -0.01049381 0.03929082 0.00508921
+v -0.01049381 0.02803466 0.01654046
+v -0.01198960 0.03068921 0.01374711
+v -0.01157817 0.02865460 0.01540987
+v -0.01198960 0.02860054 0.01516409
+v -0.01198960 0.03637676 0.00781417
+v -0.01049381 0.03780045 0.00744443
+v -0.01049381 0.03838615 0.00656175
+v -0.01049381 0.02921326 0.01568771
+v -0.01146850 0.03088204 0.01390526
+v -0.01146850 0.03235980 0.01269346
+v -0.01198960 0.03170922 0.01290932
+v -0.01198960 0.03477286 0.00982316
+v -0.01049381 0.03700931 0.00844465
+v -0.01049381 0.03115597 0.01423226
+v -0.01049381 0.03212011 0.01344790
+v -0.01049381 0.03269319 0.01297557
+v -0.01049381 0.03324825 0.01245622
+v -0.01049381 0.03419978 0.01153508
+v -0.01198960 0.03372041 0.01104138
+v -0.01049381 0.03625061 0.00937434
+f 1 2 5
+f 1 5 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 25
+f 1 25 33
+f 1 33 31
+f 1 31 40
+f 1 40 48
+f 1 48 41
+f 1 41 34
+f 1 34 28
+f 1 28 27
+f 1 27 26
+f 1 26 21
+f 1 21 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 13
+f 3 13 7
+f 3 7 17
+f 3 17 22
+f 3 22 29
+f 3 29 36
+f 3 36 35
+f 3 35 42
+f 3 42 49
+f 3 49 47
+f 3 47 46
+f 3 46 45
+f 3 45 44
+f 3 44 43
+f 3 43 37
+f 3 37 30
+f 3 30 23
+f 3 23 18
+f 3 18 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 7 13
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 8 14 13
+f 9 11 10
+f 11 18 12
+f 12 18 19
+f 15 20 16
+f 16 20 21
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 31
+f 31 33 32
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 34 41 42
+f 34 42 35
+f 37 43 38
+f 38 43 44
+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 48 49
+f 41 49 42
+f 47 49 48
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_202.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e570fa7b0246b3399eb87822df083561630f42bb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_202.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01477468 0.01915887 0.03489681
+v 0.01477468 0.01968618 0.03471921
+v 0.01359819 0.02126511 0.03395151
+v 0.01305749 0.01915887 0.03433536
+v 0.01477468 0.01915887 -0.02213613
+v 0.01477468 0.02172046 0.03394578
+v 0.01399210 0.02172046 0.03385984
+v 0.01313688 0.02172046 0.03353902
+v 0.01225395 0.02172046 0.03298903
+v 0.01169753 0.01968618 0.03321819
+v 0.01157921 0.01915887 0.03329267
+v 0.01208470 0.01915887 -0.02257727
+v 0.01477468 0.02033586 -0.02245696
+v 0.01477468 0.02172046 -0.02277206
+v 0.01016832 0.02172046 0.03152238
+v 0.01005149 0.01915887 0.03181457
+v 0.00927490 0.01915887 -0.02302987
+v 0.00712487 0.01915887 -0.02330487
+v 0.00712487 0.01968618 -0.02339653
+v 0.00922772 0.02172046 -0.02344236
+v 0.00712487 0.02172046 0.02764953
+v 0.00712487 0.02159208 0.02768390
+v 0.00712487 0.01915887 0.02807348
+v 0.00712487 0.02172046 -0.02363142
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 23
+f 1 23 18
+f 1 18 17
+f 1 17 12
+f 1 12 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 6 14 20
+f 6 20 24
+f 6 24 21
+f 6 21 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 18 23 22
+f 18 22 21
+f 18 21 24
+f 18 24 19
+f 19 24 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_203.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274e51a8e67f5a67f8021551f91f944a8391eedb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_203.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01867017 0.02668833 -0.01921751
+v -0.01867017 0.03336085 -0.01921751
+v -0.01748872 0.02668833 -0.01921751
+v -0.01867017 0.02668833 0.01133787
+v -0.01867017 0.03429074 -0.01775763
+v -0.01748872 0.03496722 -0.01787516
+v -0.01748872 0.03407231 -0.01921751
+v -0.01748872 0.02668833 0.01237402
+v -0.01789041 0.02668833 0.01203379
+v -0.01867017 0.02760232 0.01085846
+v -0.01867017 0.03478908 -0.01656993
+v -0.01748872 0.03630532 -0.01485643
+v -0.01748872 0.02814838 0.01138736
+v -0.01867017 0.02767124 0.01082135
+v -0.01768766 0.02668833 0.01221318
+v -0.01867017 0.03541678 -0.01485643
+v -0.01748872 0.03707298 -0.01218720
+v -0.01748872 0.02980034 0.01002955
+v -0.01867017 0.02854811 0.01008832
+v -0.01867017 0.03554932 -0.01437702
+v -0.01748872 0.03723627 -0.01160882
+v -0.01748872 0.03082989 0.00890680
+v -0.01825739 0.02944195 0.00967695
+v -0.01867017 0.02919808 0.00943261
+v -0.01867017 0.03638803 -0.01111395
+v -0.01748872 0.03751938 -0.00894268
+v -0.01748872 0.03120418 0.00848616
+v -0.01867017 0.03061359 0.00793871
+v -0.01867017 0.03655025 -0.00894268
+v -0.01867017 0.03646861 -0.00600128
+v -0.01748872 0.03732534 -0.00606314
+v -0.01748872 0.03260167 0.00673555
+v -0.01867017 0.03129961 0.00706031
+v -0.01867017 0.03489193 -0.00010918
+v -0.01748872 0.03666689 -0.00303203
+v -0.01748872 0.03676550 -0.00348361
+v -0.01748872 0.03348809 0.00537155
+v -0.01867017 0.03307351 0.00452717
+v -0.01811675 0.03233341 0.00635202
+v -0.01867017 0.03200578 0.00607056
+v -0.01867017 0.03380830 0.00287553
+v -0.01748872 0.03469365 0.00286625
+v -0.01748872 0.03575926 -0.00007516
+v -0.01748872 0.03458444 0.00311678
+v -0.01867017 0.03323573 0.00419313
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 33
+f 1 33 40
+f 1 40 38
+f 1 38 45
+f 1 45 41
+f 1 41 34
+f 1 34 30
+f 1 30 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 21
+f 3 21 26
+f 3 26 31
+f 3 31 36
+f 3 36 35
+f 3 35 43
+f 3 43 42
+f 3 42 44
+f 3 44 37
+f 3 37 32
+f 3 32 27
+f 3 27 22
+f 3 22 18
+f 3 18 13
+f 3 13 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 8 13 14
+f 8 14 15
+f 9 15 10
+f 10 15 14
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 37 44 38
+f 38 44 45
+f 38 40 39
+f 41 45 42
+f 42 45 44
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_204.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1693cfe55c0a892e0639945fe8509e71cd192eb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_204.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02421375 0.04906756 0.01847970
+v 0.02389573 0.04906378 0.01857394
+v 0.02421375 0.04906378 0.01831691
+v 0.02421375 0.05035045 0.01663759
+v 0.02115939 0.04906378 0.01829120
+v 0.02377840 0.05035045 0.01673613
+v 0.02316125 0.05035045 0.01673613
+v 0.02189344 0.05035045 0.01667615
+v 0.02070513 0.05035045 0.01661189
+v 0.02421375 0.04906378 -0.02519094
+v 0.02421375 0.05035045 -0.02495104
+v 0.02037206 0.04906378 0.01814126
+v 0.01994315 0.05035045 0.01646195
+v 0.02359618 0.04906378 -0.02513525
+v 0.02421375 0.04925234 -0.02518237
+v 0.02346037 0.04925234 -0.02511383
+v 0.02374402 0.05035045 -0.02490820
+v 0.01982368 0.04906378 0.01800418
+v 0.01982368 0.05025460 0.01655192
+v 0.01982368 0.05035045 0.01643197
+v 0.02119120 0.04906378 -0.02486964
+v 0.02105453 0.04925234 -0.02485250
+v 0.02105453 0.05035045 -0.02459118
+v 0.01982368 0.04906378 -0.02462974
+v 0.01982368 0.05035045 -0.02420563
+v 0.02105453 0.04906378 -0.02485250
+v 0.01982368 0.04925234 -0.02462974
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 11
+f 1 11 4
+f 1 4 2
+f 2 5 12
+f 2 12 18
+f 2 18 24
+f 2 24 26
+f 2 26 21
+f 2 21 14
+f 2 14 10
+f 2 10 3
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 11 17
+f 4 17 23
+f 4 23 25
+f 4 25 20
+f 4 20 13
+f 4 13 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 9 12
+f 9 13 12
+f 10 14 15
+f 11 15 16
+f 11 16 17
+f 12 13 19
+f 12 19 18
+f 13 20 19
+f 14 21 22
+f 14 22 16
+f 14 16 15
+f 16 22 17
+f 17 22 23
+f 18 19 20
+f 18 20 25
+f 18 25 27
+f 18 27 24
+f 21 26 22
+f 22 26 24
+f 22 24 27
+f 22 27 23
+f 23 27 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_206.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c403c2e5f982cd48e70c42a0995fc94c4641e4b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_206.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.01132384 0.02339236 -0.02548702
+v -0.01194245 0.02339236 -0.02546242
+v -0.01146850 0.02559991 -0.02551609
+v -0.01049381 0.02551850 -0.02548254
+v -0.01049381 0.02339236 -0.02544677
+v -0.01198960 0.02339236 -0.02546018
+v -0.01198960 0.02559423 -0.02549372
+v -0.01198960 0.02609595 -0.02544229
+v -0.01049381 0.02776014 -0.02529694
+v -0.01049381 0.02339236 -0.00267106
+v -0.01198960 0.02339236 -0.00267106
+v -0.01198960 0.02739474 -0.02527458
+v -0.01049381 0.02911193 -0.02502412
+v -0.01049381 0.04180254 -0.00267106
+v -0.01198960 0.04103198 -0.00267106
+v -0.01198960 0.02882226 -0.02489889
+v -0.01146850 0.02892071 -0.02495257
+v -0.01049381 0.03144444 -0.02422356
+v -0.01049381 0.04221527 -0.00360132
+v -0.01065472 0.04217551 -0.00367064
+v -0.01134112 0.04142010 -0.00267106
+v -0.01156572 0.04131786 -0.00267106
+v -0.01198960 0.04148258 -0.00405080
+v -0.01198960 0.03154668 -0.02388142
+v -0.01146850 0.03151260 -0.02403125
+v -0.01049381 0.03422756 -0.02287290
+v -0.01049381 0.04273403 -0.00598735
+v -0.01117186 0.04250873 -0.00598735
+v -0.01157143 0.04136140 -0.00282312
+v -0.01198960 0.04204677 -0.00598735
+v -0.01198960 0.04183851 -0.00522033
+v -0.01146850 0.03395114 -0.02280581
+v -0.01198960 0.03380725 -0.02273425
+v -0.01049381 0.03570431 -0.02203432
+v -0.01049381 0.04271320 -0.00674095
+v -0.01049381 0.04264315 -0.00894360
+v -0.01105385 0.04245382 -0.00894360
+v -0.01198960 0.04192181 -0.00894360
+v -0.01198960 0.03527832 -0.02162286
+v -0.01146850 0.03542979 -0.02177045
+v -0.01049381 0.03879792 -0.01970197
+v -0.01049381 0.04251252 -0.00959658
+v -0.01049381 0.04211682 -0.01139895
+v -0.01049381 0.04123645 -0.01491426
+v -0.01198960 0.04130650 -0.01132292
+v -0.01198960 0.03705042 -0.02008883
+v -0.01198960 0.03800653 -0.01897296
+v -0.01198960 0.03868432 -0.01817464
+v -0.01049381 0.03923147 -0.01918988
+v -0.01049381 0.04003233 -0.01760888
+v -0.01135269 0.03961392 -0.01758876
+v -0.01198960 0.03938483 -0.01716611
+v -0.01198960 0.04034093 -0.01467946
+v -0.01118006 0.04090323 -0.01458554
+v -0.01185768 0.04123077 -0.01190210
+v -0.01198960 0.04114936 -0.01188868
+v -0.01198960 0.04042045 -0.01441559
+v -0.01198960 0.04058327 -0.01386772
+v -0.01198960 0.04113800 -0.01192893
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 13
+f 4 13 18
+f 4 18 26
+f 4 26 34
+f 4 34 41
+f 4 41 49
+f 4 49 50
+f 4 50 44
+f 4 44 43
+f 4 43 42
+f 4 42 36
+f 4 36 35
+f 4 35 27
+f 4 27 19
+f 4 19 14
+f 4 14 10
+f 4 10 5
+f 6 11 15
+f 6 15 23
+f 6 23 31
+f 6 31 30
+f 6 30 38
+f 6 38 45
+f 6 45 56
+f 6 56 59
+f 6 59 58
+f 6 58 57
+f 6 57 53
+f 6 53 52
+f 6 52 48
+f 6 48 47
+f 6 47 46
+f 6 46 39
+f 6 39 33
+f 6 33 24
+f 6 24 16
+f 6 16 12
+f 6 12 8
+f 6 8 7
+f 8 12 9
+f 9 12 13
+f 10 14 21
+f 10 21 22
+f 10 22 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 15 22 23
+f 16 24 25
+f 16 25 18
+f 16 18 17
+f 18 25 26
+f 19 27 28
+f 19 28 20
+f 20 23 29
+f 20 29 22
+f 20 22 21
+f 20 28 30
+f 20 30 31
+f 20 31 23
+f 22 29 23
+f 24 32 25
+f 24 33 32
+f 25 32 26
+f 26 32 34
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 30
+f 30 37 38
+f 32 33 34
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 39 46 41
+f 39 41 40
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 48 52 49
+f 49 52 51
+f 49 51 50
+f 53 57 54
+f 54 57 58
+f 54 58 59
+f 54 59 55
+f 55 59 56
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_207.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717bb7a32706ef8daedc0b38f437f4ebb1e61f65
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_207.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01004998 -0.01529427 -0.02461994
+v -0.01004998 -0.01283877 -0.02444506
+v -0.00857419 -0.01283632 -0.02449705
+v -0.00857419 -0.01529427 -0.02458213
+v -0.01004998 -0.01529427 0.02035291
+v -0.01004998 -0.00988269 -0.02410948
+v -0.00857419 -0.00981889 -0.02420401
+v -0.00857419 -0.01529427 0.02162434
+v -0.00996475 -0.01529427 0.02043326
+v -0.01004998 -0.01437407 0.02069794
+v -0.01004998 -0.00834249 -0.02392987
+v -0.00858907 -0.00693806 -0.02375971
+v -0.00857419 -0.00693806 -0.02375971
+v -0.00857419 -0.01283632 0.02239949
+v -0.00954611 -0.01283632 0.02173778
+v -0.00902086 -0.01529427 0.02130294
+v -0.01004998 -0.01283632 0.02126513
+v -0.01004998 -0.00693806 -0.02371245
+v -0.00857419 -0.00693806 0.02366620
+v -0.00857419 -0.01062539 0.02290523
+v -0.00986002 -0.01097548 0.02200246
+v -0.01004998 -0.01088387 0.02185594
+v -0.01004998 -0.00693806 0.02275871
+v -0.00857419 -0.00994240 0.02305648
+v -0.01004998 -0.00907701 0.02228606
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 22
+f 1 22 25
+f 1 25 23
+f 1 23 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 19
+f 3 19 24
+f 3 24 20
+f 3 20 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 9 16 15
+f 9 15 10
+f 10 15 17
+f 11 18 12
+f 12 18 23
+f 12 23 19
+f 12 19 13
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 17
+f 19 23 24
+f 20 24 21
+f 21 24 23
+f 21 23 25
+f 21 25 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_208.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d0e4c933420b167bfc7621ceadcaceee23421e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_208.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00939498 0.04295022 -0.02551958
+v 0.00939498 0.04349208 -0.02548777
+v 0.01051998 0.04343018 -0.02548322
+v 0.01051998 0.04295022 -0.02547414
+v 0.00939498 0.04295022 0.02009750
+v 0.00939498 0.04397025 -0.02543324
+v 0.01005119 0.04512216 -0.02529690
+v 0.01051998 0.04511050 -0.02529236
+v 0.01051998 0.04295022 0.02090641
+v 0.00956963 0.04295022 0.02025655
+v 0.00939498 0.04312426 0.01995662
+v 0.00939498 0.04587844 -0.02486518
+v 0.00939498 0.04621486 -0.02470158
+v 0.01051998 0.04635032 -0.02473794
+v 0.01051998 0.04496337 0.01926586
+v 0.01051579 0.04495888 0.01927041
+v 0.01027165 0.04810331 0.01649830
+v 0.00948429 0.04623908 0.01740719
+v 0.00939498 0.04602646 0.01750717
+v 0.00939498 0.04949296 -0.02297469
+v 0.01051998 0.04930276 -0.02326100
+v 0.01051998 0.04814278 0.01654375
+v 0.01051998 0.04838411 0.01622109
+v 0.01051998 0.05061616 0.01296273
+v 0.00939498 0.05035419 0.01228561
+v 0.00939498 0.04859762 0.01484867
+v 0.00939498 0.04768345 0.01606204
+v 0.00939498 0.04623908 0.01732539
+v 0.01051998 0.05071753 -0.02250662
+v 0.00939498 0.05200311 -0.02070702
+v 0.01032341 0.05089068 -0.02237937
+v 0.01051998 0.05211525 0.01032695
+v 0.00983513 0.05211525 0.00982707
+v 0.00939498 0.05211525 0.00949987
+v 0.00939498 0.05172859 0.01015881
+v 0.00939498 0.05117686 0.01103589
+v 0.01051998 0.05090593 -0.02239301
+v 0.00939498 0.05204886 -0.02065249
+v 0.00946623 0.05211525 -0.02062067
+v 0.01051998 0.05211525 -0.02094333
+v 0.00939498 0.05211525 -0.02032074
+v 0.00939498 0.05211077 -0.02057069
+v 0.00939509 0.05211525 -0.02056614
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 36
+f 1 36 35
+f 1 35 34
+f 1 34 41
+f 1 41 42
+f 1 42 38
+f 1 38 30
+f 1 30 20
+f 1 20 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 14
+f 3 14 21
+f 3 21 29
+f 3 29 37
+f 3 37 40
+f 3 40 32
+f 3 32 24
+f 3 24 23
+f 3 23 22
+f 3 22 15
+f 3 15 9
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+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 20 29 21
+f 20 30 31
+f 20 31 29
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 29 31 37
+f 30 38 39
+f 30 39 31
+f 31 40 37
+f 31 39 40
+f 32 40 39
+f 32 39 43
+f 32 43 41
+f 32 41 34
+f 32 34 33
+f 38 42 43
+f 38 43 39
+f 41 43 42
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_209.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a96689f5401fc22e1f4880e8bc0fe598327fa71
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_209.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.03228824 0.01523515 -0.02421140
+v -0.03351503 0.01523515 -0.02378779
+v -0.03351503 0.01666664 -0.02337419
+v -0.03228824 0.01672377 -0.02378112
+v -0.03228824 0.01523515 0.00985734
+v -0.03351503 0.01523515 0.00902014
+v -0.03351503 0.01798431 -0.02293390
+v -0.03228824 0.01684389 -0.02374109
+v -0.03228824 0.01675841 0.00887337
+v -0.03351503 0.01635263 0.00838306
+v -0.03345691 0.01523515 0.00906016
+v -0.03351503 0.01633508 0.00839306
+v -0.03351503 0.01875224 -0.02258368
+v -0.03228824 0.01903836 -0.02273711
+v -0.03228824 0.01886336 0.00747247
+v -0.03351503 0.01919941 0.00619497
+v -0.03228824 0.01983058 -0.02214006
+v -0.03351503 0.01983058 -0.02153967
+v -0.03301247 0.01983058 -0.02178649
+v -0.03228824 0.01983058 0.00670530
+v -0.03351503 0.01970282 0.00577803
+v -0.03351503 0.01983058 0.00564795
+v -0.03351503 0.01973341 0.00574802
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 20
+f 1 20 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 16
+f 2 16 21
+f 2 21 23
+f 2 23 22
+f 2 22 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 12 11
+f 10 15 16
+f 13 17 14
+f 13 18 19
+f 13 19 17
+f 15 20 16
+f 16 20 21
+f 17 19 18
+f 17 18 22
+f 17 22 20
+f 20 22 23
+f 20 23 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_21.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c07a00040f9e4511c9256a0dc9d535877028f3
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02458446 0.04594524 -0.02535029
+v 0.01992390 0.04594524 -0.02482312
+v 0.02421211 0.04742399 -0.02524504
+v 0.02477501 0.04742399 -0.02529545
+v 0.02648732 0.04742399 -0.02527820
+v 0.02690601 0.04594524 -0.02530474
+v 0.01992390 0.04594524 -0.02083256
+v 0.01992390 0.04629571 -0.02480233
+v 0.02105495 0.04742399 -0.02486601
+v 0.02736402 0.04742399 -0.02501683
+v 0.02810698 0.04594524 -0.02505265
+v 0.02698292 0.04594524 -0.02529590
+v 0.01992390 0.04742399 -0.02083256
+v 0.02875292 0.04594524 -0.02083256
+v 0.01992390 0.04672739 -0.02474837
+v 0.01992390 0.04742399 -0.02466125
+v 0.02774162 0.04742399 -0.02489432
+v 0.02863405 0.04742399 -0.02361264
+v 0.02858685 0.04594524 -0.02392930
+v 0.02885257 0.04742399 -0.02083256
+v 0.02859384 0.04594524 -0.02385809
+v 0.02879925 0.04594654 -0.02083256
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 19
+f 1 19 21
+f 1 21 14
+f 1 14 7
+f 1 7 2
+f 2 7 13
+f 2 13 16
+f 2 16 15
+f 2 15 8
+f 2 8 3
+f 3 8 9
+f 3 9 16
+f 3 16 13
+f 3 13 20
+f 3 20 18
+f 3 18 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 14 22
+f 7 22 20
+f 7 20 13
+f 8 15 9
+f 9 15 16
+f 10 17 11
+f 11 18 19
+f 11 17 18
+f 14 21 22
+f 18 20 21
+f 18 21 19
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_210.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6b7261e117ca6fa7ed1967f7980eea8df9b623f
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_210.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01940324 0.00487953 -0.02015220
+v 0.01940324 0.00655384 -0.02004747
+v 0.02105433 0.00487953 -0.02005911
+v 0.01940324 0.00487953 0.03902155
+v 0.01940324 0.00662084 -0.02004165
+v 0.02105449 0.00490272 -0.02005329
+v 0.02105449 0.00487953 -0.02003584
+v 0.02105449 0.00662084 -0.01989037
+v 0.02094490 0.00487953 0.03927174
+v 0.01940324 0.00662084 0.03861426
+v 0.02105449 0.00487953 0.03928920
+v 0.02105449 0.00662084 0.03882372
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
+f 5 10 12
+f 5 12 8
+f 6 8 12
+f 6 12 11
+f 6 11 7
+f 9 11 10
+f 10 11 12
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_211.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a07f0e9688eed01c7feccc0971c631ee0e0525
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_211.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02625159 -0.01075330 -0.02506277
+v -0.02579816 -0.01075330 -0.02505460
+v -0.02645548 -0.01075330 -0.02505460
+v -0.02645548 -0.00989372 -0.02507095
+v -0.02645548 -0.00967601 -0.02507504
+v -0.02625159 -0.00988006 -0.02507912
+v -0.02471550 -0.00988006 -0.02505051
+v -0.02471550 -0.01075330 -0.02503417
+v -0.02645548 -0.01075330 0.01524745
+v -0.02645548 -0.00671969 -0.02510364
+v -0.02625159 -0.00692374 -0.02511181
+v -0.02471550 -0.00845974 -0.02506277
+v -0.02471550 -0.01075330 0.01633040
+v -0.02488073 -0.01075330 0.01624867
+v -0.02645548 -0.01009375 0.01541500
+v -0.02645548 -0.00375773 -0.02506686
+v -0.02471550 -0.00692374 -0.02507504
+v -0.02471550 -0.00396741 -0.02505051
+v -0.02471550 -0.00988006 0.01648160
+v -0.02483440 -0.01075330 0.01627319
+v -0.02502057 -0.00988006 0.01633449
+v -0.02645548 -0.00988006 0.01546813
+v -0.02645548 -0.00254709 -0.02504234
+v -0.02471550 -0.00254709 -0.02501782
+v -0.02471550 -0.00692374 0.01663690
+v -0.02526024 -0.00692374 0.01642030
+v -0.02645548 -0.00692374 0.01586861
+v -0.02645548 -0.00254709 0.01612198
+v -0.02471550 -0.00254709 0.01655516
+v -0.02548968 -0.00254709 0.01643665
+v -0.02603816 -0.00254709 0.01626501
+v -0.02625738 -0.00254709 0.01619554
+v -0.02645548 -0.00300018 0.01610564
+v -0.02645548 -0.00396741 0.01604842
+f 1 2 8
+f 1 8 13
+f 1 13 20
+f 1 20 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 15
+f 3 15 22
+f 3 22 27
+f 3 27 34
+f 3 34 33
+f 3 33 28
+f 3 28 23
+f 3 23 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 17
+f 7 17 18
+f 7 18 24
+f 7 24 29
+f 7 29 25
+f 7 25 19
+f 7 19 13
+f 7 13 8
+f 9 14 15
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 17
+f 13 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 23 18
+f 18 23 24
+f 19 25 26
+f 19 26 27
+f 19 27 21
+f 19 21 20
+f 21 27 22
+f 23 28 32
+f 23 32 31
+f 23 31 30
+f 23 30 29
+f 23 29 24
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 28
+f 25 28 33
+f 25 33 26
+f 26 33 34
+f 26 34 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_212.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89fe622d6a7631b79af8724e7bd243df223605b8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_212.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00377663 0.01367866 -0.02386898
+v -0.00377663 0.02264298 -0.02481082
+v -0.00260704 0.01367866 -0.02379922
+v -0.00377663 0.01367866 0.02557009
+v -0.00377663 0.02373987 -0.02489056
+v -0.00260704 0.02264298 -0.02472611
+v -0.00260704 0.01367866 0.02597374
+v -0.00363409 0.01367866 0.02562989
+v -0.00377663 0.01492042 0.02520133
+v -0.00377663 0.02462536 -0.02491547
+v -0.00260704 0.02559659 -0.02479587
+v -0.00260704 0.01399501 0.02589899
+v -0.00283235 0.01367866 0.02593387
+v -0.00285960 0.01401423 0.02584916
+v -0.00260704 0.02437553 0.02239076
+v -0.00367462 0.02180627 0.02283926
+v -0.00377663 0.02170575 0.02282929
+v -0.00377663 0.02548720 -0.02493540
+v -0.00260704 0.02560842 -0.02479587
+v -0.00260704 0.01423449 0.02583421
+v -0.00260704 0.01458780 0.02571461
+v -0.00260704 0.02550642 0.02148879
+v -0.00377663 0.02878082 0.01842408
+v -0.00377663 0.02569564 0.02073632
+v -0.00377663 0.02377682 0.02196220
+v -0.00377663 0.02713105 -0.02492543
+v -0.00260704 0.02855317 -0.02461149
+v -0.00260704 0.02878082 0.01876792
+v -0.00377663 0.02878082 -0.02478590
+v -0.00377663 0.02794263 -0.02487062
+v -0.00377663 0.02855317 -0.02482577
+v -0.00260704 0.02878082 -0.02457661
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 24
+f 1 24 23
+f 1 23 29
+f 1 29 31
+f 1 31 30
+f 1 30 26
+f 1 26 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 19
+f 3 19 27
+f 3 27 32
+f 3 32 28
+f 3 28 22
+f 3 22 15
+f 3 15 21
+f 3 21 20
+f 3 20 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 12 14 13
+f 12 20 14
+f 14 20 21
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 17
+f 15 17 16
+f 18 26 19
+f 19 26 27
+f 22 28 23
+f 23 28 32
+f 23 32 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 29 32 31
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_213.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae9eec143a23168531cdcb62862e18ef0b73dd4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_213.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00916906 0.03792500 -0.02552688
+v 0.00939498 0.03792500 -0.02551229
+v 0.00767391 0.03792500 -0.02551716
+v 0.00922786 0.04038297 -0.02577000
+v 0.00939498 0.04021548 -0.02574083
+v 0.00939498 0.03792500 0.02390413
+v 0.00767391 0.04034223 -0.02562899
+v 0.00767391 0.03792500 0.02228010
+v 0.00913031 0.04350634 -0.02549284
+v 0.00939498 0.04349163 -0.02549284
+v 0.00939498 0.04039315 -0.02575055
+v 0.00939498 0.03889031 0.02330120
+v 0.00904625 0.03792500 0.02365615
+v 0.00767391 0.04283187 -0.02540532
+v 0.00826321 0.03792500 0.02289276
+v 0.00767391 0.03807778 0.02221202
+v 0.00904305 0.04359801 -0.02546367
+v 0.00918237 0.04359801 -0.02548312
+v 0.00939498 0.04359801 -0.02548312
+v 0.00939498 0.03997444 0.02257184
+v 0.00781053 0.03877035 0.02202725
+v 0.00876895 0.03792500 0.02341790
+v 0.00808042 0.04460292 -0.02513789
+v 0.00767391 0.04435735 -0.02503578
+v 0.00767391 0.03866624 0.02191056
+v 0.00939498 0.04396919 -0.02543450
+v 0.00939498 0.04038297 0.02227037
+v 0.00845594 0.04038297 0.02141946
+v 0.00767391 0.04200124 0.01929459
+v 0.00767391 0.04497750 -0.02473917
+v 0.00767391 0.04782022 -0.02322211
+v 0.00913031 0.04618271 -0.02469541
+v 0.00939498 0.04587716 -0.02486559
+v 0.00939498 0.04105743 0.02174037
+v 0.00767391 0.04526833 0.01660569
+v 0.00767391 0.04864068 -0.02277477
+v 0.00929373 0.04934004 -0.02303734
+v 0.00939498 0.04933664 -0.02305679
+v 0.00939498 0.04621440 -0.02470028
+v 0.00939498 0.04603786 0.01750037
+v 0.00767391 0.04562480 0.01629450
+v 0.00767391 0.04948602 -0.02188982
+v 0.00775174 0.04948602 -0.02194330
+v 0.00916283 0.04948602 -0.02288174
+v 0.00939009 0.04948602 -0.02297413
+v 0.00939498 0.04948602 -0.02288660
+v 0.00939498 0.04768216 0.01606111
+v 0.00830078 0.04715820 0.01551652
+v 0.00767391 0.04673270 0.01509835
+v 0.00767391 0.04948602 0.01155367
+v 0.00939498 0.04948602 0.01354239
+v 0.00939498 0.04859654 0.01485037
+v 0.00767391 0.04804203 0.01362019
+v 0.00846722 0.04948602 0.01252615
+v 0.00918995 0.04948602 0.01335276
+v 0.00926273 0.04867123 0.01459753
+v 0.00909275 0.04948602 0.01326037
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 11
+f 2 11 10
+f 2 10 19
+f 2 19 26
+f 2 26 33
+f 2 33 39
+f 2 39 38
+f 2 38 46
+f 2 46 51
+f 2 51 52
+f 2 52 47
+f 2 47 40
+f 2 40 34
+f 2 34 27
+f 2 27 20
+f 2 20 12
+f 2 12 6
+f 3 7 4
+f 3 8 16
+f 3 16 25
+f 3 25 29
+f 3 29 35
+f 3 35 41
+f 3 41 49
+f 3 49 53
+f 3 53 50
+f 3 50 42
+f 3 42 36
+f 3 36 31
+f 3 31 30
+f 3 30 24
+f 3 24 14
+f 3 14 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 7 14 9
+f 8 15 16
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 23 17
+f 14 24 23
+f 15 22 16
+f 16 22 21
+f 16 21 25
+f 17 23 18
+f 18 23 26
+f 18 26 19
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 25
+f 23 24 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 26
+f 27 34 28
+f 28 34 35
+f 28 35 29
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 40 35
+f 35 40 41
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 42 50 54
+f 42 54 57
+f 42 57 55
+f 42 55 51
+f 42 51 46
+f 42 46 45
+f 42 45 44
+f 42 44 43
+f 47 52 48
+f 48 52 53
+f 48 53 49
+f 50 53 54
+f 51 55 52
+f 52 56 53
+f 52 55 57
+f 52 57 56
+f 53 56 57
+f 53 57 54
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_214.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41380c3b4b31d879bb307bba8a307a0cd7a9da4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_214.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00333047 -0.02196057 0.02541453
+v 0.00333047 -0.02441714 0.02417718
+v 0.00333047 -0.02196057 -0.02405910
+v 0.00331825 -0.01744400 0.02723988
+v 0.00331825 -0.01875113 0.02686663
+v 0.00331662 -0.02170051 0.02555770
+v 0.00198843 -0.02326155 0.02508730
+v 0.00315294 -0.02441714 0.02420275
+v 0.00333047 -0.02441714 -0.02447837
+v 0.00333047 -0.02198037 -0.02406421
+v 0.00331825 -0.01744673 -0.02354779
+v 0.00331825 -0.01744400 -0.02246895
+v 0.00330197 -0.01744400 0.02723988
+v 0.00331418 -0.01875113 0.02687174
+v 0.00313666 -0.02136196 0.02574688
+v 0.00295994 -0.02196057 0.02550657
+v 0.00174087 -0.02326155 0.02508730
+v 0.00311060 -0.02441714 0.02420786
+v 0.00036301 -0.02441714 -0.02497433
+v -0.00094808 -0.01744400 -0.02407444
+v 0.00331418 -0.01744400 -0.02354779
+v 0.00038500 -0.01744400 0.02698423
+v 0.00035731 -0.01875113 0.02653940
+v 0.00059510 -0.02147253 0.02541453
+v -0.00022983 -0.02230186 0.02463735
+v 0.00059510 -0.02441714 0.02394710
+v -0.00259305 -0.02441714 -0.02498456
+v -0.00498884 -0.02248479 -0.02491297
+v -0.00498884 -0.01744400 -0.02451416
+v -0.00390414 -0.01744400 -0.02441190
+v -0.00259794 -0.01744400 -0.02426873
+v -0.00066795 -0.01744400 0.02639623
+v -0.00158652 -0.01875113 0.02547078
+v -0.00118668 -0.02033128 0.02509752
+v 0.00042246 -0.02136196 0.02538385
+v 0.00056415 -0.02441714 0.02393176
+v -0.00165411 -0.02441714 0.02276599
+v -0.00498884 -0.02441714 -0.02494365
+v -0.00498884 -0.01744400 0.02338466
+v -0.00183815 -0.01744400 0.02568041
+v -0.00498884 -0.01853407 0.02309833
+v -0.00498884 -0.01999204 0.02257680
+v -0.00457760 -0.02107937 0.02246432
+v -0.00397987 -0.02305064 0.02202971
+v -0.00188294 -0.02441714 0.02263305
+v -0.00498884 -0.02441714 0.02049580
+v -0.00498884 -0.02136196 0.02201437
+v -0.00490822 -0.02136196 0.02208084
+v -0.00498884 -0.02233053 0.02158488
+v -0.00498884 -0.02400351 0.02073612
+v -0.00488705 -0.02441714 0.02057761
+v -0.00340169 -0.02441714 0.02166157
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 18
+f 2 18 26
+f 2 26 36
+f 2 36 37
+f 2 37 45
+f 2 45 52
+f 2 52 51
+f 2 51 46
+f 2 46 38
+f 2 38 27
+f 2 27 19
+f 2 19 9
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 5
+f 4 12 21
+f 4 21 20
+f 4 20 31
+f 4 31 30
+f 4 30 29
+f 4 29 39
+f 4 39 40
+f 4 40 32
+f 4 32 22
+f 4 22 13
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 18
+f 7 18 8
+f 7 16 15
+f 7 15 14
+f 7 14 17
+f 9 19 11
+f 9 11 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 22 23
+f 14 23 17
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 17 23 24
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 36 26
+f 25 35 34
+f 25 34 37
+f 25 37 36
+f 27 38 28
+f 28 38 46
+f 28 46 50
+f 28 50 49
+f 28 49 47
+f 28 47 42
+f 28 42 41
+f 28 41 39
+f 28 39 29
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 37
+f 39 41 40
+f 42 47 48
+f 42 48 43
+f 43 48 49
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 46 51 50
+f 47 49 48
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_215.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f4fa7fd76899b6eafbe4dac065bcc51ee33556
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_215.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.03230109 -0.00989716 -0.02458164
+v -0.03228824 -0.00975589 -0.02459302
+v -0.03228824 -0.00989716 -0.02458164
+v -0.03351503 -0.00989716 -0.02439963
+v -0.03351503 -0.00853210 -0.02449822
+v -0.03351503 -0.00564229 -0.02469540
+v -0.03228824 -0.00679852 -0.02477503
+v -0.03228824 -0.00989716 0.01210855
+v -0.03351503 -0.00989716 0.01125917
+v -0.03351503 0.00312387 -0.02522626
+v -0.03228824 0.00236380 -0.02523764
+v -0.03351503 -0.00850600 0.01164973
+v -0.03330284 -0.00989716 0.01140705
+v -0.03228824 -0.00861809 0.01246120
+v -0.03273195 -0.00692290 0.01262804
+v -0.03351503 0.00389930 -0.02523384
+v -0.03228824 0.00478221 -0.02529072
+v -0.03351503 -0.00692290 0.01201375
+v -0.03228824 -0.00692290 0.01292001
+v -0.03228824 -0.00573903 0.01313615
+v -0.03228824 -0.00396706 0.01340537
+v -0.03310122 -0.00396706 0.01280246
+v -0.03351503 0.00578950 -0.02513146
+v -0.03332409 0.00578950 -0.02516180
+v -0.03228824 0.00578950 -0.02527935
+v -0.03351503 -0.00477166 0.01235123
+v -0.03228824 -0.00101276 0.01344708
+v -0.03314937 -0.00101276 0.01288968
+v -0.03351503 -0.00098666 0.01260908
+v -0.03351503 -0.00396706 0.01246499
+v -0.03351503 0.00578950 0.01227919
+v -0.03228824 0.00578950 -0.00371115
+v -0.03228824 0.00194615 0.01330678
+v -0.03303901 0.00194615 0.01294276
+v -0.03312836 -0.00044923 0.01290105
+v -0.03351503 0.00194615 0.01262804
+v -0.03351503 0.00490198 0.01243086
+v -0.03228824 0.00576033 0.01299206
+v -0.03229088 0.00578950 0.01298447
+v -0.03228824 0.00324978 0.01320820
+v -0.03281625 0.00490198 0.01282522
+v -0.03228824 0.00490198 0.01307927
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 17
+f 2 17 25
+f 2 25 32
+f 2 32 38
+f 2 38 42
+f 2 42 40
+f 2 40 33
+f 2 33 27
+f 2 27 21
+f 2 21 20
+f 2 20 19
+f 2 19 14
+f 2 14 8
+f 2 8 3
+f 4 9 12
+f 4 12 18
+f 4 18 26
+f 4 26 30
+f 4 30 29
+f 4 29 36
+f 4 36 37
+f 4 37 31
+f 4 31 23
+f 4 23 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 14 15
+f 8 15 12
+f 9 13 12
+f 10 16 17
+f 10 17 11
+f 12 15 18
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 18
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 22 26
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 26
+f 23 31 39
+f 23 39 32
+f 23 32 25
+f 23 25 24
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 36 29
+f 28 35 36
+f 31 37 38
+f 31 38 39
+f 32 39 38
+f 33 40 34
+f 34 40 41
+f 34 41 37
+f 34 37 36
+f 34 36 35
+f 37 41 38
+f 38 41 42
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_216.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6efcfa9649ae64f9b0e2c2e00affa95e5fc55b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_216.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.02566504 -0.03908382 0.02056411
+v 0.02560490 -0.04068763 0.02056411
+v 0.02566504 -0.03908382 0.02020217
+v 0.01230800 -0.03908382 0.02056411
+v 0.01236814 -0.04068763 0.02056411
+v 0.02560490 -0.04068763 0.01673846
+v 0.02566373 -0.03908382 -0.02076675
+v 0.01230800 -0.04054915 0.02056411
+v 0.01230800 -0.03908382 -0.02551332
+v 0.01230800 -0.04068763 0.02043125
+v 0.02560359 -0.04068763 -0.01952513
+v 0.02560228 -0.04068763 -0.02076675
+v 0.02554475 -0.04068763 -0.02290637
+v 0.02556698 -0.03944713 -0.02319501
+v 0.02557482 -0.03908382 -0.02322709
+v 0.01472680 -0.03908382 -0.02599897
+v 0.01514258 -0.03944713 -0.02610435
+v 0.01230800 -0.03939642 -0.02553165
+v 0.01230800 -0.04068763 -0.02550874
+v 0.02542577 -0.04068763 -0.02363943
+v 0.02532379 -0.03944713 -0.02467488
+v 0.02532379 -0.03908382 -0.02470695
+v 0.01512689 -0.03908382 -0.02604479
+v 0.01809875 -0.03908382 -0.02620514
+v 0.01809875 -0.03944713 -0.02624180
+v 0.01514258 -0.04068763 -0.02613642
+v 0.01353048 -0.04068763 -0.02581112
+v 0.01255772 -0.04068763 -0.02557746
+v 0.02529895 -0.04068763 -0.02428544
+v 0.02379667 -0.04068763 -0.02560495
+v 0.02384505 -0.03944713 -0.02560037
+v 0.02384505 -0.03908382 -0.02559120
+v 0.02105100 -0.03908382 -0.02605853
+v 0.01809875 -0.04068763 -0.02621889
+v 0.02105100 -0.03944713 -0.02607686
+v 0.01933561 -0.04068763 -0.02615933
+v 0.02217542 -0.04068763 -0.02587985
+v 0.02105100 -0.04068763 -0.02606311
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 32
+f 1 32 33
+f 1 33 24
+f 1 24 23
+f 1 23 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 28
+f 2 28 27
+f 2 27 26
+f 2 26 34
+f 2 34 36
+f 2 36 38
+f 2 38 37
+f 2 37 30
+f 2 30 29
+f 2 29 20
+f 2 20 13
+f 2 13 12
+f 2 12 11
+f 2 11 6
+f 3 6 7
+f 4 9 18
+f 4 18 19
+f 4 19 10
+f 4 10 8
+f 5 8 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 9 16 17
+f 9 17 18
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 16 23 17
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 17 23 24
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 30 37 35
+f 30 35 31
+f 31 35 32
+f 32 35 33
+f 35 37 38
+f 35 38 36
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_217.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eba29112b41a095e61491974a7245a81005c191
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_217.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00310878 0.03155557 -0.00859099
+v 0.00310878 0.03863203 -0.00859099
+v 0.00370532 0.03155557 -0.00859099
+v 0.00310878 0.03155557 0.02048805
+v 0.00370532 0.03863203 -0.00859099
+v 0.00310878 0.03863203 0.01662590
+v 0.00370532 0.03155557 0.02098601
+v 0.00370532 0.03209794 0.02077177
+v 0.00310878 0.03374653 0.01952975
+v 0.00370532 0.03863203 0.01719335
+v 0.00310878 0.03762279 0.01733232
+v 0.00370532 0.03796706 0.01768553
+v 0.00370532 0.03427990 0.01979031
+v 0.00310878 0.03446970 0.01918233
+v 0.00310878 0.03731801 0.01754077
+v 0.00370532 0.03763249 0.01791135
+v 0.00370532 0.03567358 0.01911284
+v 0.00310878 0.03510627 0.01887254
+v 0.00310878 0.03729169 0.01755814
+v 0.00370532 0.03709151 0.01825298
+v 0.00370532 0.03657615 0.01856566
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 16
+f 3 16 20
+f 3 20 21
+f 3 21 17
+f 3 17 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 19
+f 17 19 18
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_218.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ddf30fe257095cb15523fbcc8ea216010b8f4a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_218.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02847725 0.03709151 0.02064769
+v 0.02844237 0.03615158 0.02064769
+v 0.02847725 0.03709151 0.02062061
+v 0.02789625 0.03709151 0.02064769
+v 0.02394628 0.03615158 0.02064769
+v 0.02844237 0.03615158 -0.00899217
+v 0.02847677 0.03709151 -0.02076957
+v 0.02359653 0.03709151 0.02064318
+v 0.02359653 0.03695780 0.02064769
+v 0.02359653 0.03615168 0.02064769
+v 0.02359653 0.03615158 0.02062061
+v 0.02844190 0.03615158 -0.02076957
+v 0.02724883 0.03709151 -0.02376695
+v 0.02359653 0.03709151 -0.02546879
+v 0.02359653 0.03615158 -0.02522502
+v 0.02764110 0.03615158 -0.02270162
+v 0.02724166 0.03709151 -0.02378050
+v 0.02378383 0.03709151 -0.02545976
+v 0.02359653 0.03683578 -0.02541010
+v 0.02481683 0.03615158 -0.02513926
+v 0.02711982 0.03615158 -0.02363604
+v 0.02722829 0.03709151 -0.02378952
+v 0.02405809 0.03709151 -0.02543267
+v 0.02483069 0.03617376 -0.02514377
+v 0.02485649 0.03615158 -0.02512120
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 23
+f 1 23 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 20
+f 2 20 25
+f 2 25 21
+f 2 21 16
+f 2 16 12
+f 2 12 6
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 8 14 19
+f 8 19 15
+f 8 15 11
+f 8 11 10
+f 8 10 9
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 19 24 20
+f 20 24 25
+f 21 25 24
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_22.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c57b973aa8a3591d41c1fd11f33fb4042dd151
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.02608657 0.00756587 -0.02509512
+v -0.02645548 0.00789376 -0.02509913
+v -0.02606068 0.00756587 -0.02509512
+v -0.02645139 0.00756587 -0.02508712
+v -0.02645548 0.01069401 -0.02511914
+v -0.02645548 0.00756587 -0.01497345
+v -0.02471550 0.01079693 -0.02511113
+v -0.02471550 0.00756587 -0.02507111
+v -0.02471550 0.01377429 -0.02501508
+v -0.02645548 0.01359478 -0.02493503
+v -0.02645548 0.00756587 0.01533955
+v -0.02471550 0.00756587 0.01576779
+v -0.02645548 0.01377429 -0.02491902
+v -0.02471550 0.01673250 -0.02470690
+v -0.02590620 0.00756587 0.01560770
+v -0.02645548 0.00775734 0.01531954
+v -0.02471550 0.01081607 0.01447107
+v -0.02625144 0.01081607 0.01427095
+v -0.02645548 0.01671574 -0.02446677
+v -0.02471550 0.01963805 -0.02406654
+v -0.02645548 0.01080171 0.01421893
+v -0.02471550 0.01829537 0.01145337
+v -0.02645548 0.01405910 0.01291019
+v -0.02645548 0.01673250 -0.02446277
+v -0.02645548 0.01968832 -0.02353024
+v -0.02645548 0.01970028 -0.02352624
+v -0.02471550 0.02254122 -0.02308199
+v -0.02471550 0.01937239 0.01093308
+v -0.02645548 0.01898466 0.01068094
+v -0.02625144 0.01673250 0.01180157
+v -0.02645548 0.01650513 0.01184559
+v -0.02645548 0.02220136 -0.02249366
+v -0.02471550 0.02420940 -0.02228155
+v -0.02471550 0.02188543 0.00942023
+v -0.02645548 0.02030341 0.00994453
+v -0.02645548 0.02296245 -0.02196136
+v -0.02645548 0.02401075 -0.02122495
+v -0.02471550 0.02576031 -0.02113290
+v -0.02471550 0.02274944 0.00877587
+v -0.02645548 0.02244070 0.00835564
+v -0.02645548 0.02507820 -0.02036847
+v -0.02471550 0.02702640 -0.02006030
+v -0.02471550 0.02522658 0.00639454
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+v -0.02645548 0.02992957 -0.00598040
+v -0.02645548 0.03036037 -0.00894206
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_220.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c229d475945ad599f4afc8e0008a428d050107b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_220.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01748872 0.03407202 -0.01922060
+v -0.01748872 0.03357833 -0.01997363
+v -0.01867017 0.03319234 -0.01953666
+v -0.01867017 0.03336076 -0.01922060
+v -0.01748872 0.02668833 -0.01922060
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+v -0.01867017 0.03291550 -0.01984648
+v -0.01867017 0.02668833 -0.01922060
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+v -0.01748872 0.02854600 -0.02382130
+v -0.01748872 0.03077954 -0.02272834
+v -0.01867017 0.02983769 -0.02278855
+v -0.01867017 0.02843396 -0.02336253
+v -0.01748872 0.02866238 -0.02377356
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+f 6 11 7
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 15
+f 13 15 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_221.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2b6c2e07f9a9fd2538bc69eabe1f63fd29c92a0
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_221.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.01052022 0.02172046 -0.02325086
+v 0.01052022 0.02224307 -0.02336478
+v 0.01177076 0.02172046 -0.02311414
+v 0.01052022 0.02172046 0.03175413
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+v 0.01052022 0.02264360 -0.02344454
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+v 0.01052034 0.02560365 -0.02383759
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+v 0.01052034 0.03324581 0.02793181
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+v 0.01052034 0.04186251 0.02212142
+v 0.01052034 0.04200173 0.02199610
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+v 0.01177076 0.03730677 -0.02531867
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+v 0.01052034 0.04342821 -0.02547817
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+v 0.01052034 0.03953430 -0.02558640
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+v 0.01177076 0.02247868 0.03246619
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+v 0.01177076 0.02807750 0.03125854
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+v 0.01177076 0.04360170 -0.02544399
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+f 38 49 50
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_223.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c379111075397283f32347e2a38359ef2bcc1ad3
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_223.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01146482 -0.01868126 -0.02498516
+v -0.01146482 -0.01579538 -0.02474085
+v -0.01005012 -0.01283871 -0.02444015
+v -0.01005012 -0.01868126 -0.02491939
+v -0.01146482 -0.01868126 0.01738953
+v -0.01005012 -0.00528639 -0.02367431
+v -0.01146482 -0.00528639 -0.02362733
+v -0.01005012 -0.01868126 0.01884603
+v -0.01119060 -0.01868126 0.01770903
+v -0.01146482 -0.01855932 0.01750699
+v -0.01005012 -0.00528639 0.02301350
+v -0.01146482 -0.00528639 0.02198925
+v -0.01005012 -0.01780409 0.01940514
+v -0.01016105 -0.01775558 0.01932997
+v -0.01146482 -0.01579276 0.01869569
+v -0.01070879 -0.00528639 0.02261883
+v -0.01005012 -0.00692535 0.02275509
+v -0.01146482 -0.00692535 0.02167916
+v -0.01050410 -0.00692535 0.02248258
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+v -0.01146482 -0.01066217 0.02062672
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_224.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7d745d9eca5540e121a9248a4dc572a4722df6
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_224.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v 0.01177076 0.05160656 -0.02182799
+v 0.01052031 0.05160656 -0.02145737
+v 0.01052008 0.05377691 -0.01941236
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+v 0.01177076 0.05160656 0.01197758
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+v 0.00939521 0.05211610 -0.02057054
+v 0.00946637 0.05211610 -0.02062348
+v 0.01052031 0.05160656 0.01116686
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+v 0.00939498 0.05424322 -0.01768171
+v 0.00939498 0.05211610 0.00950239
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+v 0.00939498 0.05427226 0.00585247
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+v 0.01177076 0.05513941 0.00624625
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+v 0.00939498 0.05690460 -0.00893912
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+v 0.01052008 0.05747467 -0.00598411
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+v 0.00939498 0.05688978 -0.00390601
+v 0.00939498 0.05683419 -0.00303241
+v 0.00939498 0.05699107 -0.00668894
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+f 60 66 67
+f 60 67 68
+f 60 68 61
+f 62 69 63
+f 63 65 64
+f 63 69 66
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_226.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea155b8604f47e0f14c942402e92eb90b78d6ed
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_226.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.03500670 0.01971518 -0.02089360
+v -0.03516400 0.01971518 -0.02081378
+v -0.03516356 0.01971678 -0.02081378
+v -0.03500670 0.01975987 -0.02085881
+v -0.03500670 0.01971518 0.00001239
+v -0.03590386 0.01971518 -0.02013841
+v -0.03500670 0.02000402 -0.02063573
+v -0.03590386 0.02055404 -0.01932590
+v -0.03500670 0.02309933 0.00001239
+v -0.03590386 0.01971518 0.00001239
+v -0.03590386 0.02117799 -0.01858095
+v -0.03500670 0.02238760 -0.01773161
+v -0.03500670 0.02312539 -0.00003468
+v -0.03590386 0.02229611 0.00001239
+v -0.03500670 0.02242271 -0.01768863
+v -0.03590386 0.02204185 -0.01727726
+v -0.03500670 0.02401053 -0.00197895
+v -0.03590386 0.02236899 -0.00013701
+v -0.03500670 0.02247112 -0.01761495
+v -0.03590386 0.02332061 -0.01485614
+v -0.03572188 0.02346264 -0.01485614
+v -0.03500670 0.02398127 -0.01485614
+v -0.03500670 0.02401850 -0.00199737
+v -0.03500670 0.02445735 -0.00303090
+v -0.03590386 0.02353817 -0.00303090
+v -0.03590386 0.02338604 -0.01466580
+v -0.03590386 0.02359615 -0.01399657
+v -0.03590386 0.02423979 -0.01189881
+v -0.03500670 0.02487810 -0.01189881
+v -0.03500670 0.02467650 -0.00390684
+v -0.03590386 0.02411638 -0.00533537
+v -0.03590386 0.02433022 -0.01091030
+v -0.03500670 0.02514939 -0.00894557
+v -0.03500670 0.02507066 -0.00598823
+v -0.03590386 0.02423979 -0.00598823
+v -0.03590386 0.02448341 -0.00894557
+v -0.03590386 0.02446692 -0.00788952
+v -0.03500670 0.02510737 -0.00629318
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+f 33 36 37
+f 33 37 38
+f 34 38 35
+f 35 38 37
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_227.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df1cca038aad79449707455599b493bb4427537
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_227.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01514582 0.02859266 -0.02421451
+v 0.01514582 0.03262227 -0.02529559
+v 0.01642082 0.03272122 -0.02528432
+v 0.01642082 0.02859266 -0.02412442
+v 0.01514582 0.02859266 0.03174798
+v 0.01514582 0.03446839 -0.02554896
+v 0.01642082 0.03439488 -0.02553207
+v 0.01642082 0.02859266 0.03197321
+v 0.01519737 0.02859266 0.03175924
+v 0.01514582 0.03022768 0.03105542
+v 0.01514582 0.03628718 -0.02546450
+v 0.01642082 0.03713532 -0.02550392
+v 0.01642082 0.03041805 0.03115114
+v 0.01514582 0.03171382 0.03034596
+v 0.01514582 0.03671219 -0.02544198
+v 0.01514582 0.03821906 -0.02503095
+v 0.01642082 0.03821906 -0.02520549
+v 0.01642082 0.03189570 0.03042479
+v 0.01642082 0.03228678 0.03021646
+v 0.01565440 0.03228584 0.03010385
+v 0.01514582 0.03228678 0.03001939
+v 0.01514582 0.03821906 0.02607234
+v 0.01642082 0.03821906 0.02644396
+v 0.01642082 0.03314906 0.02973223
+v 0.01642082 0.03448158 0.02895521
+v 0.01514582 0.03425259 0.02887075
+v 0.01642082 0.03653785 0.02760386
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+f 22 26 23
+f 23 26 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_228.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218654ca234f890e46d6a4615fcc4614a3acb6b6
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_228.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.00370532 0.03863316 -0.02486591
+v 0.00346877 0.03863316 -0.02477945
+v 0.00370532 0.04008632 -0.02456536
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+v 0.00310878 0.03884961 -0.02459418
+v 0.00347397 0.04030553 -0.02436363
+v 0.00370532 0.04042685 -0.02444597
+v 0.00370532 0.03947279 0.01660137
+v 0.00310878 0.03907710 0.01631317
+v 0.00310878 0.03863316 0.01662195
+v 0.00310878 0.04031656 -0.02414542
+v 0.00310878 0.04067089 -0.02400956
+v 0.00370532 0.04331111 -0.02326437
+v 0.00370532 0.04099902 0.01534154
+v 0.00310878 0.04057024 0.01501218
+v 0.00310878 0.04316221 -0.02298029
+v 0.00331678 0.04328078 -0.02305028
+v 0.00370532 0.04410524 -0.02286501
+v 0.00370532 0.04140849 0.01497512
+v 0.00310878 0.04062401 0.01496277
+v 0.00310878 0.04348069 -0.02278266
+v 0.00370532 0.04426931 -0.02275385
+v 0.00370532 0.04251697 0.01385116
+v 0.00310878 0.04213783 0.01346827
+v 0.00310878 0.04142917 0.01416817
+v 0.00370532 0.04452713 -0.02257681
+v 0.00310878 0.04452713 -0.02204571
+v 0.00370532 0.04399081 0.01234842
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+v 0.00370532 0.04594719 -0.02157224
+v 0.00310878 0.04595822 -0.02103290
+v 0.00370532 0.04428999 0.01201082
+v 0.00370532 0.04452713 0.01174321
+v 0.00370532 0.04531988 0.01083745
+v 0.00310878 0.04495039 0.01039281
+v 0.00370532 0.04657174 -0.02109054
+v 0.00310878 0.04626016 -0.02076941
+v 0.00370532 0.04669307 0.00916180
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+v 0.00310878 0.04651798 -0.02049357
+v 0.00370532 0.04791047 0.00753555
+v 0.00310878 0.04757958 0.00706208
+v 0.00310878 0.04880249 -0.01801096
+v 0.00370532 0.04891968 -0.01862441
+v 0.00370532 0.04830340 0.00690563
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+v 0.00310878 0.04909339 -0.01765278
+v 0.00370532 0.04887280 0.00598752
+v 0.00370532 0.05019084 0.00356668
+v 0.00310878 0.04985168 0.00306851
+v 0.00370532 0.04914992 0.00553876
+v 0.00370532 0.04920232 0.00544819
+v 0.00370532 0.04980619 -0.01749633
+v 0.00310878 0.05065685 -0.01485316
+v 0.00370532 0.05024462 0.00345140
+v 0.00310878 0.04993716 0.00287913
+v 0.00370532 0.05125520 -0.01485316
+v 0.00310878 0.05171707 -0.01178181
+v 0.00370532 0.05050105 0.00287913
+v 0.00370532 0.05084160 0.00191573
+v 0.00310878 0.05058515 0.00104291
+v 0.00370532 0.05163849 -0.01373743
+v 0.00310878 0.05175016 -0.01167477
+v 0.00317500 0.05179704 -0.01172829
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+v 0.00370532 0.05152957 -0.00007694
+v 0.00310878 0.05097257 -0.00007694
+v 0.00310878 0.05220651 -0.00875987
+v 0.00370532 0.05268630 -0.00894514
+v 0.00370532 0.05156541 -0.00022104
+v 0.00310878 0.05119592 -0.00096211
+v 0.00310878 0.05220238 -0.00617023
+v 0.00370532 0.05271801 -0.00859107
+v 0.00370532 0.05271801 -0.00860754
+v 0.00370532 0.05270836 -0.00876811
+v 0.00370532 0.05165917 -0.00060805
+v 0.00310878 0.05173637 -0.00320593
+v 0.00370532 0.05271250 -0.00632668
+v 0.00370532 0.05226166 -0.00313594
+v 0.00370532 0.05270147 -0.00616611
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_229.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1801c038b04f86c90c869450de8e2789ba267647
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_229.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.02645565 -0.01859580 -0.02450248
+v -0.02768866 -0.01859580 -0.02434835
+v -0.02768866 -0.01730981 -0.02462416
+v -0.02645565 -0.01854234 -0.02451059
+v -0.02645565 -0.01859580 0.01210356
+v -0.02768866 -0.01859580 0.01131263
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+v -0.02645565 -0.01578920 -0.02487969
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+v -0.02645565 -0.01583078 0.01362459
+v -0.02755336 -0.01859580 0.01140998
+v -0.02768866 -0.01854828 0.01134508
+v -0.02768866 -0.01435175 -0.02489186
+v -0.02768866 -0.01293211 -0.02495676
+v -0.02645565 -0.01284598 -0.02500949
+v -0.02768866 -0.01634755 0.01262680
+v -0.02645565 -0.01564961 0.01372194
+v -0.02768866 -0.01283410 -0.02496081
+v -0.02645565 -0.01179759 -0.02502977
+v -0.02768866 -0.01574465 0.01292289
+v -0.02645565 -0.01546548 0.01379900
+v -0.02768866 -0.01468141 0.01338934
+v -0.02768866 -0.00844155 -0.02502571
+v -0.02645565 -0.00967408 -0.02507033
+v -0.02645565 -0.01303903 0.01463861
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+v -0.02768866 0.00881979 -0.02522851
+v -0.02731595 -0.00798715 -0.02505005
+v -0.02645565 -0.00798715 -0.02509061
+v -0.02645565 -0.01260542 0.01476840
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+v -0.02768866 0.00967514 -0.02522446
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+v -0.02645565 0.01069086 -0.02511494
+v -0.02645565 -0.00693578 -0.02509466
+v -0.02768866 -0.00983149 0.01476840
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+f 51 57 58
+f 52 53 55
+f 54 56 60
+f 54 60 59
+f 57 61 58
+f 58 61 62
+f 59 60 63
+f 60 64 63
+f 61 65 62
+f 62 65 66
+f 63 64 67
+f 64 66 67
+f 65 67 66
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_23.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91e959144c95c710ae67054b42ce376ad1dbbbe9
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.04016002 0.02045129 -0.01296208
+v -0.04016002 0.02002175 -0.01485733
+v -0.04142876 0.01912064 -0.01485733
+v -0.04142876 0.01930687 -0.01296208
+v -0.04016002 -0.01023479 -0.01296208
+v -0.04016002 0.01899448 -0.01725892
+v -0.04142876 0.01854392 -0.01681548
+v -0.04142876 -0.01023479 -0.01296208
+v -0.04016002 -0.01023479 -0.02291697
+v -0.04016002 0.01775694 -0.01875231
+v -0.04142876 0.01767284 -0.01792620
+v -0.04142876 -0.01023479 -0.02233496
+v -0.04016002 -0.00779577 -0.02334655
+v -0.04058728 -0.01023479 -0.02280291
+v -0.04142876 -0.00693970 -0.02320798
+v -0.04016002 0.01623105 -0.02022119
+v -0.04142876 0.01587961 -0.01980227
+v -0.04142876 0.01734243 -0.01832273
+v -0.04142876 0.01735745 -0.01830674
+v -0.04110757 -0.01023479 -0.02257587
+v -0.04142876 -0.00961903 -0.02265688
+v -0.04016002 -0.00396601 -0.02385181
+v -0.04103479 -0.00396601 -0.02372070
+v -0.04088388 -0.01023479 -0.02271337
+v -0.04095008 -0.01023479 -0.02269312
+v -0.04142876 -0.00396301 -0.02360131
+v -0.04016002 0.01542305 -0.02071259
+v -0.04142876 0.01420053 -0.02069447
+v -0.04016002 -0.00101035 -0.02384115
+v -0.04103479 -0.00101035 -0.02363968
+v -0.04142876 -0.00101035 -0.02349898
+v -0.04016002 0.01393320 -0.02148860
+v -0.04016002 0.01297501 -0.02191711
+v -0.04142876 0.01366887 -0.02088527
+v -0.04016002 0.00499110 -0.02330178
+v -0.04142876 0.00494905 -0.02279652
+v -0.04128419 0.00503916 -0.02284769
+v -0.04016002 0.01081533 -0.02244369
+v -0.04142876 0.01081533 -0.02173377
+v -0.04142876 0.01126288 -0.02160585
+v -0.04016002 0.00785666 -0.02295854
+v -0.04142876 0.00517132 -0.02276774
+v -0.04016002 0.01029268 -0.02254389
+v -0.04142876 0.00785666 -0.02234989
+v -0.04061659 0.00785666 -0.02275175
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 22
+f 1 22 29
+f 1 29 35
+f 1 35 41
+f 1 41 43
+f 1 43 38
+f 1 38 33
+f 1 33 32
+f 1 32 27
+f 1 27 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 19
+f 3 19 18
+f 3 18 17
+f 3 17 28
+f 3 28 34
+f 3 34 40
+f 3 40 39
+f 3 39 44
+f 3 44 42
+f 3 42 36
+f 3 36 31
+f 3 31 26
+f 3 26 15
+f 3 15 21
+f 3 21 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 20
+f 5 20 25
+f 5 25 24
+f 5 24 14
+f 5 14 9
+f 6 10 11
+f 6 11 7
+f 9 14 15
+f 9 15 13
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 21 20
+f 13 15 23
+f 13 23 22
+f 14 24 15
+f 15 24 25
+f 15 25 21
+f 15 26 23
+f 16 27 17
+f 17 27 28
+f 20 21 25
+f 22 23 29
+f 23 26 30
+f 23 30 29
+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 29 30 35
+f 30 31 35
+f 31 36 37
+f 31 37 35
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 37 41
+f 36 42 37
+f 37 42 41
+f 38 43 44
+f 38 44 39
+f 41 42 45
+f 41 45 43
+f 42 44 45
+f 43 45 44
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_230.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9187e1ee5bf1f8e8bd68f325462a1096adf87db0
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_230.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02224541 -0.03365268 0.01499674
+v 0.01521062 -0.03365268 0.01499674
+v 0.02224541 -0.03502674 0.01499674
+v 0.02224541 -0.03365268 -0.02529358
+v 0.01521062 -0.03502674 0.01499674
+v 0.01521062 -0.03365268 -0.02430234
+v 0.02224541 -0.03502674 -0.02550058
+v 0.02224541 -0.03414594 -0.02541699
+v 0.02105400 -0.03394848 -0.02546476
+v 0.02105400 -0.03365268 -0.02538912
+v 0.01521062 -0.03502674 -0.02536921
+v 0.01612862 -0.03365268 -0.02515425
+v 0.01521062 -0.03365510 -0.02506667
+v 0.02105400 -0.03502674 -0.02565982
+v 0.02224541 -0.03447402 -0.02544884
+v 0.01809822 -0.03502674 -0.02567176
+v 0.01809822 -0.03399650 -0.02545679
+v 0.01809822 -0.03365268 -0.02536921
+v 0.02044246 -0.03365268 -0.02538514
+v 0.01521062 -0.03372195 -0.02508260
+v 0.01589309 -0.03438928 -0.02536524
+v 0.01560523 -0.03502674 -0.02544485
+v 0.01656249 -0.03502674 -0.02554836
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 20
+f 2 20 11
+f 2 11 5
+f 3 5 11
+f 3 11 22
+f 3 22 23
+f 3 23 16
+f 3 16 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 14 15
+f 8 15 14
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 11 21 22
+f 12 18 13
+f 13 18 21
+f 13 21 20
+f 16 23 21
+f 16 21 17
+f 17 21 18
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_231.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2484773503c359979ba201771725e548a81b66
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_231.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02329529 -0.01801896 -0.02500032
+v -0.02402635 -0.01801896 -0.02497829
+v -0.02471550 -0.01437236 -0.02500661
+v -0.02471550 -0.00692515 -0.02507899
+v -0.02329334 -0.00692656 -0.02504752
+v -0.02329334 -0.01579369 -0.02499088
+v -0.02329334 -0.01801896 -0.02252065
+v -0.02471550 -0.01801896 -0.02485871
+v -0.02471550 -0.01732948 -0.02494997
+v -0.02471550 -0.00396803 -0.02504752
+v -0.02329529 -0.00358514 -0.02503179
+v -0.02329334 -0.00396944 -0.02503494
+v -0.02329334 -0.01801896 0.00706547
+v -0.02471550 -0.01801896 0.00706547
+v -0.02471550 -0.00358514 -0.02504123
+v -0.02329334 -0.00358514 -0.01959728
+v -0.02329334 -0.00396803 0.00706547
+v -0.02471550 -0.00358514 0.00706547
+v -0.02329418 -0.00358514 -0.00228679
+v -0.02329474 -0.00358514 0.00706547
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 14
+f 3 14 18
+f 3 18 15
+f 3 15 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 16
+f 5 16 17
+f 5 17 13
+f 5 13 7
+f 5 7 6
+f 10 15 11
+f 11 15 18
+f 11 18 20
+f 11 20 19
+f 11 19 16
+f 11 16 12
+f 13 17 20
+f 13 20 18
+f 13 18 14
+f 16 19 17
+f 17 19 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_232.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff9154db718e0e8ac4b8480ca4f07b87c2fc14e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_232.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01082670 -0.03848667 -0.02518159
+v 0.00975575 -0.03848667 -0.02509499
+v 0.00975575 -0.03701581 -0.02525196
+v 0.00975575 -0.03674208 -0.02527361
+v 0.01082670 -0.03802862 -0.02521407
+v 0.01082670 -0.03848667 0.01937581
+v 0.00975575 -0.03848667 0.01798475
+v 0.00975575 -0.03501939 -0.02527902
+v 0.01082670 -0.03564350 -0.02529526
+v 0.01082670 -0.03667456 -0.02528985
+v 0.01082670 -0.03648842 0.02111870
+v 0.00975575 -0.03796475 0.01840153
+v 0.00975575 -0.03467814 -0.02527902
+v 0.00975575 -0.03445003 -0.02526820
+v 0.01082670 -0.03456317 -0.02523572
+v 0.01082670 -0.03558328 0.02182777
+v 0.00975575 -0.03658696 0.01948948
+v 0.00975575 -0.03432229 -0.02525737
+v 0.01032614 -0.03445003 -0.02524655
+v 0.01072858 -0.03445003 -0.02523031
+v 0.01082670 -0.03445003 -0.02522490
+v 0.00975575 -0.03383687 0.02164374
+v 0.01082670 -0.03382592 0.02320260
+v 0.00975575 -0.03326021 -0.02515453
+v 0.01082670 -0.01984733 -0.02379053
+v 0.01082670 -0.03045719 0.02540016
+v 0.00975575 -0.02769067 0.02501585
+v 0.00975575 -0.01984733 -0.02379594
+v 0.01032247 -0.01984733 -0.02379594
+v 0.01082670 -0.01984733 0.03000096
+v 0.01082670 -0.02762132 0.02679663
+v 0.01082670 -0.02195507 0.02915116
+v 0.00975575 -0.02184010 0.02733249
+v 0.00975575 -0.01984733 0.02793330
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 15
+f 1 15 21
+f 1 21 25
+f 1 25 30
+f 1 30 32
+f 1 32 31
+f 1 31 26
+f 1 26 23
+f 1 23 16
+f 1 16 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 17
+f 2 17 22
+f 2 22 27
+f 2 27 33
+f 2 33 34
+f 2 34 28
+f 2 28 24
+f 2 24 18
+f 2 18 14
+f 2 14 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 16 22 17
+f 16 23 22
+f 18 20 19
+f 18 24 20
+f 20 24 25
+f 20 25 21
+f 22 23 26
+f 22 26 27
+f 24 28 29
+f 24 29 25
+f 25 29 28
+f 25 28 34
+f 25 34 30
+f 26 31 27
+f 27 31 32
+f 27 32 30
+f 27 30 33
+f 30 34 33
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_234.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9781189375f49b248d284e8b5d95316f6c9adddd
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_234.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01910230 0.04034391 -0.02532040
+v 0.01642082 0.04034391 -0.02501547
+v 0.01642082 0.04220065 -0.02498048
+v 0.01642082 0.04426506 -0.02481551
+v 0.01910230 0.04426506 -0.02484051
+v 0.01910230 0.04034391 0.02574773
+v 0.01642082 0.04034391 0.02499291
+v 0.01642082 0.04426506 0.02199360
+v 0.01910230 0.04426506 0.02271844
+v 0.01910230 0.04104676 0.02533283
+v 0.01846159 0.04034391 0.02560776
+v 0.01659143 0.04034391 0.02504789
+v 0.01910230 0.04166017 0.02491293
+v 0.01642082 0.04106058 0.02447802
+v 0.01642082 0.04309620 0.02293338
+v 0.01864611 0.04426506 0.02266345
+v 0.01910230 0.04121220 0.02522285
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
+f 2 7 14
+f 2 14 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 16
+f 4 16 9
+f 4 9 5
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 8 15 13
+f 8 13 16
+f 9 16 13
+f 10 17 12
+f 10 12 11
+f 12 17 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_235.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee780cf1c185e5a0a1f7318e9302867f3919091a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_235.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00316351 -0.03052342 -0.02544646
+v 0.00316351 -0.03034779 -0.02544173
+v 0.00360318 -0.03031220 -0.02541807
+v 0.00378836 -0.03052342 -0.02540861
+v 0.00316351 -0.03052342 0.02117117
+v 0.00316351 -0.02927779 -0.02538969
+v 0.00316351 -0.02857259 -0.02533765
+v 0.00478057 -0.02914997 -0.02520045
+v 0.00553105 -0.02971515 -0.02514841
+v 0.00553105 -0.03052342 -0.02519099
+v 0.00553105 -0.03052342 0.02100559
+v 0.00553105 -0.03051596 0.02101033
+v 0.00316351 -0.03034000 0.02127525
+v 0.00316351 -0.02706013 -0.02502541
+v 0.00553105 -0.02706013 -0.02470845
+v 0.00553105 -0.02759378 -0.02481252
+v 0.00553105 -0.02906148 0.02176253
+v 0.00316351 -0.03028033 0.02130837
+v 0.00316351 -0.02706013 0.02288374
+v 0.00553105 -0.02706013 0.02272762
+v 0.00553105 -0.02731170 0.02261881
+v 0.00316351 -0.02887162 0.02199907
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 13
+f 1 13 18
+f 1 18 22
+f 1 22 19
+f 1 19 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 15
+f 9 15 20
+f 9 20 21
+f 9 21 17
+f 9 17 12
+f 9 12 11
+f 9 11 10
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 15
+f 17 21 22
+f 17 22 18
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_236.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637a955301e415294cbbe50777dee24002ed128e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_236.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.01457219 0.03477208 -0.02059550
+v -0.01478196 0.03477208 -0.02047089
+v -0.01551136 0.03570214 -0.01892414
+v -0.01457219 0.03693722 -0.01797604
+v -0.01457219 0.03477208 0.00707813
+v -0.01599234 0.03477208 -0.01938735
+v -0.01599234 0.03552975 -0.01865596
+v -0.01599234 0.03605414 -0.01782705
+v -0.01599234 0.03651504 -0.01708754
+v -0.01457219 0.03717877 -0.01758868
+v -0.01457219 0.03506008 0.00665826
+v -0.01526600 0.03477208 0.00620046
+v -0.01599234 0.03477208 0.00518193
+v -0.01599234 0.03748742 -0.01485544
+v -0.01498325 0.03826779 -0.01485544
+v -0.01457219 0.03855218 -0.01485544
+v -0.01457219 0.03537905 0.00619233
+v -0.01560881 0.03477208 0.00576433
+v -0.01457219 0.03602885 0.00498419
+v -0.01599234 0.03529182 0.00419862
+v -0.01599234 0.03832715 -0.01224682
+v -0.01554500 0.03865386 -0.01243915
+v -0.01457219 0.03953075 -0.01168338
+v -0.01457219 0.03557259 0.00583747
+v -0.01457219 0.03608717 0.00487312
+v -0.01566441 0.03574498 0.00384105
+v -0.01599234 0.03556640 0.00363518
+v -0.01599234 0.03879992 -0.01063776
+v -0.01591630 0.03891501 -0.01046710
+v -0.01457219 0.03955862 -0.01157502
+v -0.01457219 0.03704045 0.00287670
+v -0.01457219 0.03710135 0.00273584
+v -0.01599234 0.03592614 0.00278460
+v -0.01599234 0.03883089 -0.01053212
+v -0.01599234 0.03887889 -0.00894202
+v -0.01593368 0.03893205 -0.00894202
+v -0.01457219 0.04004481 -0.00894202
+v -0.01457219 0.03816973 0.00018139
+v -0.01487274 0.03801593 -0.00007595
+v -0.01599234 0.03702497 -0.00007595
+v -0.01599234 0.03887476 -0.00732484
+v -0.01593076 0.03893050 -0.00725441
+v -0.01457219 0.04004430 -0.00877678
+v -0.01457219 0.03826728 -0.00007595
+v -0.01457219 0.03930211 -0.00303131
+v -0.01547049 0.03852534 -0.00303131
+v -0.01599234 0.03755709 -0.00159291
+v -0.01599234 0.03886547 -0.00720294
+v -0.01578953 0.03879579 -0.00528778
+v -0.01465254 0.03995294 -0.00616003
+v -0.01457219 0.04002210 -0.00615190
+v -0.01457219 0.03947862 -0.00375999
+v -0.01599234 0.03851863 -0.00493021
+v -0.01599234 0.03814083 -0.00342409
+v -0.01599234 0.03804225 -0.00303131
+v -0.01599234 0.03861824 -0.00538801
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 30
+f 1 30 37
+f 1 37 43
+f 1 43 51
+f 1 51 52
+f 1 52 45
+f 1 45 44
+f 1 44 38
+f 1 38 32
+f 1 32 31
+f 1 31 25
+f 1 25 19
+f 1 19 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 6 13 20
+f 6 20 27
+f 6 27 33
+f 6 33 40
+f 6 40 47
+f 6 47 55
+f 6 55 54
+f 6 54 53
+f 6 53 56
+f 6 56 48
+f 6 48 41
+f 6 41 35
+f 6 35 34
+f 6 34 28
+f 6 28 21
+f 6 21 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 13 18 19
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 15 22 16
+f 16 22 23
+f 17 24 18
+f 18 24 19
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 25 31 26
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 35 41 42
+f 35 42 36
+f 36 42 37
+f 37 42 43
+f 38 44 39
+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 51
+f 42 51 43
+f 45 52 46
+f 46 52 49
+f 46 49 53
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 48 56 49
+f 49 51 50
+f 49 56 53
+f 49 52 51
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_237.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949b50451df880e72b09290f02e505a0a4a6f936
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_237.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.01599234 0.01378326 -0.02476483
+v -0.01599234 0.01771559 -0.02528298
+v -0.01457219 0.01917223 -0.02540698
+v -0.01457219 0.01378326 -0.02451240
+v -0.01599234 0.01378326 0.01877288
+v -0.01599234 0.01962216 -0.02548670
+v -0.01457219 0.01955437 -0.02545127
+v -0.01457219 0.01378326 0.01959660
+v -0.01572780 0.01378326 0.01904302
+v -0.01562049 0.01444687 0.01898102
+v -0.01599234 0.01419211 0.01866216
+v -0.01599234 0.02264434 -0.02557084
+v -0.01457219 0.02258887 -0.02564613
+v -0.01457219 0.01561588 0.01922017
+v -0.01479836 0.01378326 0.01949031
+v -0.01505081 0.01672942 0.01867545
+v -0.01599234 0.01964887 0.01705015
+v -0.01599234 0.01672942 0.01794473
+v -0.01599234 0.02497210 -0.02534498
+v -0.01457219 0.02525356 -0.02540255
+v -0.01457219 0.02316208 -0.02560184
+v -0.01457219 0.02264434 -0.02564613
+v -0.01457219 0.01672942 0.01892345
+v -0.01457219 0.01831755 0.01840088
+v -0.01457219 0.01954820 0.01796244
+v -0.01457219 0.01714238 0.01880831
+v -0.01599234 0.02149998 0.01635485
+v -0.01457219 0.02547134 -0.02538041
+v -0.01599234 0.02632396 -0.02495969
+v -0.01520386 0.02652736 -0.02504384
+v -0.01457219 0.02236287 0.01676672
+v -0.01457219 0.02533574 0.01522113
+v -0.01457219 0.02560694 0.01507499
+v -0.01599234 0.02714987 0.01325925
+v -0.01457219 0.02736765 -0.02488441
+v -0.01599234 0.02847297 -0.02421569
+v -0.01457219 0.02839285 -0.02458326
+v -0.01457219 0.02782169 -0.02476483
+v -0.01457219 0.02736765 0.01410512
+v -0.01457219 0.02808673 0.01370211
+v -0.01457219 0.02943654 0.01278096
+v -0.01599234 0.02876060 0.01211224
+v -0.01599234 0.03125066 -0.02293581
+v -0.01457219 0.03169855 -0.02313510
+v -0.01457219 0.03112739 0.01139924
+v -0.01599234 0.02927834 0.01170924
+v -0.01599234 0.03270936 -0.02197481
+v -0.01563105 0.03281825 -0.02209881
+v -0.01457219 0.03172115 -0.02312182
+v -0.01457219 0.03266416 0.00989793
+v -0.01599234 0.03049050 0.01071280
+v -0.01599234 0.02945092 0.01156752
+v -0.01599234 0.03298056 -0.02166923
+v -0.01599234 0.03363183 -0.02093408
+v -0.01458581 0.03452144 -0.02088537
+v -0.01457219 0.03452349 -0.02088980
+v -0.01457219 0.03449884 -0.02091194
+v -0.01457219 0.03399548 0.00825935
+v -0.01599234 0.03325381 0.00762605
+v -0.01599234 0.03247926 0.00855606
+v -0.01599234 0.03195536 0.00918050
+v -0.01599234 0.03091783 0.01027880
+v -0.01599234 0.03406328 -0.02043808
+v -0.01478196 0.03477208 -0.02046465
+v -0.01457219 0.03454404 -0.02086765
+v -0.01457219 0.03404273 0.00818849
+v -0.01599234 0.03345309 0.00732491
+v -0.01599234 0.03477208 -0.01937964
+v -0.01457219 0.03477208 -0.02059308
+v -0.01457219 0.03477208 0.00706805
+v -0.01526600 0.03477208 0.00619561
+v -0.01560881 0.03477208 0.00575718
+v -0.01599234 0.03448856 0.00570846
+v -0.01599234 0.03477208 0.00517260
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 18
+f 1 18 17
+f 1 17 27
+f 1 27 34
+f 1 34 42
+f 1 42 46
+f 1 46 52
+f 1 52 51
+f 1 51 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 67
+f 1 67 73
+f 1 73 74
+f 1 74 68
+f 1 68 63
+f 1 63 54
+f 1 54 53
+f 1 53 47
+f 1 47 43
+f 1 43 36
+f 1 36 29
+f 1 29 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 22
+f 3 22 21
+f 3 21 20
+f 3 20 28
+f 3 28 35
+f 3 35 38
+f 3 38 37
+f 3 37 44
+f 3 44 49
+f 3 49 57
+f 3 57 56
+f 3 56 65
+f 3 65 69
+f 3 69 70
+f 3 70 66
+f 3 66 58
+f 3 58 50
+f 3 50 45
+f 3 45 41
+f 3 41 40
+f 3 40 39
+f 3 39 33
+f 3 33 32
+f 3 32 31
+f 3 31 25
+f 3 25 24
+f 3 24 26
+f 3 26 23
+f 3 23 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 10
+f 8 10 15
+f 9 15 10
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 16
+f 16 24 25
+f 16 25 17
+f 16 23 26
+f 16 26 24
+f 17 25 27
+f 19 28 20
+f 19 29 30
+f 19 30 28
+f 25 31 27
+f 27 32 33
+f 27 33 34
+f 27 31 32
+f 28 30 35
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 35
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 36 43 44
+f 36 44 37
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 56
+f 58 66 59
+f 59 66 67
+f 63 68 64
+f 64 68 74
+f 64 74 72
+f 64 72 71
+f 64 71 70
+f 64 70 69
+f 64 69 65
+f 66 70 67
+f 67 70 71
+f 67 71 72
+f 67 72 73
+f 72 74 73
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_239.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9209c573d0e5e10746fa8ef56df65acd2866660
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_239.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.02136503 -0.01828338 -0.02514907
+v -0.02136335 -0.01800438 -0.02514489
+v -0.01984957 -0.01647098 -0.02518253
+v -0.02084156 -0.01800438 -0.02516580
+v -0.01984957 -0.01800438 -0.02519926
+v -0.02136368 -0.01828338 -0.02196655
+v -0.02329273 -0.01828338 -0.02500270
+v -0.02329273 -0.01579585 -0.02499015
+v -0.02323846 -0.01289623 -0.02496925
+v -0.01984957 -0.01330940 -0.02496925
+v -0.02136335 -0.01284459 -0.02495670
+v -0.02033158 -0.01284459 -0.02494834
+v -0.01984957 -0.01800438 0.01620706
+v -0.02136368 -0.01828338 0.01557139
+v -0.02329273 -0.01828338 0.01462625
+v -0.02329273 -0.01289623 -0.02496506
+v -0.01984957 -0.01284459 -0.02492324
+v -0.02136335 -0.01284459 0.01723584
+v -0.01984957 -0.01769344 0.01637434
+v -0.02020653 -0.01800438 0.01620287
+v -0.02285184 -0.01828338 0.01497754
+v -0.02033866 -0.01800438 0.01619869
+v -0.02190299 -0.01737984 0.01623215
+v -0.02329273 -0.01579319 0.01582231
+v -0.02329273 -0.01289623 0.01666290
+v -0.01984957 -0.01284459 0.01747421
+v -0.02325127 -0.01289623 0.01669217
+v -0.02233276 -0.01579319 0.01649143
+v -0.02034135 -0.01284459 0.01752440
+v -0.02033866 -0.01768705 0.01637015
+v -0.01984957 -0.01586241 0.01690127
+v -0.02033866 -0.01579319 0.01694728
+v -0.02136368 -0.01748579 0.01628233
+v -0.02136368 -0.01683250 0.01647889
+v -0.01984957 -0.01582993 0.01690964
+v -0.02136368 -0.01579319 0.01671308
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 21
+f 1 21 15
+f 1 15 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 10 17
+f 3 17 26
+f 3 26 35
+f 3 35 31
+f 3 31 19
+f 3 19 13
+f 3 13 5
+f 3 5 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 5 13 14
+f 5 14 6
+f 7 15 24
+f 7 24 25
+f 7 25 16
+f 7 16 8
+f 8 16 9
+f 9 16 11
+f 10 12 17
+f 11 16 25
+f 11 25 18
+f 11 18 29
+f 11 29 26
+f 11 26 17
+f 11 17 12
+f 13 19 20
+f 13 20 14
+f 14 20 22
+f 14 22 23
+f 14 23 21
+f 15 21 23
+f 15 23 24
+f 18 25 27
+f 18 27 28
+f 18 28 29
+f 19 30 20
+f 19 31 32
+f 19 32 30
+f 20 30 22
+f 22 30 33
+f 22 33 23
+f 23 33 34
+f 23 34 28
+f 23 28 24
+f 24 28 27
+f 24 27 25
+f 26 29 35
+f 28 34 36
+f 28 36 29
+f 29 36 32
+f 29 32 35
+f 30 32 33
+f 31 35 32
+f 32 36 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_24.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056f07a90a450b86aa0b658c3ed8c359c3c726ff
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00707287 -0.00509374 -0.02241677
+v 0.00707287 0.00347685 -0.02215437
+v 0.00763713 0.00066922 -0.02224884
+v 0.00781411 0.00066922 -0.02224884
+v 0.00876715 -0.00509374 -0.02241153
+v 0.00707287 -0.00509374 0.02905067
+v 0.00876698 0.00347685 -0.02209139
+v 0.00707287 0.00347685 0.02905067
+v 0.00876715 -0.00494271 -0.02240628
+v 0.00876715 -0.00509374 0.03025772
+v 0.00876715 -0.00396683 0.03066182
+v 0.00707287 -0.00396683 0.02923436
+v 0.00876715 -0.00219716 -0.02219636
+v 0.00876715 -0.00220303 -0.02221735
+v 0.00876698 0.00347685 0.03119187
+v 0.00707287 0.00270656 0.02920812
+v 0.00748305 0.00347685 0.02957023
+v 0.00876715 -0.00219716 0.03087699
+v 0.00876698 -0.00101486 0.03103443
+v 0.00707287 -0.00279460 0.02937080
+v 0.00707287 0.00045944 0.02950725
+v 0.00876698 0.00315044 0.03119712
+v 0.00876698 0.00004324 0.03109741
+v 0.00707287 -0.00092256 0.02951250
+v 0.00707287 -0.00219716 0.02941804
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 12
+f 1 12 20
+f 1 20 25
+f 1 25 24
+f 1 24 21
+f 1 21 16
+f 1 16 8
+f 1 8 2
+f 2 7 4
+f 2 4 3
+f 2 8 17
+f 2 17 15
+f 2 15 7
+f 4 7 9
+f 4 9 5
+f 5 9 14
+f 5 14 13
+f 5 13 18
+f 5 18 11
+f 5 11 10
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 9
+f 7 15 18
+f 7 18 13
+f 8 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 15 17 16
+f 15 16 21
+f 15 21 22
+f 15 22 18
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_240.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc2144ce03f245bc61944b62c91f288971e38b7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_240.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00333065 -0.02441676 -0.02448803
+v 0.00331830 -0.02196092 -0.02406776
+v 0.00331830 -0.01744649 -0.02354622
+v 0.00455160 -0.01744444 -0.02354622
+v 0.00496465 -0.01744444 -0.02354622
+v 0.00553105 -0.01744444 -0.02353609
+v 0.00553105 -0.01801097 -0.02360698
+v 0.00534629 -0.02441676 -0.02431587
+v 0.00333065 -0.02441676 0.02418214
+v 0.00331830 -0.02196092 0.02541763
+v 0.00331830 -0.01744444 -0.02247782
+v 0.00553105 -0.01744444 0.02665818
+v 0.00553105 -0.02441676 -0.02429561
+v 0.00553105 -0.02441676 0.02390871
+v 0.00331830 -0.02173499 0.02553915
+v 0.00331830 -0.01744444 0.02724048
+v 0.00553105 -0.01875086 0.02635943
+v 0.00553105 -0.02104766 0.02540750
+v 0.00331830 -0.01875086 0.02686578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 10
+f 1 10 2
+f 2 10 15
+f 2 15 19
+f 2 19 16
+f 2 16 11
+f 2 11 3
+f 3 11 4
+f 4 11 16
+f 4 16 12
+f 4 12 6
+f 4 6 5
+f 6 12 17
+f 6 17 18
+f 6 18 14
+f 6 14 13
+f 6 13 7
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_241.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c86ab03cc438111e9c8b01a46a6e2b64ebc5993e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_241.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00322846 -0.02705980 0.02028343
+v -0.00371151 -0.02705980 0.01995066
+v -0.00322846 -0.02722005 0.02019025
+v -0.00322846 -0.02705980 -0.02502142
+v -0.00322846 -0.02787270 0.01978650
+v -0.00487476 -0.02705980 0.01910322
+v -0.00322846 -0.02787270 -0.02504361
+v -0.00366205 -0.02705980 -0.02501699
+v -0.00379578 -0.02787270 0.01936056
+v -0.00498884 -0.02705980 0.01900561
+v -0.00498884 -0.02716658 0.01894349
+v -0.00498884 -0.02787270 0.01845987
+v -0.00498884 -0.02787270 -0.02480402
+v -0.00498884 -0.02705980 -0.02483951
+f 1 2 3
+f 1 3 5
+f 1 5 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 5 6 9
+f 5 9 12
+f 5 12 13
+f 5 13 7
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 7 13 14
+f 7 14 8
+f 10 14 13
+f 10 13 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_242.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5497ab571131f761bbea66a4f57c3d6f0f244119
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_242.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01831609 -0.01283818 -0.02215673
+v 0.01831609 -0.00976200 -0.02174067
+v 0.01946107 -0.00976200 -0.02165626
+v 0.01951802 -0.00976200 -0.02165022
+v 0.01951802 -0.01283818 -0.02201202
+v 0.01831609 -0.01283818 0.03841926
+v 0.01831609 -0.00976200 0.03937198
+v 0.01951802 -0.00976200 0.03944433
+v 0.01951802 -0.01283818 0.03740021
+v 0.01951802 -0.01283758 0.03858809
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 4 8 10
+f 4 10 9
+f 4 9 5
+f 6 9 10
+f 6 10 7
+f 7 10 8
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_243.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..facb432b9dff56c7c144ae890f19b823587d5a23
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_243.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00135759 0.02151896 -0.02413085
+v 0.00135759 0.02803512 -0.02438789
+v 0.00329018 0.02802938 -0.02435879
+v 0.00148225 0.02151896 -0.02412115
+v 0.00135759 0.02151896 0.02466247
+v 0.00329018 0.02803512 -0.02435879
+v 0.00135759 0.02803512 0.02133555
+v 0.00329018 0.02151896 -0.02392231
+v 0.00228757 0.02151896 0.02500196
+v 0.00135759 0.02265698 0.02453638
+v 0.00329018 0.02803512 0.02261588
+v 0.00321016 0.02803512 0.02259163
+v 0.00135759 0.02637339 0.02289231
+v 0.00329018 0.02151896 0.02514260
+v 0.00328791 0.02151896 0.02515715
+v 0.00329018 0.02247007 0.02499226
+v 0.00310441 0.02268058 0.02492436
+v 0.00329018 0.02293128 0.02490011
+v 0.00135759 0.02364190 0.02416780
+v 0.00329018 0.02781568 0.02273227
+v 0.00135759 0.02565575 0.02326575
+v 0.00329018 0.02556198 0.02388651
+v 0.00329018 0.02559961 0.02387196
+v 0.00329018 0.02562194 0.02386226
+v 0.00253008 0.02562130 0.02363433
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 19
+f 1 19 21
+f 1 21 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 12
+f 2 12 11
+f 2 11 6
+f 3 6 11
+f 3 11 20
+f 3 20 24
+f 3 24 23
+f 3 23 22
+f 3 22 18
+f 3 18 16
+f 3 16 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 7 13 12
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 12 20
+f 12 13 20
+f 13 21 20
+f 14 16 15
+f 16 18 17
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 21
+f 20 21 24
+f 21 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_244.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf56befa1140040d342488e10ae2276a2e07e63
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_244.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00310878 0.03427089 -0.02526496
+v 0.00136632 0.03427089 -0.02474589
+v 0.00310878 0.03442216 -0.02528240
+v 0.00310878 0.03427089 0.01927872
+v 0.00135740 0.03463270 -0.02478079
+v 0.00135740 0.03427089 -0.02474153
+v 0.00229807 0.03511128 -0.02510793
+v 0.00310878 0.03742632 -0.02494654
+v 0.00310878 0.03446993 0.01918276
+v 0.00229207 0.03427089 0.01858082
+v 0.00275151 0.03742632 -0.02482004
+v 0.00135740 0.03755812 -0.02405235
+v 0.00135740 0.03427089 0.01774333
+v 0.00310878 0.03884878 -0.02459323
+v 0.00310878 0.03510685 0.01886870
+v 0.00135740 0.04036855 -0.02310146
+v 0.00310878 0.04031547 -0.02414831
+v 0.00135740 0.03522539 0.01718501
+v 0.00310878 0.03718835 0.01762120
+v 0.00135740 0.04176359 -0.02255622
+v 0.00151975 0.04225632 -0.02246026
+v 0.00310878 0.04066932 -0.02400873
+v 0.00310878 0.03731839 0.01754269
+v 0.00135740 0.03616751 0.01661360
+v 0.00135740 0.04240140 -0.02219418
+v 0.00310878 0.04330813 -0.02286592
+v 0.00310878 0.04316217 -0.02298369
+v 0.00135740 0.04330813 -0.02141776
+v 0.00310878 0.03762358 0.01733332
+v 0.00217463 0.03845601 0.01585900
+v 0.00150398 0.03648420 0.01655690
+v 0.00135740 0.03637628 0.01647838
+v 0.00310878 0.04330813 0.01224298
+v 0.00135740 0.04330813 0.01002714
+v 0.00310878 0.03907524 0.01631263
+v 0.00310878 0.04056847 0.01501279
+v 0.00310878 0.04062155 0.01496481
+v 0.00135740 0.03957239 0.01391359
+v 0.00135740 0.03794559 0.01530503
+v 0.00290581 0.04330813 0.01200744
+v 0.00310878 0.04213690 0.01347304
+v 0.00135740 0.04251286 0.01097803
+v 0.00269648 0.04330813 0.01175445
+v 0.00135740 0.04168574 0.01187658
+v 0.00289466 0.04330813 0.01199436
+v 0.00272134 0.04330813 0.01178498
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 17
+f 1 17 22
+f 1 22 27
+f 1 27 26
+f 1 26 33
+f 1 33 41
+f 1 41 37
+f 1 37 36
+f 1 36 35
+f 1 35 29
+f 1 29 23
+f 1 23 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 5 11 7
+f 5 6 13
+f 5 13 18
+f 5 18 24
+f 5 24 32
+f 5 32 39
+f 5 39 38
+f 5 38 44
+f 5 44 42
+f 5 42 34
+f 5 34 28
+f 5 28 25
+f 5 25 20
+f 5 20 16
+f 5 16 12
+f 5 12 11
+f 7 11 8
+f 8 11 14
+f 9 15 10
+f 10 15 13
+f 11 12 14
+f 12 16 17
+f 12 17 14
+f 13 15 18
+f 15 19 18
+f 16 20 21
+f 16 21 17
+f 17 21 22
+f 18 19 23
+f 18 23 24
+f 20 25 21
+f 21 26 27
+f 21 27 22
+f 21 25 28
+f 21 28 26
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 26 28 34
+f 26 34 43
+f 26 43 46
+f 26 46 45
+f 26 45 40
+f 26 40 33
+f 29 35 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 32
+f 30 32 31
+f 30 35 36
+f 33 40 41
+f 34 42 43
+f 37 41 44
+f 37 44 38
+f 40 45 41
+f 41 45 44
+f 42 44 46
+f 42 46 43
+f 44 45 46
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_245.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda5e8930733a5e1a3a7a4a8ea15f716defb7602
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_245.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01074265 -0.02786647 -0.02467329
+v -0.01005012 -0.02786647 -0.02467329
+v -0.01146496 -0.02786647 -0.02460133
+v -0.01146496 -0.02735167 -0.02480123
+v -0.01117520 -0.02732553 -0.02482522
+v -0.01005012 -0.02619982 -0.02518505
+v -0.01005012 -0.02786647 0.01364857
+v -0.01146496 -0.02786647 0.01192139
+v -0.01146496 -0.02708802 -0.02483721
+v -0.01005012 -0.02609558 -0.02520104
+v -0.01005012 -0.02733598 0.01409636
+v -0.01143074 -0.02786647 0.01197336
+v -0.01146496 -0.02783772 0.01194537
+v -0.01146496 -0.02490047 -0.02511308
+v -0.01005012 -0.02579187 -0.02520904
+v -0.01143338 -0.02490047 -0.02511708
+v -0.01005012 -0.02630028 0.01478803
+v -0.01043350 -0.02710573 0.01381649
+v -0.01146496 -0.02490047 0.01394843
+v -0.01019153 -0.02490047 -0.02521704
+v -0.01005012 -0.02490047 -0.02522103
+v -0.01005012 -0.02520273 0.01548370
+v -0.01111107 -0.02490047 0.01440021
+v -0.01005012 -0.02490047 0.01562363
+v -0.01049500 -0.02490047 0.01513986
+v -0.01093794 -0.02490047 0.01460811
+f 1 2 7
+f 1 7 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 21
+f 2 21 24
+f 2 24 22
+f 2 22 17
+f 2 17 11
+f 2 11 7
+f 3 8 13
+f 3 13 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 7 11 12
+f 8 12 13
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 14 19 23
+f 14 23 26
+f 14 26 25
+f 14 25 24
+f 14 24 21
+f 14 21 20
+f 14 20 16
+f 15 16 20
+f 15 20 21
+f 17 22 23
+f 17 23 18
+f 18 23 19
+f 22 24 25
+f 22 25 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_246.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1080a9dd7dff87843449b4ff4e2a211acf25f54
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_246.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01867029 0.02702772 -0.02349825
+v -0.01867029 0.02702772 -0.02389424
+v -0.01973378 0.02702772 -0.02349825
+v -0.01867029 0.01837135 -0.02349825
+v -0.01984645 0.02702687 -0.02349825
+v -0.01873713 0.02702772 -0.02387168
+v -0.01867029 0.02565927 -0.02455371
+v -0.01890245 0.02416542 -0.02521773
+v -0.01984957 0.01837135 -0.02349825
+v -0.01867029 0.01837135 -0.02532028
+v -0.01984957 0.02511189 -0.02442481
+v -0.01984957 0.02538135 -0.02429060
+v -0.01984957 0.02692858 -0.02349825
+v -0.01867029 0.02421457 -0.02523081
+v -0.01984957 0.02264276 -0.02511594
+v -0.01867029 0.02393325 -0.02526228
+v -0.01984957 0.02093030 -0.02529033
+v -0.01984957 0.01837135 -0.02531042
+v -0.01867029 0.01964066 -0.02543458
+v -0.01867029 0.02264276 -0.02533772
+v -0.01984957 0.01959829 -0.02534814
+f 1 2 6
+f 1 6 3
+f 1 3 5
+f 1 5 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 20
+f 1 20 16
+f 1 16 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 4 9 18
+f 4 18 10
+f 5 8 11
+f 5 11 12
+f 5 12 13
+f 7 14 8
+f 8 15 11
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 13 12
+f 9 12 11
+f 9 11 15
+f 9 15 17
+f 9 17 21
+f 9 21 18
+f 10 18 19
+f 16 20 17
+f 17 20 21
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_247.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf396930c075ce6f9c69587c315f91af038248e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_247.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.02547678 -0.04418206 0.01766479
+v 0.02547162 -0.04418206 0.01841497
+v 0.02543295 -0.04536038 0.01766479
+v 0.02533370 -0.04805398 0.01175060
+v 0.02533370 -0.04805398 -0.02076875
+v 0.02543295 -0.04536038 -0.02076875
+v 0.02547549 -0.04418206 -0.02076875
+v 0.02542780 -0.04536038 0.01841497
+v 0.01306853 -0.04418206 0.01841497
+v 0.02529760 -0.04805398 0.01470770
+v 0.02529760 -0.04805398 -0.02103044
+v 0.02513260 -0.04418206 -0.02369532
+v 0.02535819 -0.04418206 -0.02204231
+v 0.02476652 -0.04805398 0.01841497
+v 0.02503077 -0.04805398 0.01766479
+v 0.01262123 -0.04418206 0.01744236
+v 0.01331602 -0.04479415 0.01841497
+v 0.02473300 -0.04805398 -0.02372585
+v 0.02502819 -0.04536038 -0.02372585
+v 0.02357803 -0.04536038 -0.02558385
+v 0.02363861 -0.04418206 -0.02559257
+v 0.01650510 -0.04805398 0.01841497
+v 0.01230928 -0.04418206 0.01670526
+v 0.01230928 -0.04520158 0.01544479
+v 0.01318454 -0.04529141 0.01739874
+v 0.01364473 -0.04686693 0.01623422
+v 0.01411651 -0.04623058 0.01820562
+v 0.01420546 -0.04614986 0.01841497
+v 0.02460410 -0.04805398 -0.02389158
+v 0.02257258 -0.04418206 -0.02576703
+v 0.02333182 -0.04805398 -0.02547917
+v 0.02310753 -0.04805398 -0.02551406
+v 0.02105410 -0.04536038 -0.02596766
+v 0.02105410 -0.04418206 -0.02599819
+v 0.01564531 -0.04769165 0.01841497
+v 0.01527535 -0.04805398 0.01734640
+v 0.01230928 -0.04418206 -0.02494707
+v 0.01230928 -0.04783226 0.01171571
+v 0.01524958 -0.04805398 0.01731587
+v 0.01230928 -0.04788191 0.01164156
+v 0.01270373 -0.04805398 0.01221292
+v 0.01388835 -0.04805398 0.01470770
+v 0.01526117 -0.04805398 0.01733332
+v 0.02105410 -0.04805398 -0.02581064
+v 0.02079114 -0.04805398 -0.02582373
+v 0.01809834 -0.04536038 -0.02609850
+v 0.01809834 -0.04418206 -0.02613776
+v 0.01987592 -0.04418206 -0.02605489
+v 0.01255936 -0.04418206 -0.02516078
+v 0.01362539 -0.04692227 -0.02523056
+v 0.01230928 -0.04574015 -0.02443241
+v 0.01230928 -0.04805398 0.01131009
+v 0.01809834 -0.04805398 -0.02586734
+v 0.01514129 -0.04418206 -0.02603744
+v 0.01692016 -0.04418206 -0.02612903
+v 0.01783538 -0.04805398 -0.02585426
+v 0.01514129 -0.04536038 -0.02594149
+v 0.01336372 -0.04536038 -0.02543119
+v 0.01314845 -0.04418206 -0.02550534
+v 0.01525602 -0.04805398 -0.02547045
+v 0.01406366 -0.04805398 -0.02496452
+v 0.01230928 -0.04784060 -0.02353394
+v 0.01230928 -0.04805398 -0.02333331
+v 0.01421835 -0.04418206 -0.02581500
+v 0.01528051 -0.04805398 -0.02547481
+v 0.01265088 -0.04805398 -0.02369968
+v 0.01247041 -0.04805398 -0.02353394
+v 0.01230928 -0.04788873 -0.02349033
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 12
+f 1 12 21
+f 1 21 30
+f 1 30 34
+f 1 34 48
+f 1 48 47
+f 1 47 55
+f 1 55 54
+f 1 54 64
+f 1 64 59
+f 1 59 49
+f 1 49 37
+f 1 37 23
+f 1 23 16
+f 1 16 9
+f 1 9 2
+f 2 9 17
+f 2 17 28
+f 2 28 35
+f 2 35 22
+f 2 22 14
+f 2 14 8
+f 3 8 4
+f 4 8 10
+f 4 10 15
+f 4 15 14
+f 4 14 22
+f 4 22 36
+f 4 36 43
+f 4 43 39
+f 4 39 42
+f 4 42 41
+f 4 41 52
+f 4 52 63
+f 4 63 67
+f 4 67 66
+f 4 66 61
+f 4 61 60
+f 4 60 65
+f 4 65 56
+f 4 56 53
+f 4 53 45
+f 4 45 44
+f 4 44 32
+f 4 32 31
+f 4 31 29
+f 4 29 18
+f 4 18 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 8 14 15
+f 8 15 10
+f 9 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 18 29 19
+f 19 29 20
+f 20 30 21
+f 20 29 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 30
+f 22 35 36
+f 23 37 51
+f 23 51 62
+f 23 62 68
+f 23 68 63
+f 23 63 52
+f 23 52 40
+f 23 40 38
+f 23 38 24
+f 24 38 25
+f 25 38 26
+f 26 39 27
+f 26 38 40
+f 26 40 41
+f 26 41 42
+f 26 42 39
+f 27 39 43
+f 27 43 35
+f 27 35 28
+f 32 44 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 33 44 45
+f 35 43 36
+f 37 49 50
+f 37 50 51
+f 40 52 41
+f 45 53 46
+f 46 54 55
+f 46 55 47
+f 46 53 56
+f 46 56 57
+f 46 57 54
+f 49 58 50
+f 49 59 58
+f 50 58 57
+f 50 57 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 54 57 64
+f 56 65 57
+f 57 65 60
+f 57 58 64
+f 58 59 64
+f 61 66 62
+f 62 67 68
+f 62 66 67
+f 63 68 67
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_248.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..686c205d264ff36d3f166a33c6860874ea5ceed4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_248.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.03022893 0.02686280 -0.00014546
+v -0.03022893 0.02741048 -0.00072590
+v -0.03108168 0.02732014 -0.00093269
+v -0.03109854 0.02729756 -0.00091838
+v -0.03109854 0.02669906 -0.00038578
+v -0.03109854 0.02642805 -0.00014546
+v -0.03022893 -0.02796148 -0.00014546
+v -0.03022893 0.02772666 -0.00188754
+v -0.03109854 0.02733143 -0.00101330
+v -0.03109854 0.02731449 -0.00095115
+v -0.03109854 -0.02712585 -0.00014546
+v -0.03109854 -0.02795019 -0.00178207
+v -0.03022893 -0.02820426 -0.00062910
+v -0.03022893 0.02808802 -0.00399309
+v -0.03076517 0.02792993 -0.00399309
+v -0.03109854 0.02775490 -0.00356633
+v -0.03109854 -0.02833977 -0.00256214
+v -0.03037978 -0.02883664 -0.00218171
+v -0.03022893 -0.02870113 -0.00162387
+v -0.03022893 -0.02959322 -0.00399309
+v -0.03109599 0.02779442 -0.00399309
+v -0.03109854 0.02779442 -0.00399121
+v -0.03109854 -0.02889874 -0.00392906
+v -0.03080263 -0.02919234 -0.00399309
+v -0.03060700 -0.02935044 -0.00399309
+v -0.03022893 -0.02900602 -0.00231430
+v -0.03022893 -0.02954805 -0.00373432
+v -0.03109854 0.02745565 -0.00399309
+v -0.03109854 -0.02875759 -0.00399309
+v -0.03109718 -0.02891004 -0.00399309
+v -0.03102439 -0.02898908 -0.00399309
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+f 1 11 7
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+f 1 8 2
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+f 14 30 29
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+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 27 25
+f 21 28 22
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_249.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df4b42d1a9ee0534da5e2d4f817769568ca23ec
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_249.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00843248 0.01644225 0.03002578
+v 0.00991960 0.01644225 0.03218765
+v 0.00845421 0.01672944 0.03002578
+v 0.01477586 0.01644225 0.03002578
+v 0.01100746 0.01644225 0.03366581
+v 0.00992767 0.01672944 0.03216719
+v 0.00845545 0.01674061 0.03002578
+v 0.01477586 0.01915861 0.03002578
+v 0.01477586 0.01644225 0.03617374
+v 0.01250513 0.01644225 0.03493151
+v 0.01103354 0.01672944 0.03364474
+v 0.01005123 0.01915861 0.03182293
+v 0.00875101 0.01915861 0.03002578
+v 0.01477586 0.01915861 0.03489660
+v 0.01426980 0.01644225 0.03589749
+v 0.01477586 0.01667147 0.03611115
+v 0.01251134 0.01672944 0.03485628
+v 0.01157995 0.01915861 0.03330048
+v 0.01305776 0.01915861 0.03434350
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
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+f 1 15 10
+f 1 10 5
+f 1 5 2
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+f 2 6 3
+f 3 6 7
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+f 4 14 16
+f 4 16 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 13 12
+f 8 12 18
+f 8 18 19
+f 8 19 14
+f 9 16 15
+f 10 15 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 14 19 16
+f 15 16 17
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_25.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93536f6bc9937547346fa30603c8f893058a33dd
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.04016002 -0.00396385 0.00873454
+v -0.04016002 -0.00312548 0.00873241
+v -0.04142876 -0.00396385 0.00833526
+v -0.04016002 -0.00604598 0.00864746
+v -0.04016002 -0.00010363 0.00837349
+v -0.04142876 -0.00100957 0.00795298
+v -0.04142876 -0.00692121 0.00817598
+v -0.04103470 -0.00692121 0.00833526
+v -0.04016002 -0.00692121 0.00859861
+v -0.04016002 0.00267560 0.00800395
+v -0.04142876 0.00313318 0.00721815
+v -0.04142876 -0.00982021 0.00766627
+v -0.04016002 -0.00886206 0.00823120
+v -0.04116374 -0.00979871 0.00775122
+v -0.04016002 0.00609667 0.00719691
+v -0.04016002 0.00808360 0.00670419
+v -0.04142876 0.00703025 0.00624546
+v -0.04142876 -0.01002904 0.00762592
+v -0.04094230 -0.01023479 0.00770662
+v -0.04016002 -0.01023479 0.00790413
+v -0.04097447 -0.01023479 0.00769813
+v -0.04016002 0.00883599 0.00650881
+v -0.04142876 0.00713466 0.00621785
+v -0.04142876 -0.01023479 0.00757282
+v -0.04016002 -0.01023479 -0.01296208
+v -0.04016002 0.01070314 0.00584831
+v -0.04016002 0.01158144 0.00551912
+v -0.04142876 0.01011965 0.00509224
+v -0.04142876 -0.01023479 -0.01296208
+v -0.04016002 0.02044736 -0.01296208
+v -0.04016002 0.01343017 0.00457828
+v -0.04016002 0.01479369 0.00388380
+v -0.04142876 0.01015958 0.00507100
+v -0.04142876 0.01930802 -0.01296208
+v -0.04016002 0.02054870 -0.01277306
+v -0.04016002 0.01632610 0.00252883
+v -0.04142876 0.01369120 0.00276882
+v -0.04142876 0.01200216 0.00397300
+v -0.04142876 0.01031927 0.00497756
+v -0.04142876 0.01948000 -0.01203186
+v -0.04016002 0.02095100 -0.01149242
+v -0.04142876 0.01525433 0.00132252
+v -0.04016002 0.01785545 0.00108890
+v -0.04142876 0.01944622 -0.00924332
+v -0.04016002 0.02113833 -0.00894175
+v -0.04016002 0.02110455 -0.00964897
+v -0.04142876 0.01657792 -0.00020024
+v -0.04016002 0.01864776 -0.00032342
+v -0.04142876 0.01771418 -0.00220297
+v -0.04123117 0.01968268 -0.00894175
+v -0.04142876 0.01941244 -0.00894175
+v -0.04016002 0.02089879 -0.00732767
+v -0.04142876 0.01805506 -0.00302912
+v -0.04142876 0.01775104 -0.00226881
+v -0.04016002 0.01897022 -0.00113683
+v -0.04044790 0.01934794 -0.00302912
+v -0.04142876 0.01887501 -0.00590898
+v -0.04016002 0.02068996 -0.00629763
+v -0.04016002 0.01968268 -0.00302912
+v -0.04016002 0.01986694 -0.00354096
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 20
+f 1 20 25
+f 1 25 30
+f 1 30 35
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+f 1 41 46
+f 1 46 45
+f 1 45 52
+f 1 52 58
+f 1 58 60
+f 1 60 59
+f 1 59 55
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+f 19 21 24
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+f 28 32 33
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+f 34 40 41
+f 34 41 35
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+f 40 45 46
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+f 45 50 52
+f 48 53 54
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+f 48 55 56
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+f 50 51 52
+f 51 57 52
+f 52 57 58
+f 53 56 58
+f 53 58 57
+f 55 59 56
+f 56 59 60
+f 56 60 58
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_250.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ff418b070699bf7f3619059e9ab4c60e0d76c2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_250.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
+v -0.04723108 -0.00396453 0.00621573
+v -0.04723108 -0.00131996 0.00595155
+v -0.04842740 -0.00262487 0.00552397
+v -0.04842740 -0.00396453 0.00565742
+v -0.04723108 -0.00692191 0.00601964
+v -0.04723108 0.00194706 0.00546950
+v -0.04842740 0.00194706 0.00494931
+v -0.04842740 -0.00692191 0.00545588
+v -0.04723108 -0.01021104 0.00546405
+v -0.04723108 0.00462955 0.00470965
+v -0.04842740 0.00405135 0.00458437
+v -0.04842740 -0.01162338 0.00454896
+v -0.04814308 -0.01375610 0.00424938
+v -0.04723108 -0.01288722 0.00489757
+v -0.04723108 0.00475278 0.00466063
+v -0.04755335 0.00584284 0.00410776
+v -0.04842740 0.00446210 0.00441279
+v -0.04842740 -0.01187615 0.00449449
+v -0.04842740 -0.01357917 0.00412683
+v -0.04842740 -0.01408470 0.00398248
+v -0.04842740 -0.01552864 0.00330434
+v -0.04723108 -0.01552864 0.00377277
+v -0.04723108 -0.01546860 0.00380001
+v -0.04723108 -0.01293777 0.00488667
+v -0.04723108 0.00547000 0.00436104
+v -0.04723108 0.00594078 0.00415406
+v -0.04723108 0.01024731 0.00190719
+v -0.04842740 0.00910353 0.00201613
+v -0.04842740 0.00547316 0.00391167
+v -0.04723108 0.00554583 0.00432836
+v -0.04842740 -0.01552864 -0.01924874
+v -0.04723108 -0.01552864 -0.01955922
+v -0.04723108 0.01043688 0.00179281
+v -0.04842740 0.00977653 0.00161306
+v -0.04842740 -0.01423004 -0.01977437
+v -0.04723108 -0.01550336 -0.01975259
+v -0.04723108 -0.01552547 -0.01972263
+v -0.04834028 -0.01552864 -0.01927325
+v -0.04723108 0.01176075 0.00085866
+v -0.04842740 0.01013356 0.00134344
+v -0.04842740 -0.00987929 -0.02098360
+v -0.04723108 -0.00987929 -0.02134582
+v -0.04723108 0.01285081 -0.00047584
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+v -0.04723108 -0.00704197 -0.02160727
+v -0.04842740 0.01272126 -0.00147264
+v -0.04723108 0.01409569 -0.00267096
+v -0.04842740 -0.00400245 -0.02082564
+v -0.04723108 -0.00396453 -0.02143569
+v -0.04723108 0.01429158 -0.00305225
+v -0.04842740 0.01359015 -0.00318298
+v -0.04842740 0.00337204 -0.01927598
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+v -0.04723108 -0.00101032 -0.02083653
+v -0.04723108 0.01465809 -0.00383933
+v -0.04783076 0.01494878 -0.00527460
+v -0.04842740 0.01427894 -0.00466182
+v -0.04842740 0.00339731 -0.01927053
+v -0.04842740 0.01060434 -0.01760921
+v -0.04723108 0.00488864 -0.01959190
+v -0.04723108 0.01508780 -0.00488242
+v -0.04842740 0.01534688 -0.00715925
+v -0.04842740 0.01469285 -0.00555512
+v -0.04842740 0.01252221 -0.01715712
+v -0.04723108 0.01122046 -0.01807220
+v -0.04723108 0.01558069 -0.00637761
+v -0.04723108 0.01610835 -0.00864354
+v -0.04842740 0.01540060 -0.00739074
+v -0.04842740 0.01350484 -0.01689294
+v -0.04723108 0.01402618 -0.01731508
+v -0.04723108 0.01617154 -0.00894040
+v -0.04842740 0.01573552 -0.00894040
+v -0.04842740 0.01516363 -0.01625565
+v -0.04838524 0.01519206 -0.01628288
+v -0.04723108 0.01404513 -0.01730691
+v -0.04723108 0.01620313 -0.00909019
+v -0.04723108 0.01668655 -0.01148140
+v -0.04842740 0.01589349 -0.00972203
+v -0.04842740 0.01522050 -0.01616033
+v -0.04842740 0.01590929 -0.01459161
+v -0.04723108 0.01638007 -0.01513358
+v -0.04723108 0.01674974 -0.01189809
+v -0.04842740 0.01620313 -0.01189809
+v -0.04723108 0.01638955 -0.01510090
+v -0.04723108 0.01638639 -0.01511451
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+f 1 27 26
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+f 27 34 28
+f 31 35 36
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+f 39 44 45
+f 39 45 40
+f 40 45 46
+f 41 47 48
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+f 44 46 45
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+f 47 52 48
+f 49 50 53
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+f 51 57 52
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+f 54 59 60
+f 55 61 56
+f 56 61 62
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+f 59 64 65
+f 59 65 66
+f 59 66 60
+f 62 67 63
+f 63 67 68
+f 64 69 65
+f 65 69 70
+f 65 70 71
+f 67 72 68
+f 68 72 73
+f 70 74 75
+f 70 75 71
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+f 73 77 78
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+f 75 79 80
+f 75 80 81
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+f 77 82 83
+f 77 83 84
+f 77 84 78
+f 80 85 81
+f 81 85 86
+f 83 86 85
+f 83 85 87
+f 83 87 88
+f 83 88 84
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_251.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1267f2b5cfeb10a57789de76ee7b8b8f0d66cf55
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_251.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02891797 0.04906365 0.00898278
+v 0.02885803 0.04742414 0.01062067
+v 0.02891797 0.04906365 -0.01873408
+v 0.02891675 0.04906365 0.01193869
+v 0.02885680 0.04742414 0.01358042
+v 0.02885803 0.04742414 -0.01873408
+v 0.01642204 0.04906365 -0.01873408
+v 0.02872223 0.04906365 0.01483292
+v 0.02873446 0.04742414 0.01650935
+v 0.01642204 0.04742414 -0.01873408
+v 0.01642204 0.04906365 0.01711055
+v 0.02870265 0.04906365 0.01507957
+v 0.02858765 0.04742414 0.01862896
+v 0.01642204 0.04742414 0.01901049
+v 0.01642204 0.04874349 0.01751135
+v 0.01903280 0.04794138 0.01932651
+v 0.01747051 0.04906365 0.01741500
+v 0.02702902 0.04906365 0.01766550
+v 0.02848978 0.04783963 0.01925328
+v 0.02851424 0.04742414 0.01953076
+v 0.01873674 0.04742414 0.01973502
+v 0.01642204 0.04754161 0.01889488
+v 0.02105510 0.04742414 0.02017436
+v 0.02105510 0.04810090 0.01951149
+v 0.02037244 0.04906365 0.01813952
+v 0.01833791 0.04906365 0.01765779
+v 0.01807120 0.04906365 0.01758842
+v 0.02696663 0.04906365 0.01773487
+v 0.02696663 0.04809769 0.01960013
+v 0.02696663 0.04742414 0.02040173
+v 0.02784504 0.04742414 0.02002405
+v 0.02401087 0.04742414 0.02063682
+v 0.02116031 0.04906365 0.01828982
+v 0.02250118 0.04817376 0.01962711
+v 0.02389586 0.04906365 0.01857115
+v 0.02401087 0.04824951 0.01974658
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 27
+f 1 27 26
+f 1 26 25
+f 1 25 33
+f 1 33 35
+f 1 35 28
+f 1 28 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
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+f 2 20 31
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+f 2 30 32
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+f 12 19 20
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+f 14 21 16
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+f 15 22 16
+f 16 21 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 23 32 24
+f 24 33 25
+f 24 32 34
+f 24 34 33
+f 28 35 29
+f 29 36 30
+f 29 35 36
+f 30 36 32
+f 32 36 34
+f 33 34 36
+f 33 36 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_254.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d69b3108a855b8a9c358e931315011be68f46bcc
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_254.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01984957 0.01837135 -0.02349806
+v -0.01984957 0.02692858 -0.02349806
+v -0.01867029 0.01837135 -0.02349806
+v -0.01984957 0.01837135 0.01418599
+v -0.01984957 0.02702772 -0.02349427
+v -0.01984645 0.02702687 -0.02349806
+v -0.01867029 0.02702772 -0.02349806
+v -0.01867029 0.01837135 0.01523235
+v -0.01973181 0.01968641 0.01407225
+v -0.01984957 0.01949068 0.01400022
+v -0.01973378 0.02702772 -0.02349806
+v -0.01984957 0.02702772 0.01006121
+v -0.01867029 0.02702772 0.01115686
+v -0.01867029 0.01968641 0.01500109
+v -0.01932764 0.02197422 0.01366660
+v -0.01984957 0.01968641 0.01395852
+v -0.01984957 0.02684384 0.01022044
+v -0.01964973 0.02702772 0.01032659
+v -0.01929982 0.02702772 0.01072467
+v -0.01867029 0.02559911 0.01211981
+v -0.01867029 0.02221825 0.01402676
+v -0.01984957 0.02239365 0.01289700
+v -0.01984957 0.02133956 0.01338226
+v -0.01867029 0.02225130 0.01401159
+v -0.01872397 0.02394427 0.01313584
+v -0.01972881 0.02559911 0.01117581
+v -0.01984957 0.02518222 0.01129334
+v -0.01984957 0.02559911 0.01103933
+v -0.01867029 0.02408154 0.01309414
+v -0.01867029 0.02389258 0.01320029
+v -0.01867029 0.02398663 0.01315100
+v -0.01984957 0.02549150 0.01110757
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 22
+f 1 22 27
+f 1 27 32
+f 1 32 28
+f 1 28 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 20
+f 3 20 29
+f 3 29 31
+f 3 31 30
+f 3 30 24
+f 3 24 21
+f 3 21 14
+f 3 14 8
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 18
+f 5 18 19
+f 5 19 13
+f 5 13 7
+f 5 7 11
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 18
+f 13 19 20
+f 14 21 15
+f 15 22 23
+f 15 23 16
+f 15 21 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 22
+f 17 19 18
+f 17 28 19
+f 19 28 26
+f 19 26 25
+f 19 25 29
+f 19 29 20
+f 24 30 25
+f 25 30 31
+f 25 31 29
+f 26 28 32
+f 26 32 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_255.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8154e47af0873047c0f5981396aeaad2cf8f90
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_255.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02652421 -0.01579437 0.03540276
+v 0.02600651 -0.01579437 0.03782333
+v 0.02595205 -0.01875012 0.03776832
+v 0.02593013 -0.01995032 0.03770719
+v 0.02620524 -0.01995032 0.03630130
+v 0.02641530 -0.01875012 0.03540276
+v 0.02637145 -0.01995032 0.03244428
+v 0.02652421 -0.01579437 -0.01781315
+v 0.02401066 -0.01579437 0.03869743
+v 0.02401066 -0.01875012 0.03881968
+v 0.02516418 -0.01995032 0.03812285
+v 0.02637074 -0.01995032 0.03540276
+v 0.02637145 -0.01995032 0.02949192
+v 0.02641530 -0.01875012 -0.01781315
+v 0.02630567 -0.01995032 -0.02076552
+v 0.02630850 -0.01875012 -0.02076552
+v 0.02602207 -0.01579437 -0.02091222
+v 0.02105508 -0.01579437 0.03834901
+v 0.02401066 -0.01995032 0.03874021
+v 0.02105508 -0.01875012 0.03843459
+v 0.02105508 -0.01995032 0.03839180
+v 0.02281117 -0.01995032 0.03861796
+v 0.02637074 -0.01995032 -0.01781315
+v 0.02586435 -0.01995032 -0.02269097
+v 0.02584525 -0.01875012 -0.02264819
+v 0.02600085 -0.01579437 -0.02098557
+v 0.01929969 -0.01579437 0.03789057
+v 0.01929969 -0.01875012 0.03774998
+v 0.01929969 -0.01995032 0.03767052
+v 0.02401066 -0.01995032 -0.02328389
+v 0.02401066 -0.01875012 -0.02316775
+v 0.02567976 -0.01670246 -0.02244036
+v 0.02485441 -0.01579437 -0.02220808
+v 0.01929969 -0.01579437 -0.02270320
+v 0.01929969 -0.01995032 -0.02362620
+v 0.02105508 -0.01995032 -0.02351617
+v 0.01929969 -0.01875012 -0.02342448
+v 0.01929969 -0.01665485 -0.02292936
+v 0.02401066 -0.01634524 -0.02258095
+v 0.02401066 -0.01579437 -0.02235478
+v 0.02307922 -0.01579437 -0.02244647
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 8
+f 1 8 17
+f 1 17 26
+f 1 26 33
+f 1 33 40
+f 1 40 41
+f 1 41 34
+f 1 34 27
+f 1 27 18
+f 1 18 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 22
+f 4 22 21
+f 4 21 29
+f 4 29 35
+f 4 35 36
+f 4 36 30
+f 4 30 24
+f 4 24 15
+f 4 15 23
+f 4 23 13
+f 4 13 7
+f 4 7 12
+f 4 12 5
+f 5 12 6
+f 6 12 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 13 14
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 19
+f 13 23 14
+f 14 23 15
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 18 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 27 34 38
+f 27 38 37
+f 27 37 35
+f 27 35 29
+f 27 29 28
+f 30 36 31
+f 31 36 35
+f 31 35 37
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 34 41 39
+f 34 39 38
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_256.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387f07da5e480c51a2e1612b49b97af3d18ac295
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_256.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00310878 0.03102353 -0.02490794
+v 0.00236493 0.03102353 -0.02479514
+v 0.00180056 0.03283094 -0.02521925
+v 0.00310878 0.03140338 -0.02500720
+v 0.00310878 0.03102353 0.02078331
+v 0.00215681 0.03102353 -0.02476356
+v 0.00135740 0.03240690 -0.02501171
+v 0.00180056 0.03313991 -0.02521925
+v 0.00310878 0.03412213 -0.02530949
+v 0.00310878 0.03268059 -0.02526437
+v 0.00135740 0.03102353 -0.02463723
+v 0.00310878 0.03374608 0.01952903
+v 0.00283243 0.03102353 0.02062540
+v 0.00135740 0.03356553 -0.02495757
+v 0.00136632 0.03427089 -0.02474551
+v 0.00310878 0.03427089 -0.02526437
+v 0.00135740 0.03102353 0.01934404
+v 0.00310878 0.03427089 0.01927636
+v 0.00135740 0.03300545 0.01846875
+v 0.00135740 0.03427089 -0.02474100
+v 0.00229207 0.03427089 0.01858154
+v 0.00135740 0.03427089 0.01774234
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 16
+f 1 16 18
+f 1 18 12
+f 1 12 5
+f 1 5 13
+f 1 13 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 7
+f 5 12 13
+f 7 14 8
+f 7 11 17
+f 7 17 19
+f 7 19 22
+f 7 22 20
+f 7 20 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 12 18 13
+f 13 18 19
+f 13 19 17
+f 14 20 15
+f 15 20 22
+f 15 22 21
+f 15 21 18
+f 15 18 16
+f 18 21 19
+f 19 21 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_257.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85c8e5174be96f07feb83777d9cb983ed5f999d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_257.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00135751 0.01692664 -0.02375451
+v 0.00135751 0.01968557 -0.02403019
+v 0.00241943 0.01968557 -0.02394158
+v 0.00159164 0.01692664 -0.02372990
+v 0.00135751 0.01692664 0.02587779
+v 0.00135751 0.02151812 -0.02413357
+v 0.00241943 0.02052476 -0.02398589
+v 0.00241943 0.01692664 -0.02364129
+v 0.00241943 0.01692664 0.02615839
+v 0.00241943 0.01915698 0.02564149
+v 0.00135751 0.01795641 0.02563657
+v 0.00241943 0.02151812 -0.02402035
+v 0.00135751 0.02151812 0.02466184
+v 0.00241943 0.02063084 0.02526735
+v 0.00197923 0.02108077 0.02503106
+v 0.00135751 0.01927295 0.02530181
+v 0.00241943 0.02151812 0.02502121
+v 0.00228718 0.02151812 0.02500152
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 17
+f 3 17 14
+f 3 14 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 6 13 18
+f 6 18 17
+f 6 17 12
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 13 16 15
+f 13 15 18
+f 14 17 18
+f 14 18 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_258.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820f591e3a90ae64c57ca30e58747a8e390a8e9d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_258.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01831609 -0.00976200 0.03937312
+v 0.01822728 -0.00976200 0.03936700
+v 0.01831609 -0.01283818 0.03841948
+v 0.01831609 -0.00976200 -0.02173936
+v 0.01818435 -0.00976200 0.03934866
+v 0.01564903 -0.01283697 0.03742915
+v 0.01809731 -0.01283818 0.03838891
+v 0.01831609 -0.01283818 -0.02215505
+v 0.01814730 -0.01283818 -0.02219173
+v 0.01719457 -0.01283818 -0.02238735
+v 0.01469688 -0.00976200 -0.02244237
+v 0.01491272 -0.00976200 0.03774704
+v 0.01417112 -0.01283697 0.03657944
+v 0.01417170 -0.01283818 0.03657944
+v 0.01564903 -0.01283818 0.03742304
+v 0.01590309 -0.01283818 -0.02261353
+v 0.01554728 -0.01283818 -0.02266855
+v 0.01530557 -0.01283818 -0.02270523
+v 0.01230800 -0.01283818 -0.02307812
+v 0.01230800 -0.00976200 -0.02266855
+v 0.01264910 -0.00976200 0.03565025
+v 0.01378532 -0.01066031 0.03678728
+v 0.01262381 -0.01283818 0.03510007
+v 0.01230800 -0.01283818 0.03463548
+v 0.01230800 -0.00976200 0.03519788
+v 0.01230800 -0.00978127 0.03519788
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 20
+f 1 20 25
+f 1 25 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 15
+f 3 15 14
+f 3 14 23
+f 3 23 24
+f 3 24 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 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 6 15 7
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 19 24 26
+f 19 26 25
+f 19 25 20
+f 21 25 26
+f 21 26 23
+f 21 23 22
+f 23 26 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_259.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307c6115ef765a03b9070c7da89d46ae6bf3c0d1
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_259.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01198960 0.01357319 -0.02420474
+v -0.01198960 0.02030705 -0.02529375
+v -0.01049381 0.01357319 -0.02411594
+v -0.01198960 0.01357319 0.02110353
+v -0.01198960 0.02070304 -0.02534983
+v -0.01049381 0.02270417 -0.02543864
+v -0.01049381 0.01357319 0.02222992
+v -0.01198960 0.01393843 0.02105679
+v -0.01198960 0.02246773 -0.02551809
+v -0.01125971 0.02241582 -0.02547135
+v -0.01072544 0.02339236 -0.02545733
+v -0.01049381 0.02339236 -0.02544331
+v -0.01049381 0.01962367 0.02042114
+v -0.01154098 0.01951890 0.01985093
+v -0.01198960 0.01890376 0.01975746
+v -0.01198960 0.01672963 0.02036973
+v -0.01198960 0.01659507 0.02040712
+v -0.01198960 0.01397207 0.02105211
+v -0.01132384 0.02339236 -0.02548537
+v -0.01198960 0.02339236 -0.02545733
+v -0.01049381 0.02339236 0.01915920
+v -0.01049381 0.02259652 0.01950507
+v -0.01049381 0.02262536 0.01949572
+v -0.01198960 0.02102119 0.01905171
+v -0.01198960 0.01919884 0.01965931
+v -0.01198960 0.02339236 0.01800476
+v -0.01101198 0.02339236 0.01876660
+v -0.01198960 0.02263977 0.01835998
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 25
+f 1 25 24
+f 1 24 28
+f 1 28 26
+f 1 26 20
+f 1 20 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 21
+f 3 21 23
+f 3 23 22
+f 3 22 13
+f 3 13 7
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 9
+f 6 9 11
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 11
+f 9 20 19
+f 11 19 20
+f 11 20 26
+f 11 26 27
+f 11 27 21
+f 11 21 12
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 21 27 28
+f 21 28 23
+f 23 28 24
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_260.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283878eb407025ab70e4d29b2772ef763a79d88d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_260.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02471550 -0.01620074 -0.02494465
+v -0.02584415 -0.01620074 -0.02490819
+v -0.02625159 -0.01283736 -0.02502570
+v -0.02471550 -0.01437320 -0.02500544
+v -0.02471550 -0.01620074 0.01464261
+v -0.02645548 -0.01620074 -0.02483119
+v -0.02645548 -0.01580718 -0.02488387
+v -0.02645548 -0.01558961 -0.02489603
+v -0.02645548 -0.01285069 -0.02501760
+v -0.02625159 -0.01075384 -0.02506622
+v -0.02471550 -0.01075384 -0.02503380
+v -0.02471550 -0.01572932 0.01487359
+v -0.02645548 -0.01565200 0.01373083
+v -0.02645548 -0.01583598 0.01363763
+v -0.02594669 -0.01620074 0.01379567
+v -0.02645548 -0.01620074 0.01343501
+v -0.02645548 -0.01075384 -0.02505407
+v -0.02471550 -0.01075384 0.01632838
+v -0.02645548 -0.01304427 0.01464666
+v -0.02645548 -0.01547175 0.01380783
+v -0.02645548 -0.01564293 0.01373488
+v -0.02471550 -0.01375140 0.01553817
+v -0.02645548 -0.01075384 0.01524641
+v -0.02488073 -0.01075384 0.01625138
+v -0.02471550 -0.01131005 0.01623518
+v -0.02471550 -0.01318239 0.01572863
+v -0.02645548 -0.01261071 0.01477633
+v -0.02478091 -0.01137564 0.01619060
+v -0.02471550 -0.01143004 0.01621491
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 25
+f 1 25 29
+f 1 29 26
+f 1 26 22
+f 1 22 12
+f 1 12 5
+f 1 5 15
+f 1 15 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 14
+f 6 14 13
+f 6 13 21
+f 6 21 20
+f 6 20 19
+f 6 19 27
+f 6 27 23
+f 6 23 17
+f 6 17 9
+f 6 9 8
+f 6 8 7
+f 9 17 10
+f 10 17 23
+f 10 23 24
+f 10 24 18
+f 10 18 11
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 22 19
+f 14 16 15
+f 18 24 25
+f 19 22 26
+f 19 26 27
+f 23 27 28
+f 23 28 24
+f 24 28 29
+f 24 29 25
+f 26 29 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_261.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1beb7a525e73020805ba39f20963873a808188e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_261.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00634401 0.03181478 -0.02474576
+v 0.00634388 0.04350323 -0.02468627
+v 0.00634401 0.03469119 -0.02535051
+v 0.00760138 0.03181478 -0.02460200
+v 0.00634401 0.03181478 0.02347609
+v 0.00634388 0.04350323 0.01637268
+v 0.00634388 0.04355422 -0.02468131
+v 0.00634401 0.04049500 -0.02549427
+v 0.00634401 0.04030597 -0.02550914
+v 0.00634401 0.03742707 -0.02558845
+v 0.00767365 0.03743578 -0.02553393
+v 0.00767365 0.03540127 -0.02531086
+v 0.00767365 0.03181478 -0.02459209
+v 0.00651002 0.03181478 0.02367932
+v 0.00634401 0.03376596 0.02264827
+v 0.00634388 0.04434265 0.01568366
+v 0.00634401 0.03549579 0.02187993
+v 0.00634401 0.03765092 0.02078938
+v 0.00634401 0.03957350 0.01947577
+v 0.00634401 0.04049624 0.01879666
+v 0.00634401 0.04267998 0.01711624
+v 0.00634401 0.04269241 0.01710632
+v 0.00634401 0.04343359 -0.02472097
+v 0.00634388 0.04451799 -0.02422031
+v 0.00767378 0.04451799 -0.02495891
+v 0.00767378 0.04435633 -0.02503327
+v 0.00724346 0.04263023 -0.02538521
+v 0.00767365 0.04282921 -0.02541000
+v 0.00767365 0.04034079 -0.02563307
+v 0.00767378 0.04350323 -0.02507292
+v 0.00767365 0.03181478 0.02500780
+v 0.00767365 0.03369508 0.02428904
+v 0.00658150 0.04451799 0.01585715
+v 0.00634388 0.04451799 0.01550521
+v 0.00767365 0.03446983 0.02393709
+v 0.00742157 0.03679906 0.02254417
+v 0.00767365 0.03807623 0.02220709
+v 0.00767365 0.03866320 0.02190967
+v 0.00766766 0.04199725 0.01929237
+v 0.00733616 0.04451799 0.01685847
+v 0.00708461 0.04451799 0.01652635
+v 0.00767378 0.04451799 0.01714102
+v 0.00767378 0.04350323 0.01795893
+v 0.00767365 0.04200968 0.01928741
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 31
+f 1 31 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 16
+f 2 16 34
+f 2 34 24
+f 2 24 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 15 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 16
+f 7 23 8
+f 7 24 25
+f 7 25 26
+f 7 26 23
+f 8 27 28
+f 8 28 29
+f 8 29 9
+f 8 23 27
+f 9 29 10
+f 10 29 11
+f 11 29 30
+f 11 30 12
+f 12 30 13
+f 13 30 43
+f 13 43 31
+f 14 31 32
+f 14 32 15
+f 15 32 17
+f 16 33 34
+f 16 22 33
+f 17 32 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 38 20
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 22 41 33
+f 23 26 27
+f 24 34 33
+f 24 33 41
+f 24 41 40
+f 24 40 42
+f 24 42 25
+f 25 42 43
+f 25 43 30
+f 25 30 26
+f 26 30 29
+f 26 29 28
+f 26 28 27
+f 31 43 32
+f 32 43 35
+f 35 37 36
+f 35 43 37
+f 37 43 38
+f 38 44 39
+f 38 43 44
+f 39 44 40
+f 40 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_263.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb5dd7014cb57f465d97bfcf7b5b8c2b35a7fda
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_263.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03022902 0.02376142 0.00553239
+v -0.03022902 0.02461475 0.00504497
+v -0.03024596 0.02375605 0.00553239
+v -0.03022902 -0.02387532 0.00553239
+v -0.03022902 0.02487237 0.00456366
+v -0.03080759 0.02468452 0.00456366
+v -0.03104670 0.02446448 0.00481488
+v -0.03109854 0.02423370 0.00492770
+v -0.03109854 0.02318179 0.00553239
+v -0.03081151 -0.02333863 0.00553239
+v -0.03022902 -0.02410073 0.00531397
+v -0.03022902 0.02519438 0.00395508
+v -0.03022902 0.02607992 0.00180699
+v -0.03109854 0.02538759 0.00249394
+v -0.03109854 0.02451815 0.00463147
+v -0.03109854 0.02442691 0.00477319
+v -0.03109854 -0.02300051 0.00553239
+v -0.03109854 -0.02364991 0.00496771
+v -0.03109854 -0.02369821 0.00491825
+v -0.03022902 -0.02557663 0.00361772
+v -0.03022902 0.02686349 -0.00014546
+v -0.03109854 0.02642877 -0.00014546
+v -0.03109854 -0.02603282 0.00188147
+v -0.03090540 -0.02636020 0.00171640
+v -0.03022902 -0.02576448 0.00337707
+v -0.03022902 -0.02796491 -0.00014546
+v -0.03109854 -0.02712767 -0.00014546
+v -0.03109854 -0.02656951 0.00093331
+v -0.03022902 -0.02792734 -0.00007266
+v -0.03022902 -0.02672515 0.00203319
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 25
+f 1 25 30
+f 1 30 29
+f 1 29 26
+f 1 26 21
+f 1 21 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 14
+f 8 14 22
+f 8 22 27
+f 8 27 28
+f 8 28 23
+f 8 23 19
+f 8 19 18
+f 8 18 17
+f 8 17 9
+f 10 18 11
+f 10 17 18
+f 11 18 19
+f 11 19 20
+f 13 21 14
+f 14 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 27
+f 24 27 26
+f 24 26 29
+f 24 29 30
+f 24 30 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_264.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71703cca51508934cb4acd305d29fb1568ef7374
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_264.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.04663446 0.00752859 -0.01926500
+v -0.04689125 0.00752859 -0.01911349
+v -0.04723108 0.01063593 -0.01821114
+v -0.04723108 0.01122220 -0.01807300
+v -0.04663446 0.01064890 -0.01851861
+v -0.04663446 0.00752859 0.00349440
+v -0.04723108 0.00752859 -0.01891297
+v -0.04723108 0.01402853 -0.01731547
+v -0.04663446 0.01397389 -0.01766081
+v -0.04663446 0.01331445 -0.01783237
+v -0.04663446 0.00763418 0.00344984
+v -0.04664959 0.00752859 0.00348994
+v -0.04723108 0.00752859 0.00326937
+v -0.04723108 0.01404613 -0.01730878
+v -0.04721917 0.01403409 -0.01731992
+v -0.04663446 0.01536038 -0.01697235
+v -0.04663446 0.00768882 0.00342310
+v -0.04675395 0.00752859 0.00345875
+v -0.04723108 0.00763696 0.00321590
+v -0.04723108 0.01638103 -0.01513422
+v -0.04663446 0.01600500 -0.01637301
+v -0.04663446 0.01089897 0.00182337
+v -0.04723108 0.01025064 0.00190804
+v -0.04723108 0.01638844 -0.01511639
+v -0.04721917 0.01639307 -0.01512085
+v -0.04663446 0.01667834 -0.01506960
+v -0.04663446 0.01200853 0.00110149
+v -0.04723108 0.01043958 0.00179441
+v -0.04723108 0.01639029 -0.01510303
+v -0.04723108 0.01674965 -0.01189911
+v -0.04663446 0.01699046 -0.01224000
+v -0.04663446 0.01290415 -0.00000139
+v -0.04723108 0.01285228 -0.00047373
+v -0.04723108 0.01176402 0.00085863
+v -0.04694813 0.01687747 -0.01189911
+v -0.04723108 0.01669038 -0.01148247
+v -0.04663446 0.01697842 -0.01189688
+v -0.04663446 0.01312551 -0.00033782
+v -0.04676580 0.01297083 -0.00020414
+v -0.04723108 0.01290137 -0.00055840
+v -0.04694813 0.01627730 -0.00894250
+v -0.04663446 0.01638937 -0.00894250
+v -0.04723108 0.01620413 -0.00909178
+v -0.04663446 0.01457220 -0.00288001
+v -0.04723108 0.01409892 -0.00266835
+v -0.04723108 0.01617357 -0.00894250
+v -0.04723108 0.01611059 -0.00864395
+v -0.04663446 0.01574938 -0.00613740
+v -0.04663446 0.01523349 -0.00449311
+v -0.04723108 0.01509179 -0.00488302
+v -0.04723108 0.01483524 -0.00426140
+v -0.04723108 0.01466019 -0.00383807
+v -0.04688646 0.01449533 -0.00301370
+v -0.04723108 0.01429342 -0.00305157
+v -0.04723108 0.01559378 -0.00642705
+v -0.04723108 0.01558174 -0.00637580
+v -0.04663446 0.01559193 -0.00562050
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 37
+f 1 37 42
+f 1 42 48
+f 1 48 57
+f 1 57 49
+f 1 49 44
+f 1 44 38
+f 1 38 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 11
+f 1 11 6
+f 1 6 12
+f 1 12 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 19
+f 3 19 23
+f 3 23 28
+f 3 28 34
+f 3 34 33
+f 3 33 40
+f 3 40 45
+f 3 45 54
+f 3 54 52
+f 3 52 51
+f 3 51 50
+f 3 50 56
+f 3 56 55
+f 3 55 47
+f 3 47 46
+f 3 46 43
+f 3 43 36
+f 3 36 30
+f 3 30 29
+f 3 29 24
+f 3 24 20
+f 3 20 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 11 17 18
+f 11 18 12
+f 13 18 19
+f 14 20 21
+f 14 21 16
+f 17 22 18
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 22 28 23
+f 24 29 26
+f 24 26 25
+f 26 29 30
+f 26 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 30 35 31
+f 30 36 35
+f 31 35 37
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 35 36 41
+f 35 41 42
+f 35 42 37
+f 36 43 41
+f 38 44 40
+f 38 40 39
+f 40 44 45
+f 41 43 46
+f 41 46 47
+f 41 47 42
+f 42 47 48
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 49 57 56
+f 49 56 50
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_265.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476490a1a6525d51cc7fdef4f1f3deaba601f49e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_265.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.00805044 0.01357606 0.02368268
+v -0.00873733 0.01357606 0.02334616
+v -0.00805044 0.01357606 -0.00216553
+v -0.00805044 0.01405400 0.02354352
+v -0.00880622 0.01406831 0.02316905
+v -0.00947760 0.01371629 0.02285025
+v -0.00947760 0.01357606 0.02288061
+v -0.00805044 0.04280815 -0.00216553
+v -0.00947760 0.01357606 -0.00216553
+v -0.00805044 0.01686731 0.02267061
+v -0.00805044 0.01945739 0.02186601
+v -0.00847059 0.01982658 0.02152697
+v -0.00947760 0.01972928 0.02097792
+v -0.00947760 0.01473801 0.02256181
+v -0.00947774 0.03473169 0.01164413
+v -0.00808970 0.04279384 -0.00216553
+v -0.00805044 0.04210697 0.00239889
+v -0.00947774 0.03473169 -0.00216553
+v -0.00805044 0.02008988 0.02164336
+v -0.00947760 0.02264562 0.01998357
+v -0.00947774 0.03717295 0.00924300
+v -0.00947760 0.02435993 0.01927006
+v -0.00947760 0.02489798 0.01897656
+v -0.00947760 0.02824362 0.01691953
+v -0.00947760 0.02972325 0.01595048
+v -0.00947760 0.03143757 0.01457154
+v -0.00947760 0.03304313 0.01326850
+v -0.00947760 0.03417647 0.01220836
+v -0.00947760 0.03452563 0.01186932
+v -0.00860697 0.04257633 -0.00216553
+v -0.00947774 0.04175781 0.00024319
+v -0.00947774 0.04174636 0.00030392
+v -0.00805044 0.04200680 0.00288469
+v -0.00947774 0.04208407 -0.00216553
+v -0.00805044 0.02265707 0.02063129
+v -0.00851223 0.02264562 0.02044912
+v -0.00805044 0.03672934 0.01091038
+v -0.00805044 0.03695544 0.01068267
+v -0.00805044 0.03810881 0.00949855
+v -0.00805044 0.03914484 0.00839793
+v -0.00805044 0.03946251 0.00802346
+v -0.00947774 0.03883288 0.00719356
+v -0.00851223 0.02468906 0.01943958
+v -0.00851223 0.02616583 0.01863752
+v -0.00853487 0.02865002 0.01713460
+v -0.00805044 0.03022410 0.01633506
+v -0.00805044 0.03092528 0.01577843
+v -0.00805044 0.03324347 0.01392128
+v -0.00805044 0.03354684 0.01367586
+v -0.00805044 0.03648321 0.01114063
+v -0.00947774 0.04210983 -0.00216047
+v -0.00939460 0.04214704 -0.00216553
+v -0.00947774 0.04155461 0.00120972
+v -0.00920681 0.04135141 0.00288469
+v -0.00805044 0.04172633 0.00394230
+v -0.00805044 0.02484647 0.01951549
+v -0.00805044 0.03986891 0.00737321
+v -0.00851796 0.04044989 0.00583992
+v -0.00947774 0.03911622 0.00673560
+v -0.00805044 0.02630893 0.01871595
+v -0.00805044 0.02952292 0.01679809
+v -0.00947774 0.04115394 0.00285686
+v -0.00947774 0.04091639 0.00335783
+v -0.00805044 0.04101656 0.00540474
+v -0.00805044 0.04068458 0.00601198
+v -0.00947774 0.03988608 0.00547558
+v -0.00947774 0.03990326 0.00544522
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 8
+f 1 8 17
+f 1 17 33
+f 1 33 55
+f 1 55 64
+f 1 64 65
+f 1 65 57
+f 1 57 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 61
+f 1 61 60
+f 1 60 56
+f 1 56 35
+f 1 35 19
+f 1 19 11
+f 1 11 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 9 18
+f 3 18 34
+f 3 34 52
+f 3 52 30
+f 3 30 16
+f 3 16 8
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 18
+f 7 18 9
+f 8 16 17
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 15
+f 13 15 14
+f 15 21 42
+f 15 42 59
+f 15 59 66
+f 15 66 67
+f 15 67 63
+f 15 63 62
+f 15 62 53
+f 15 53 32
+f 15 32 31
+f 15 31 51
+f 15 51 34
+f 15 34 18
+f 15 20 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 21
+f 16 30 17
+f 17 31 32
+f 17 32 33
+f 17 30 31
+f 19 35 36
+f 19 36 20
+f 20 36 22
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 29 37
+f 22 36 35
+f 22 35 43
+f 22 43 44
+f 22 44 23
+f 23 44 45
+f 23 45 24
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 49
+f 26 49 27
+f 27 49 50
+f 27 50 28
+f 28 50 37
+f 28 37 29
+f 30 51 31
+f 30 52 51
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 34 51 52
+f 35 56 43
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 43 56 44
+f 44 56 60
+f 44 60 61
+f 44 61 45
+f 45 61 46
+f 53 62 54
+f 54 62 63
+f 54 63 55
+f 55 63 58
+f 55 58 64
+f 57 65 58
+f 58 66 59
+f 58 65 64
+f 58 63 67
+f 58 67 66
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_266.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea48ab4aeff8a94778962c835db8e1bc54346c1
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_266.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01290701 -0.02395251 0.03252356
+v 0.01279960 -0.02395251 0.03237937
+v 0.01290701 -0.02455153 0.03240155
+v 0.01290701 -0.02395251 -0.02409531
+v 0.01282756 -0.02455153 0.03229063
+v 0.01239378 -0.02395251 0.03154747
+v 0.01232342 -0.02455153 0.03125908
+v 0.01290701 -0.02455153 -0.02413413
+v 0.01290701 -0.02408438 -0.02410640
+v 0.01230806 -0.02395251 -0.02405648
+v 0.01230806 -0.02395251 0.03137000
+v 0.01230806 -0.02455153 0.03122580
+v 0.01230806 -0.02455153 -0.02408976
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 10
+f 8 10 9
+f 10 13 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_267.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f812fb31470f5f8ebc1ae4d7c1d2123bf336e837
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_267.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v -0.02254068 0.01673428 -0.00965440
+v -0.02254068 0.03411410 -0.00965440
+v -0.02136319 0.01673428 -0.00965440
+v -0.02254068 0.01673428 0.01257231
+v -0.02254068 0.03419280 -0.00894323
+v -0.02136319 0.03500670 -0.00894323
+v -0.02136319 0.03490116 -0.00965440
+v -0.02136319 0.01673428 0.01312073
+v -0.02254068 0.01730311 0.01248313
+v -0.02254068 0.03389766 -0.00622119
+v -0.02136319 0.03489580 -0.00792665
+v -0.02136319 0.01689348 0.01309398
+v -0.02254068 0.01779860 0.01240511
+v -0.02254068 0.03388871 -0.00614093
+v -0.02136319 0.03461854 -0.00595143
+v -0.02136319 0.01698113 0.01307837
+v -0.02136319 0.01946933 0.01261690
+v -0.02254068 0.01969114 0.01171178
+v -0.02254068 0.03386546 -0.00598264
+v -0.02136319 0.03397457 -0.00302874
+v -0.02136319 0.01968756 0.01253664
+v -0.02136319 0.02192890 0.01170286
+v -0.02254068 0.02056406 0.01138629
+v -0.02254068 0.03369910 -0.00523135
+v -0.02224204 0.03340216 -0.00302874
+v -0.02136319 0.03365617 -0.00190515
+v -0.02136319 0.02194500 0.01169617
+v -0.02254068 0.02060520 0.01137068
+v -0.02254068 0.03331093 -0.00386921
+v -0.02254068 0.03303188 -0.00301091
+v -0.02254068 0.03265803 -0.00202553
+v -0.02193914 0.03310165 -0.00127424
+v -0.02254068 0.03320540 -0.00349914
+v -0.02136319 0.03334313 -0.00086850
+v -0.02136319 0.02245480 0.01138406
+v -0.02254068 0.02180369 0.01067067
+v -0.02254068 0.03256859 -0.00179368
+v -0.02254068 0.03239329 -0.00138794
+v -0.02254068 0.03199976 -0.00047836
+v -0.02144779 0.03266876 0.00069874
+v -0.02136319 0.03269380 0.00078569
+v -0.02136319 0.02542240 0.00947127
+v -0.02254068 0.02408796 0.00925502
+v -0.02254068 0.03178510 -0.00005701
+v -0.02254068 0.03115545 0.00115353
+v -0.02227178 0.03057052 0.00288129
+v -0.02136319 0.03149174 0.00288129
+v -0.02136319 0.03258648 0.00098856
+v -0.02136319 0.03267949 0.00081467
+v -0.02136319 0.02545102 0.00944898
+v -0.02136319 0.02694286 0.00828525
+v -0.02254068 0.02561201 0.00801773
+v -0.02254068 0.03044530 0.00250230
+v -0.02254068 0.03022707 0.00290358
+v -0.02254068 0.02969759 0.00373290
+v -0.02186272 0.03008576 0.00442400
+v -0.02136319 0.03101950 0.00369054
+v -0.02136319 0.02754032 0.00777696
+v -0.02190122 0.02719508 0.00743141
+v -0.02254068 0.02677293 0.00703012
+v -0.02254068 0.02956522 0.00393800
+v -0.02136319 0.03038806 0.00468261
+v -0.02254068 0.02806980 0.00563231
+v -0.02254068 0.02707344 0.00670687
+v -0.02136319 0.02901428 0.00624762
+v -0.02136319 0.02859212 0.00669572
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 23
+f 1 23 28
+f 1 28 36
+f 1 36 43
+f 1 43 52
+f 1 52 60
+f 1 60 64
+f 1 64 63
+f 1 63 61
+f 1 61 55
+f 1 55 54
+f 1 54 53
+f 1 53 45
+f 1 45 44
+f 1 44 39
+f 1 39 38
+f 1 38 37
+f 1 37 31
+f 1 31 30
+f 1 30 33
+f 1 33 29
+f 1 29 24
+f 1 24 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 26
+f 3 26 34
+f 3 34 41
+f 3 41 49
+f 3 49 48
+f 3 48 47
+f 3 47 57
+f 3 57 62
+f 3 62 65
+f 3 65 66
+f 3 66 58
+f 3 58 51
+f 3 51 50
+f 3 50 42
+f 3 42 35
+f 3 35 27
+f 3 27 22
+f 3 22 21
+f 3 21 17
+f 3 17 16
+f 3 16 12
+f 3 12 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 15
+f 15 19 20
+f 17 21 18
+f 18 22 23
+f 18 21 22
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 25 29 33
+f 25 33 30
+f 26 32 34
+f 27 35 36
+f 27 36 28
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 34
+f 35 42 43
+f 35 43 36
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 45 53 46
+f 46 53 54
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 51 58 59
+f 51 59 52
+f 52 59 60
+f 55 61 56
+f 56 62 57
+f 56 61 63
+f 56 63 64
+f 56 64 60
+f 56 60 65
+f 56 65 62
+f 58 66 59
+f 59 66 60
+f 60 66 65
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_268.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac87784697c38df42fc6c9f6c169cc25401a292d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_268.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01870789 0.03680587 0.02064769
+v 0.01870789 0.03615389 0.02064769
+v 0.01870789 0.03709151 0.02063865
+v 0.01642082 0.03709151 0.02064769
+v 0.01642082 0.03615490 0.02064769
+v 0.01642082 0.03615158 0.02064317
+v 0.01870789 0.03615158 0.02063865
+v 0.01870789 0.03709151 -0.02551629
+v 0.01642082 0.03709151 -0.02550272
+v 0.01642082 0.03615158 -0.02548462
+v 0.01870789 0.03615158 -0.02549819
+v 0.01870789 0.03706897 -0.02551629
+v 0.01797404 0.03709151 -0.02556152
+v 0.01677521 0.03615158 -0.02549819
+v 0.01804680 0.03615158 -0.02554342
+f 1 2 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 6 10 14
+f 6 14 15
+f 6 15 11
+f 6 11 7
+f 8 12 13
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_269.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14122e9bebd45b2937a3b7b64b1f36c1359a1251
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_269.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02861873 0.04094292 0.02005950
+v 0.02861804 0.04094292 0.02062194
+v 0.02859858 0.04038237 0.02062194
+v 0.02861178 0.04074555 -0.00341368
+v 0.02861873 0.04094292 -0.00341368
+v 0.02856383 0.04094292 0.02295959
+v 0.02859719 0.04034390 0.02066295
+v 0.02859719 0.04034390 -0.00007125
+v 0.02859858 0.04038237 -0.00341368
+v 0.02151908 0.04094292 -0.00341368
+v 0.02856313 0.04094292 0.02297424
+v 0.02852908 0.04034390 0.02356305
+v 0.02859649 0.04034390 -0.00302993
+v 0.02859719 0.04034895 -0.00341368
+v 0.02151908 0.04094292 0.02581282
+v 0.02151908 0.04034390 -0.00341368
+v 0.02856174 0.04094292 0.02299767
+v 0.02853603 0.04094292 0.02340193
+v 0.02852699 0.04034390 0.02359234
+v 0.02676442 0.04034390 -0.00341368
+v 0.02151908 0.04060360 0.02605888
+v 0.02401143 0.04094292 0.02607939
+v 0.02151908 0.04034390 0.02624051
+v 0.02826983 0.04094292 0.02429539
+v 0.02850962 0.04034390 0.02365093
+v 0.02401143 0.04034390 0.02651294
+v 0.02471966 0.04094292 0.02607646
+v 0.02782085 0.04094292 0.02496036
+v 0.02713625 0.04034390 0.02568099
+v 0.02706605 0.04034390 0.02572200
+v 0.02676511 0.04094292 0.02555503
+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 27
+f 1 27 31
+f 1 31 28
+f 1 28 24
+f 1 24 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 9 14
+f 4 14 20
+f 4 20 16
+f 4 16 10
+f 4 10 5
+f 4 7 8
+f 6 11 12
+f 6 12 7
+f 7 12 19
+f 7 19 25
+f 7 25 29
+f 7 29 30
+f 7 30 26
+f 7 26 23
+f 7 23 16
+f 7 16 20
+f 7 20 13
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 10 16 23
+f 10 23 21
+f 10 21 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 15 21 22
+f 18 24 25
+f 18 25 19
+f 21 23 26
+f 21 26 22
+f 22 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 31 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_27.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca681515407b1fd4107353b52e48770fdf76a488
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00489212 0.02172144 -0.02378921
+v 0.00489212 0.02264308 -0.02389293
+v 0.00627157 0.02264308 -0.02384626
+v 0.00546557 0.02172144 -0.02376847
+v 0.00489212 0.02172144 0.02598930
+v 0.00489212 0.02854929 -0.02433372
+v 0.00489239 0.03145745 -0.02485230
+v 0.00767391 0.02264308 -0.02372698
+v 0.00627157 0.02172144 -0.02373735
+v 0.00767391 0.02172144 0.02812584
+v 0.00767391 0.02407345 0.02794434
+v 0.00767391 0.02424040 0.02789248
+v 0.00767391 0.02587327 0.02735835
+v 0.00489212 0.02752294 0.02401869
+v 0.00489212 0.02854929 0.02347937
+v 0.00634346 0.03181208 -0.02474859
+v 0.00489239 0.03145745 0.02203771
+v 0.00767391 0.02172144 -0.02357659
+v 0.00767391 0.03010610 -0.02444781
+v 0.00767391 0.02707842 0.02694867
+v 0.00489239 0.02987693 0.02305413
+v 0.00767391 0.02854929 0.02637823
+v 0.00760148 0.03181208 -0.02460338
+v 0.00634346 0.03181208 0.02347418
+v 0.00650984 0.03181208 0.02367643
+v 0.00767391 0.03181208 -0.02459301
+v 0.00767391 0.03181208 0.02499881
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 10
+f 1 10 5
+f 1 5 14
+f 1 14 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 17
+f 6 17 7
+f 7 16 8
+f 7 17 24
+f 7 24 16
+f 8 18 9
+f 8 16 19
+f 8 19 26
+f 8 26 27
+f 8 27 22
+f 8 22 20
+f 8 20 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 18
+f 13 20 14
+f 14 21 15
+f 14 20 22
+f 14 22 21
+f 15 21 17
+f 16 23 19
+f 16 24 25
+f 16 25 27
+f 16 27 26
+f 16 26 23
+f 17 21 25
+f 17 25 24
+f 19 23 26
+f 21 22 27
+f 21 27 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_270.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea48207065809b0fc095c19f228b25e43908c83
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_270.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02105437 0.00128356 -0.02043839
+v 0.02105527 0.00194513 -0.02036112
+v 0.02105527 0.00128356 -0.02009364
+v 0.01951814 0.00128356 -0.02040273
+v 0.01951814 0.00347769 -0.02028979
+v 0.01952296 0.00347769 -0.02028979
+v 0.02105437 0.00347769 -0.02020063
+v 0.02105527 0.00347705 -0.02020063
+v 0.02105527 0.00128356 0.04028648
+v 0.01951814 0.00128356 0.04007844
+v 0.01951814 0.00347769 0.03937704
+v 0.02105527 0.00347769 -0.01892265
+v 0.02105527 0.00212770 0.04014977
+v 0.02093940 0.00213479 0.04014383
+v 0.02097055 0.00128356 0.04028054
+v 0.01951814 0.00149062 0.04004872
+v 0.01951814 0.00302448 0.03972774
+v 0.01987748 0.00324571 0.03979907
+v 0.02004331 0.00347769 0.03972179
+v 0.02105527 0.00347769 0.03860430
+v 0.02105527 0.00232532 0.04011410
+v 0.02105527 0.00339113 0.03989417
+v 0.01951814 0.00239856 0.03988823
+v 0.02105527 0.00347512 0.03987634
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 12
+f 2 12 20
+f 2 20 24
+f 2 24 22
+f 2 22 21
+f 2 21 13
+f 2 13 9
+f 2 9 3
+f 4 10 16
+f 4 16 23
+f 4 23 17
+f 4 17 11
+f 4 11 5
+f 5 11 19
+f 5 19 20
+f 5 20 12
+f 5 12 7
+f 5 7 6
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 13 21 14
+f 14 16 15
+f 14 21 22
+f 14 22 18
+f 14 18 16
+f 16 18 23
+f 17 23 18
+f 18 22 24
+f 18 24 19
+f 19 24 20
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_271.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f54ae3718fb6e1400b4c2213a6489161e01225eb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_271.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00767391 0.04451800 -0.02496131
+v 0.00634375 0.04451800 -0.02422358
+v 0.00634375 0.04614873 -0.02344462
+v 0.00767391 0.04497816 -0.02473876
+v 0.00767391 0.04451800 0.01714334
+v 0.00634375 0.04451800 0.01550712
+v 0.00634375 0.04620714 -0.02341577
+v 0.00634375 0.04664070 -0.02319322
+v 0.00714666 0.04841437 -0.02269452
+v 0.00767391 0.04782125 -0.02322619
+v 0.00767391 0.04526925 0.01661167
+v 0.00749486 0.04518805 0.01652100
+v 0.00733626 0.04451800 0.01685896
+v 0.00658140 0.04451800 0.01585745
+v 0.00634375 0.04581062 0.01419651
+v 0.00634375 0.04920314 -0.02126850
+v 0.00634375 0.04929907 -0.02116135
+v 0.00634375 0.04936888 -0.02108304
+v 0.00766740 0.04936888 -0.02194442
+v 0.00767391 0.04864184 -0.02277695
+v 0.00767391 0.04562589 0.01629844
+v 0.00703702 0.04451800 0.01646330
+v 0.00692048 0.04622233 0.01460041
+v 0.00755046 0.04799315 0.01354532
+v 0.00634375 0.04713695 0.01267569
+v 0.00634375 0.04936888 0.00972474
+v 0.00767391 0.04936888 -0.02194854
+v 0.00767391 0.04673378 0.01509910
+v 0.00767391 0.04804207 0.01361950
+v 0.00767391 0.04819450 0.01340931
+v 0.00725058 0.04936888 0.01124968
+v 0.00634375 0.04832177 0.01118785
+v 0.00644168 0.04936888 0.00988960
+v 0.00767391 0.04936888 0.01168243
+v 0.00723065 0.04936888 0.01121670
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 27
+f 1 27 34
+f 1 34 30
+f 1 30 29
+f 1 29 28
+f 1 28 21
+f 1 21 11
+f 1 11 5
+f 1 5 13
+f 1 13 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 25
+f 2 25 32
+f 2 32 26
+f 2 26 18
+f 2 18 17
+f 2 17 16
+f 2 16 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 12
+f 12 14 22
+f 12 22 13
+f 12 21 23
+f 12 23 15
+f 12 15 14
+f 15 23 24
+f 15 24 25
+f 18 26 33
+f 18 33 35
+f 18 35 31
+f 18 31 34
+f 18 34 27
+f 18 27 19
+f 19 27 20
+f 21 28 23
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 26 32 33
+f 30 34 31
+f 31 35 32
+f 32 35 33
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_272.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8a79b34dce2a74d63a226908d2c539a3c8513f
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_272.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.02172144 0.03306650
+v 0.01225400 0.02172144 0.03299588
+v 0.01236780 0.02172144 0.02961511
+v 0.01236780 0.02332497 0.03266946
+v 0.01218451 0.02559960 0.03205278
+v 0.01177082 0.02559960 0.03188450
+v 0.01177082 0.02247867 0.03247043
+v 0.01177082 0.02220250 0.03250828
+v 0.01177082 0.02172144 0.03257417
+v 0.01236780 0.03183257 0.02961511
+v 0.01177082 0.02172144 0.02961511
+v 0.01236780 0.02559960 0.03209941
+v 0.01177082 0.02809398 0.03127187
+v 0.01235728 0.03182762 0.02961511
+v 0.01236780 0.03171676 0.02968066
+v 0.01177082 0.03110207 0.02961511
+v 0.01236780 0.02841171 0.03132864
+v 0.01236780 0.02966682 0.03072108
+v 0.01236780 0.03119215 0.02996417
+v 0.01177082 0.02980044 0.03038081
+v 0.01224833 0.03170191 0.02961511
+v 0.01193319 0.03133765 0.02961511
+f 1 2 9
+f 1 9 11
+f 1 11 3
+f 1 3 10
+f 1 10 15
+f 1 15 19
+f 1 19 18
+f 1 18 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 6 7
+f 3 11 16
+f 3 16 22
+f 3 22 21
+f 3 21 14
+f 3 14 10
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 20
+f 6 20 16
+f 6 16 11
+f 6 11 9
+f 6 9 8
+f 6 8 7
+f 10 14 15
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 14 21 20
+f 14 20 19
+f 14 19 15
+f 16 20 22
+f 20 21 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_273.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fcec2315958176029811a72ea859124a40829ac
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_273.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.03500670 0.01971518 0.00001443
+v -0.03500670 0.01971518 -0.02089256
+v -0.03590386 0.01971518 0.00001443
+v -0.03500670 -0.01110151 0.00001443
+v -0.03500670 0.01953721 -0.02108065
+v -0.03516407 0.01971518 -0.02081439
+v -0.03590386 0.01971518 -0.02013532
+v -0.03590386 -0.01110151 0.00001443
+v -0.03500670 -0.01110151 -0.02412913
+v -0.03500670 0.01687363 -0.02278076
+v -0.03590386 0.01726577 -0.02214566
+v -0.03590386 0.01803197 -0.02165224
+v -0.03590386 0.01942560 -0.02052371
+v -0.03590386 -0.01110151 -0.02392882
+v -0.03500670 -0.00408208 -0.02461033
+v -0.03512174 -0.01110151 -0.02410958
+v -0.03590386 -0.00396444 -0.02448576
+v -0.03512174 -0.00396444 -0.02460545
+v -0.03500670 0.01659309 -0.02287602
+v -0.03514528 0.01658706 -0.02282961
+v -0.03590386 0.01610442 -0.02260733
+v -0.03590386 -0.00613633 -0.02431721
+v -0.03500670 -0.00112892 -0.02475201
+v -0.03590386 -0.00318015 -0.02452728
+v -0.03590386 -0.00100826 -0.02463476
+v -0.03512174 -0.00100826 -0.02474713
+v -0.03500670 0.01377265 -0.02381646
+v -0.03512174 0.01377265 -0.02378226
+v -0.03590386 0.01373344 -0.02346471
+v -0.03500670 0.00052111 -0.02483018
+v -0.03590386 0.00208065 -0.02469094
+v -0.03500670 0.00479551 -0.02494010
+v -0.03500670 0.00213797 -0.02489124
+v -0.03500670 0.01081949 -0.02449797
+v -0.03512174 0.01081647 -0.02447354
+v -0.03590386 0.01081647 -0.02419019
+v -0.03590386 0.00482568 -0.02470560
+v -0.03500670 0.00636712 -0.02488391
+v -0.03500670 0.00785426 -0.02481796
+v -0.03512174 0.00868380 -0.02471048
+v -0.03590386 0.00785426 -0.02455904
+v -0.03512174 0.00785426 -0.02479842
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 30
+f 1 30 33
+f 1 33 32
+f 1 32 38
+f 1 38 39
+f 1 39 34
+f 1 34 27
+f 1 27 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 12
+f 3 12 11
+f 3 11 21
+f 3 21 29
+f 3 29 36
+f 3 36 41
+f 3 41 37
+f 3 37 31
+f 3 31 25
+f 3 25 24
+f 3 24 17
+f 3 17 22
+f 3 22 14
+f 3 14 8
+f 4 8 14
+f 4 14 16
+f 4 16 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 14 22 16
+f 15 18 23
+f 16 22 17
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 23
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 23 26 30
+f 25 31 32
+f 25 32 33
+f 25 33 30
+f 25 30 26
+f 27 34 35
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 31 37 32
+f 32 37 38
+f 34 39 40
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 37 41 42
+f 37 42 38
+f 38 42 39
+f 39 42 40
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_274.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb19fbcc74ae9e03d02421c1f19092e4e66386c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_274.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00691015 0.01877073 -0.02454233
+v -0.00691015 0.02106539 -0.02484072
+v -0.00555541 0.01877073 -0.02446182
+v -0.00691015 0.01877073 0.02258831
+v -0.00691015 0.02241586 -0.02501122
+v -0.00549559 0.01877073 -0.02445708
+v -0.00691015 0.02252862 -0.02502543
+v -0.00549559 0.02258204 -0.02493544
+v -0.00563573 0.01877073 0.02315192
+v -0.00691015 0.01911334 0.02249832
+v -0.00549559 0.01877073 0.02319455
+v -0.00691015 0.02400534 -0.02516752
+v -0.00691015 0.02428266 -0.02519120
+v -0.00549559 0.02264246 -0.02494018
+v -0.00691015 0.01920668 0.02246990
+v -0.00549559 0.02000520 0.02277302
+v -0.00674398 0.02090353 0.02200575
+v -0.00691015 0.02044438 0.02208626
+v -0.00549559 0.02428266 -0.02505385
+v -0.00691015 0.02428266 0.01918293
+v -0.00549559 0.02144685 0.02219993
+v -0.00691015 0.02079994 0.02195838
+v -0.00549559 0.02280756 0.02161264
+v -0.00691015 0.02267753 0.02108691
+v -0.00549559 0.02428266 0.01970866
+v -0.00691015 0.02428104 0.02016807
+v -0.00690891 0.02428266 0.02016807
+v -0.00549725 0.02428266 0.02075537
+v -0.00669676 0.02428266 0.02025806
+v -0.00549559 0.02289065 0.02155580
+v -0.00691015 0.02402530 0.02031490
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 18
+f 1 18 22
+f 1 22 24
+f 1 24 31
+f 1 31 26
+f 1 26 20
+f 1 20 13
+f 1 13 12
+f 1 12 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 6 8 14
+f 6 14 19
+f 6 19 25
+f 6 25 30
+f 6 30 23
+f 6 23 21
+f 6 21 16
+f 6 16 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 10
+f 9 11 16
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 13 19 14
+f 13 20 27
+f 13 27 29
+f 13 29 28
+f 13 28 25
+f 13 25 19
+f 16 21 17
+f 17 22 18
+f 17 21 23
+f 17 23 24
+f 17 24 22
+f 20 26 27
+f 23 28 29
+f 23 29 27
+f 23 27 24
+f 23 30 28
+f 24 27 31
+f 25 28 30
+f 26 31 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_275.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b653c9f04eea04ac718f3207ea10db1c9efb5ae0
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_275.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01984957 -0.02260641 -0.02513297
+v -0.02136335 -0.02260641 -0.02489377
+v -0.02259871 -0.02230059 -0.02475997
+v -0.01984957 -0.02245598 -0.02515324
+v -0.01984957 -0.02260641 0.01281546
+v -0.02329273 -0.02230059 -0.02460591
+v -0.02136335 -0.02260641 0.01231273
+v -0.02329273 -0.02170832 -0.02473159
+v -0.02136368 -0.01875145 -0.02515324
+v -0.02100302 -0.01875100 -0.02517757
+v -0.01984957 -0.02061385 -0.02519784
+v -0.02329273 -0.01875325 -0.02500323
+v -0.01984957 -0.02118315 0.01411690
+v -0.02033866 -0.02112055 0.01409663
+v -0.02033866 -0.02260641 0.01271411
+v -0.02329273 -0.02230059 0.01178567
+v -0.02136368 -0.02089895 0.01389797
+v -0.02239815 -0.02067600 0.01369120
+v -0.02136503 -0.01828393 -0.02514919
+v -0.02329273 -0.01828393 -0.02500323
+v -0.01998844 -0.01800514 -0.02518973
+v -0.01984957 -0.01875100 -0.02521406
+v -0.02084156 -0.01800514 -0.02516135
+v -0.01984957 -0.01909826 0.01560483
+v -0.02033866 -0.01916627 0.01557240
+v -0.02329273 -0.02162049 0.01230056
+v -0.02285184 -0.01828393 0.01497642
+v -0.02313599 -0.01855507 0.01460342
+v -0.02329273 -0.01870461 0.01439259
+v -0.02136335 -0.01800514 -0.02513702
+v -0.02124841 -0.01800514 -0.02514513
+v -0.02329273 -0.01828393 0.01462774
+v -0.01984957 -0.01800514 -0.02519379
+v -0.01984957 -0.01886270 0.01574268
+v -0.01984957 -0.01800514 0.01620488
+v -0.02033866 -0.01800514 0.01619677
+v -0.02136335 -0.01800604 0.01571836
+v -0.02136301 -0.01800514 0.01571836
+v -0.02329273 -0.01849472 0.01452233
+v -0.02329273 -0.01857489 0.01447368
+v -0.02136335 -0.01800514 0.01513453
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 33
+f 1 33 35
+f 1 35 34
+f 1 34 24
+f 1 24 13
+f 1 13 5
+f 1 5 15
+f 1 15 7
+f 1 7 2
+f 2 6 3
+f 2 7 16
+f 2 16 6
+f 3 6 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 8 12
+f 4 12 9
+f 5 13 14
+f 5 14 15
+f 6 16 26
+f 6 26 29
+f 6 29 40
+f 6 40 39
+f 6 39 32
+f 6 32 20
+f 6 20 12
+f 6 12 8
+f 7 15 14
+f 7 14 17
+f 7 17 18
+f 7 18 16
+f 9 19 10
+f 9 12 20
+f 9 20 19
+f 10 21 22
+f 10 22 11
+f 10 19 23
+f 10 23 21
+f 13 24 25
+f 13 25 14
+f 14 25 17
+f 16 18 26
+f 17 25 18
+f 18 25 27
+f 18 27 28
+f 18 28 29
+f 18 29 26
+f 19 30 31
+f 19 31 23
+f 19 20 30
+f 20 32 41
+f 20 41 30
+f 21 33 22
+f 21 23 31
+f 21 31 30
+f 21 30 41
+f 21 41 38
+f 21 38 36
+f 21 36 35
+f 21 35 33
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 32
+f 27 32 39
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 32 38 41
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_276.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa3987499d16c35e22a90a20dac6805fe5dfd5d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_276.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.02636983 -0.01995098 0.03540096
+v 0.02008335 -0.01995080 0.03797115
+v 0.02620431 -0.01995098 0.03629869
+v 0.02628861 -0.02181462 0.03547475
+v 0.02630609 -0.02170679 0.03540096
+v 0.02636983 -0.01995098 -0.01780448
+v 0.01848475 -0.01995080 0.03735013
+v 0.02105485 -0.01995098 0.03838927
+v 0.02281075 -0.01995098 0.03861678
+v 0.02401047 -0.01995098 0.03874590
+v 0.02516291 -0.01995098 0.03811872
+v 0.02592983 -0.01995098 0.03770061
+v 0.02008335 -0.01995080 -0.02356589
+v 0.02589693 -0.02170679 0.03760838
+v 0.02589487 -0.02181462 0.03760223
+v 0.02630095 -0.02181462 0.03540096
+v 0.02630198 -0.02181462 0.03254793
+v 0.02630609 -0.02170679 -0.01780448
+v 0.02630095 -0.02170679 -0.02076205
+v 0.02630506 -0.01995098 -0.02076205
+v 0.01700642 -0.01995080 0.03667991
+v 0.01865335 -0.02170679 0.03730094
+v 0.02008438 -0.02170679 0.03791582
+v 0.02105485 -0.02170679 0.03832779
+v 0.02401047 -0.02170679 0.03863522
+v 0.02586403 -0.01995098 -0.02268662
+v 0.02401047 -0.01995098 -0.02327690
+v 0.01809821 -0.01995080 -0.02372576
+v 0.02401047 -0.02181462 0.03861678
+v 0.02630198 -0.02181462 0.00878902
+v 0.02630095 -0.02181462 -0.01780448
+v 0.02629684 -0.02181462 -0.02076205
+v 0.02589076 -0.02181462 -0.02275426
+v 0.02589281 -0.02170679 -0.02275426
+v 0.01586839 -0.01995080 0.03589901
+v 0.01710717 -0.02181462 0.03653849
+v 0.01719250 -0.02181462 0.03659383
+v 0.01861634 -0.02181462 0.03727020
+v 0.02008438 -0.02175057 0.03790967
+v 0.02098495 -0.02181462 0.03828474
+v 0.02105485 -0.02181462 0.03830934
+v 0.02401047 -0.02181462 -0.02345522
+v 0.02105485 -0.02181462 -0.02382414
+v 0.02008438 -0.02181462 -0.02391023
+v 0.01809821 -0.02170679 -0.02406395
+v 0.02105485 -0.01995098 -0.02351055
+v 0.01809821 -0.02071275 -0.02387333
+v 0.01710512 -0.02071275 -0.02392867
+v 0.01634231 -0.01995080 -0.02381800
+v 0.01586839 -0.02176846 0.03566536
+v 0.01586839 -0.01995080 -0.02381800
+v 0.01586839 -0.02181462 0.03565921
+v 0.01820615 -0.02181462 -0.02407010
+v 0.01809821 -0.02181462 -0.02407010
+v 0.01586839 -0.02173324 -0.02406395
+v 0.01586839 -0.02071275 -0.02392867
+v 0.01586839 -0.02181462 -0.02406395
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 6
+f 1 6 13
+f 1 13 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 13 28
+f 2 28 49
+f 2 49 51
+f 2 51 35
+f 2 35 21
+f 2 21 7
+f 3 12 14
+f 3 14 15
+f 3 15 4
+f 4 15 29
+f 4 29 41
+f 4 41 40
+f 4 40 38
+f 4 38 37
+f 4 37 36
+f 4 36 52
+f 4 52 57
+f 4 57 54
+f 4 54 53
+f 4 53 44
+f 4 44 43
+f 4 43 42
+f 4 42 33
+f 4 33 32
+f 4 32 31
+f 4 31 30
+f 4 30 17
+f 4 17 16
+f 4 16 5
+f 5 16 17
+f 5 17 30
+f 5 30 18
+f 6 18 19
+f 6 19 20
+f 6 20 13
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 24 10
+f 10 24 25
+f 10 25 11
+f 11 25 14
+f 11 14 12
+f 13 20 26
+f 13 26 27
+f 13 27 28
+f 14 25 15
+f 15 25 29
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 26
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 39 40
+f 23 40 24
+f 23 38 39
+f 24 40 41
+f 24 41 29
+f 24 29 25
+f 26 34 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 47 48
+f 28 48 49
+f 28 46 47
+f 33 42 34
+f 35 50 36
+f 35 51 56
+f 35 56 55
+f 35 55 57
+f 35 57 52
+f 35 52 50
+f 36 50 52
+f 38 40 39
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 48
+f 45 48 47
+f 45 47 46
+f 48 56 51
+f 48 51 49
+f 54 57 55
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_277.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6774a5676f031ed536446822e032381bf331e0e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_277.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.00563574 0.03233873 -0.02434142
+v -0.00549545 0.03233873 -0.02432192
+v -0.00805016 0.03233873 -0.02415035
+v -0.00555546 0.03446957 -0.02357326
+v -0.00549545 0.03446957 -0.02357716
+v -0.00549545 0.03233873 0.01314617
+v -0.00805016 0.03467720 -0.02312095
+v -0.00805016 0.03233873 0.01455381
+v -0.00553046 0.03532793 -0.02317943
+v -0.00549545 0.03657140 -0.02260624
+v -0.00549545 0.03409026 0.01410929
+v -0.00549870 0.03233873 0.01549353
+v -0.00805016 0.03532793 -0.02280121
+v -0.00555546 0.03656096 -0.02260235
+v -0.00805016 0.03324582 0.01391823
+v -0.00549545 0.03805034 -0.02159633
+v -0.00549545 0.03769308 0.01127452
+v -0.00656700 0.03877648 0.01013203
+v -0.00790062 0.03360076 0.01371546
+v -0.00805016 0.03587891 -0.02252436
+v -0.00785610 0.03621530 -0.02238788
+v -0.00805016 0.03646005 -0.02218512
+v -0.00805016 0.03744833 -0.02151055
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_278.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1fe0140e8616a8b9bf5183b24d244df5b8f6cf
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_278.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
+v 0.01449956 0.04753967 -0.02427203
+v 0.01335817 0.04753967 -0.02422619
+v 0.01236806 0.04786947 -0.02417202
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+v 0.01236806 0.04925353 -0.02357190
+v 0.01335796 0.04925353 -0.02363858
+v 0.01236806 0.04786947 0.01740651
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+v 0.01449956 0.04861016 0.01715646
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+v 0.01236806 0.04842526 0.01688558
+v 0.01340658 0.04753967 0.01793994
+v 0.01236806 0.05106363 -0.02250921
+v 0.01335796 0.05117501 -0.02256755
+v 0.01449956 0.05130368 -0.02262589
+v 0.01449956 0.04976607 0.01568536
+v 0.01335796 0.04909783 0.01627296
+v 0.01236806 0.04851717 0.01676889
+v 0.01236806 0.05254177 -0.02109645
+v 0.01335796 0.05265314 -0.02123814
+v 0.01449956 0.05278182 -0.02140067
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+v 0.01335796 0.05008073 0.01493938
+v 0.01236806 0.05004721 0.01469767
+v 0.01236806 0.05396152 -0.01961701
+v 0.01335796 0.05408479 -0.01976287
+v 0.01449956 0.05422860 -0.01992123
+v 0.01335796 0.05279587 -0.02109228
+v 0.01449956 0.05093063 0.01407256
+v 0.01335796 0.05054244 0.01428926
+v 0.01335796 0.05077060 0.01396420
+v 0.01236806 0.05046135 0.01410590
+v 0.01236806 0.05517474 -0.01780000
+v 0.01335796 0.05543209 -0.01776666
+v 0.01449956 0.05570674 -0.01775416
+v 0.01449956 0.05102687 0.01393503
+v 0.01335796 0.05100308 0.01362664
+v 0.01281586 0.05094469 0.01354746
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+v 0.01236806 0.05632416 -0.01560376
+v 0.01335796 0.05616413 -0.01636640
+v 0.01449956 0.05598139 -0.01723740
+v 0.01449956 0.05572836 -0.01772082
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+v 0.01449956 0.05626253 -0.01667896
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+v 0.01449956 0.05705080 -0.01477028
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+v 0.01449956 0.05575215 0.00615443
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+v 0.01335796 0.05572188 0.00579186
+v 0.01236806 0.05550670 0.00582520
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+v 0.01449956 0.05778608 -0.01189474
+v 0.01449956 0.05706053 -0.01473694
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+v 0.01449956 0.05665504 0.00436660
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+v 0.01236806 0.05787583 -0.00894003
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+v 0.01449956 0.05835268 -0.00893586
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+v 0.01335796 0.05832781 -0.00598115
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+v 0.01335796 0.05825537 -0.00419749
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_279.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502dc0ba6111614d36c46faf434347d336f1f5d8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_279.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01038444 0.02873479 -0.02419313
+v 0.00908218 0.03026280 -0.02429945
+v 0.01047733 0.03026280 -0.02430477
+v 0.01051998 0.02873479 -0.02419313
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+v 0.00908218 0.03026280 0.02751365
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+v 0.01051998 0.02873479 0.02999638
+v 0.00908218 0.02873479 0.02830578
+v 0.00921686 0.02873479 0.02850780
+v 0.00982036 0.02873479 0.02941158
+v 0.01006018 0.03026280 0.02890121
+v 0.01051998 0.03026280 0.02918829
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+f 2 14 8
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+f 7 11 12
+f 7 12 13
+f 9 14 13
+f 9 13 12
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_28.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6674eb7816d636374c3e458a56f2d3b35fcf9b54
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01449973 0.02172046 -0.02280723
+v 0.01449973 0.02190259 -0.02285158
+v 0.01514576 0.02172046 -0.02274254
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+v 0.01514576 0.02792223 -0.01463411
+v 0.01449973 0.02792223 -0.02407515
+v 0.01496575 0.02792223 -0.02407330
+v 0.01514576 0.02792223 -0.02356318
+f 1 2 3
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+f 5 12 6
+f 6 12 7
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+f 9 11 15
+f 9 15 14
+f 10 14 15
+f 10 15 11
+f 11 16 12
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_280.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4507e09097084a6db9de277fe3982ad7c138c577
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_280.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.03022893 0.02808421 -0.00399347
+v -0.03022893 0.02820463 -0.00468065
+v -0.03076517 0.02792940 -0.00399347
+v -0.03022893 -0.02958837 -0.00399347
+v -0.03022893 0.02833651 -0.00598695
+v -0.03109854 0.02799247 -0.00598695
+v -0.03109599 0.02779751 -0.00399347
+v -0.03060700 -0.02934755 -0.00399347
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+v -0.03109854 0.02745921 -0.00399347
+v -0.03080263 -0.02919273 -0.00399347
+v -0.03083983 -0.02922713 -0.00415295
+v -0.03109854 -0.02938768 -0.00716619
+v -0.03109854 -0.02945076 -0.00884590
+v -0.03022893 -0.03005283 -0.00753053
+v -0.03109854 -0.02934181 -0.00598695
+v -0.03022893 0.02850853 -0.00894314
+v -0.03109854 0.02806701 -0.00722064
+v -0.03109854 -0.02875694 -0.00399347
+v -0.03102439 -0.02899204 -0.00399347
+v -0.03109854 -0.02945076 -0.00894314
+v -0.03022893 -0.03007003 -0.00894314
+v -0.03109718 -0.02891176 -0.00399347
+v -0.03022893 0.02835371 -0.01061637
+v -0.03109854 0.02803261 -0.00960116
+v -0.03109854 0.02808995 -0.00894314
+v -0.03109854 -0.02943929 -0.00906437
+v -0.03022893 -0.02987508 -0.01061637
+v -0.03109854 -0.02927301 -0.01061637
+v -0.03030547 -0.02982347 -0.01061637
+v -0.03026401 0.02833651 -0.01061637
+v -0.03109854 0.02792366 -0.01061637
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+f 9 14 18
+f 9 18 15
+f 10 19 20
+f 10 20 11
+f 13 22 14
+f 14 22 18
+f 16 23 24
+f 16 24 17
+f 18 22 25
+f 18 25 21
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 23 29 24
+f 24 29 31
+f 24 31 32
+f 24 32 30
+f 26 33 27
+f 26 30 32
+f 26 32 31
+f 26 31 34
+f 26 34 33
+f 27 33 34
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_281.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6844e8a6eedf4eff5c93cb66a71831ae19c7883
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_281.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00553105 -0.02441744 0.02391161
+v 0.00311011 -0.02441744 0.02421254
+v 0.00553105 -0.02460574 0.02383395
+v 0.00553105 -0.02441744 -0.02429527
+v 0.00059650 -0.02441744 0.02395529
+v 0.00309570 -0.02705980 0.02288263
+v 0.00553105 -0.02705980 0.02272246
+v 0.00553105 -0.02466367 -0.02433895
+v -0.00061757 -0.02533513 -0.02528542
+v 0.00036275 -0.02441744 -0.02497479
+v -0.00165246 -0.02441744 0.02276614
+v -0.00116333 -0.02619695 0.02212060
+v 0.00061401 -0.02705980 0.02260111
+v 0.00553105 -0.02705980 -0.02470298
+v 0.00178277 -0.02705980 -0.02518835
+v 0.00015577 -0.02705980 -0.02537279
+v -0.00148462 -0.02533513 -0.02528542
+v -0.00259262 -0.02441744 -0.02498449
+v 0.00310805 -0.02705980 -0.02503303
+v -0.00188210 -0.02441744 0.02263024
+v -0.00181928 -0.02466367 0.02254772
+v 0.00015989 -0.02705980 0.02236328
+v -0.00329800 -0.02466367 0.02159640
+v -0.00204686 -0.02705980 0.02107220
+v -0.00002752 -0.02705980 -0.02537279
+v -0.00166585 -0.02705980 -0.02530969
+v -0.00498884 -0.02441744 -0.02494081
+v -0.00309411 -0.02441744 -0.02497964
+v -0.00340200 -0.02441744 0.02166435
+v -0.00309411 -0.02462850 0.02174686
+v -0.00309411 -0.02705980 0.02037327
+v -0.00258953 -0.02705980 0.02071788
+v -0.00456973 -0.02677451 0.01951902
+v -0.00498884 -0.02543884 -0.02496022
+v -0.00498884 -0.02705980 -0.02483888
+v -0.00498884 -0.02441744 0.02049946
+v -0.00498884 -0.02582578 0.01973258
+v -0.00371093 -0.02705980 0.01994614
+v -0.00498884 -0.02705980 0.01900453
+v -0.00487454 -0.02705980 0.01909675
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 28
+f 1 28 27
+f 1 27 36
+f 1 36 29
+f 1 29 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 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 22
+f 6 22 24
+f 6 24 32
+f 6 32 31
+f 6 31 38
+f 6 38 40
+f 6 40 39
+f 6 39 35
+f 6 35 26
+f 6 26 25
+f 6 25 16
+f 6 16 15
+f 6 15 19
+f 6 19 14
+f 6 14 7
+f 8 14 9
+f 9 15 16
+f 9 16 25
+f 9 25 17
+f 9 17 18
+f 9 18 10
+f 9 14 19
+f 9 19 15
+f 11 20 21
+f 11 21 12
+f 12 22 13
+f 12 21 23
+f 12 23 24
+f 12 24 22
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 20 29 21
+f 21 29 30
+f 21 30 23
+f 23 31 32
+f 23 32 24
+f 23 30 29
+f 23 29 33
+f 23 33 31
+f 26 34 27
+f 26 35 34
+f 27 34 35
+f 27 35 39
+f 27 39 37
+f 27 37 36
+f 29 36 37
+f 29 37 33
+f 31 33 38
+f 33 37 39
+f 33 39 40
+f 33 40 38
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_282.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cadee1646ae6e2d10c0cc760e95137e7111f9c2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_282.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01375636 0.01357319 -0.02440939
+v -0.01375636 0.01890159 -0.02527716
+v -0.01198977 0.01357319 -0.02420493
+v -0.01375636 0.01357319 0.02009712
+v -0.01375636 0.01915855 -0.02531351
+v -0.01304599 0.01915855 -0.02522264
+v -0.01333633 0.01845874 -0.02515449
+v -0.01199427 0.01915855 -0.02508180
+v -0.01198977 0.01721166 -0.02469107
+v -0.01198977 0.01357319 0.02110120
+v -0.01198977 0.01393841 0.02106031
+v -0.01198977 0.01397230 0.02105577
+v -0.01375636 0.01370496 0.02007895
+v -0.01375636 0.01915855 0.01857965
+v -0.01198977 0.01915855 -0.02493641
+v -0.01198977 0.01670156 0.02037881
+v -0.01375636 0.01670156 0.01935656
+v -0.01375636 0.01784039 0.01902944
+v -0.01198977 0.01915855 0.01967914
+v -0.01198977 0.01890323 0.01975638
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 13
+f 1 13 17
+f 1 17 18
+f 1 18 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 15
+f 3 15 19
+f 3 19 20
+f 3 20 16
+f 3 16 12
+f 3 12 11
+f 3 11 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 19
+f 5 19 15
+f 5 15 8
+f 5 8 6
+f 6 8 7
+f 8 15 9
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 16 20 17
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_283.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7354e6abbd9c1f21cd256979e890648bc95e227f
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_283.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01004998 -0.01855682 -0.02491168
+v -0.01004998 -0.01724266 -0.02480235
+v -0.00857419 -0.01529459 -0.02458370
+v -0.00876372 -0.01855682 -0.02485246
+v -0.01004998 -0.01855682 0.01887394
+v -0.01004998 -0.01579566 -0.02467481
+v -0.00857419 -0.01855682 -0.02484335
+v -0.01004998 -0.01529459 -0.02461558
+v -0.00857419 -0.01529459 0.02162535
+v -0.00984456 -0.01855682 0.01907893
+v -0.01004998 -0.01780473 0.01940691
+v -0.00857419 -0.01855682 0.02034531
+v -0.01004998 -0.01529459 0.02035442
+v -0.00902086 -0.01529459 0.02130648
+v -0.00857419 -0.01579374 0.02147502
+v -0.01004998 -0.01758246 0.01949802
+v -0.00857419 -0.01843898 0.02040908
+v -0.00857419 -0.01760609 0.02075529
+v -0.00891410 -0.01579374 0.02121537
+v -0.01004998 -0.01579374 0.02016765
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 13
+f 3 13 14
+f 3 14 9
+f 3 9 15
+f 3 15 18
+f 3 18 17
+f 3 17 12
+f 3 12 7
+f 5 10 11
+f 9 14 15
+f 10 12 11
+f 11 12 17
+f 11 17 18
+f 11 18 19
+f 11 19 16
+f 13 20 14
+f 14 20 16
+f 14 16 19
+f 14 19 15
+f 15 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_284.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2565eab9abda8893420a95274689b2b8dbfba117
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_284.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02902356 -0.01674805 -0.02458365
+v -0.02914874 -0.01674805 -0.02457185
+v -0.02902356 -0.01597737 -0.02474884
+v -0.02902356 -0.01674805 0.01156230
+v -0.03022885 -0.01579286 -0.02463871
+v -0.03022885 -0.01674805 -0.02443419
+v -0.02920843 -0.01579286 -0.02476457
+v -0.02902356 -0.01579286 -0.02477244
+v -0.02902356 -0.01597235 0.01201855
+v -0.03016408 -0.01674805 0.01087400
+v -0.03022885 -0.01283691 -0.02477244
+v -0.02920843 -0.01283691 -0.02490224
+v -0.03022885 -0.01674805 0.01082680
+v -0.02902356 -0.01302143 -0.02490224
+v -0.02902356 -0.01586692 0.01206968
+v -0.03022885 -0.01563471 0.01146397
+v -0.03022885 -0.01181645 -0.02479997
+v -0.02902356 -0.01283691 -0.02491010
+v -0.03022885 -0.00590456 -0.02495337
+v -0.02902356 -0.00710954 -0.02498876
+v -0.02902356 -0.01560458 0.01218375
+v -0.03022885 -0.01343438 0.01234501
+v -0.03022885 -0.00396782 -0.02496517
+v -0.02924477 -0.00392515 -0.02500056
+v -0.02902356 -0.00415234 -0.02500450
+v -0.02902356 -0.01283691 0.01321817
+v -0.02982984 -0.01283691 0.01281305
+v -0.03022885 -0.01286578 0.01255740
+v -0.03022885 -0.00392515 -0.02496517
+v -0.02902356 -0.00392515 -0.02500450
+v -0.02902356 -0.00978809 0.01402447
+v -0.03022885 -0.01284445 0.01256526
+v -0.03022885 -0.00915422 0.01355249
+v -0.03022885 -0.00392515 0.01459479
+v -0.02902356 -0.00392515 0.01516903
+v -0.02902356 -0.00692502 0.01471671
+v -0.02920843 -0.00692502 0.01463412
+v -0.03022885 -0.00692502 0.01411887
+v -0.03022885 -0.00396782 0.01459479
+v -0.03021434 -0.00392515 0.01460265
+v -0.02917799 -0.00392515 0.01511790
+v -0.02902356 -0.00396782 0.01516903
+v -0.02920843 -0.00396782 0.01510610
+v -0.02920843 -0.00392515 0.01510610
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 20
+f 1 20 25
+f 1 25 30
+f 1 30 35
+f 1 35 42
+f 1 42 36
+f 1 36 31
+f 1 31 26
+f 1 26 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 6 13
+f 5 13 16
+f 5 16 22
+f 5 22 28
+f 5 28 32
+f 5 32 33
+f 5 33 38
+f 5 38 39
+f 5 39 34
+f 5 34 29
+f 5 29 23
+f 5 23 19
+f 5 19 17
+f 5 17 11
+f 7 12 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 13
+f 11 17 12
+f 12 18 14
+f 12 17 19
+f 12 19 20
+f 12 20 18
+f 15 21 16
+f 16 21 22
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 23 29 24
+f 24 30 25
+f 24 29 34
+f 24 34 40
+f 24 40 44
+f 24 44 41
+f 24 41 35
+f 24 35 30
+f 26 31 27
+f 27 32 28
+f 27 31 33
+f 27 33 32
+f 31 36 37
+f 31 37 38
+f 31 38 33
+f 34 39 40
+f 35 41 42
+f 36 42 43
+f 36 43 37
+f 37 43 39
+f 37 39 38
+f 39 43 40
+f 40 43 44
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_285.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c625697d9c5a971b0b86ddc4f438e3d71dec424
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_285.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.02254068 0.01471392 -0.00965440
+v -0.02254068 0.01673249 -0.00965440
+v -0.02136319 0.01471392 -0.00965440
+v -0.02254068 0.01471392 0.01311631
+v -0.02136319 0.01673249 -0.00965440
+v -0.02254068 0.01673249 0.01257167
+v -0.02136319 0.01471392 0.01352934
+v -0.02254068 0.01552550 0.01299150
+v -0.02136319 0.01673249 0.01311858
+v -0.02254068 0.01672913 0.01257394
+v -0.02136319 0.01672913 0.01312085
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 8
+f 6 10 11
+f 6 11 9
+f 7 11 8
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_286.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6f3432b7f9faa6b1f59aaa8831c488fbf26ae1
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_286.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02477538 0.04742414 -0.02529525
+v 0.02421018 0.04742414 -0.02524515
+v 0.02492097 0.04906365 -0.02525414
+v 0.02600490 0.04906365 -0.02525222
+v 0.02648691 0.04742414 -0.02527791
+v 0.02128626 0.04906365 -0.02488032
+v 0.02353731 0.04906365 -0.02513018
+v 0.01809809 0.04742414 -0.02454504
+v 0.02105504 0.04906365 -0.02485398
+v 0.02609543 0.04906365 -0.02522524
+v 0.02736409 0.04742414 -0.02501649
+v 0.01642082 0.04742414 -0.02433693
+v 0.01809809 0.04906365 -0.02434078
+v 0.02746074 0.04906365 -0.02478333
+v 0.02774089 0.04742414 -0.02489445
+v 0.01642082 0.04906365 -0.02402541
+v 0.01785097 0.04906365 -0.02429453
+v 0.01642082 0.04742414 -0.01873408
+v 0.02868046 0.04906365 -0.02332530
+v 0.02863397 0.04742414 -0.02361240
+v 0.01642082 0.04906365 -0.01873408
+v 0.02885786 0.04742414 -0.01873408
+v 0.02891903 0.04906365 -0.02077019
+v 0.02885786 0.04742414 -0.02077019
+v 0.02891903 0.04906365 -0.01873408
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 20
+f 1 20 24
+f 1 24 22
+f 1 22 18
+f 1 18 12
+f 1 12 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 6
+f 3 7 6
+f 3 6 9
+f 3 9 13
+f 3 13 17
+f 3 17 16
+f 3 16 21
+f 3 21 25
+f 3 25 23
+f 3 23 19
+f 3 19 14
+f 3 14 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 12 18 21
+f 12 21 16
+f 14 19 15
+f 15 19 20
+f 18 22 25
+f 18 25 21
+f 19 23 20
+f 20 23 24
+f 22 24 23
+f 22 23 25
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_288.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee715d951438abfa9ac1fe3c88b651856b34270
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_288.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02105527 -0.00264541 -0.02084285
+v 0.01951814 -0.00264541 -0.02080673
+v 0.02105437 -0.00101023 -0.02069236
+v 0.02105527 -0.00101138 -0.02069236
+v 0.02105527 -0.00264541 0.03934235
+v 0.01951814 0.00052574 -0.02048769
+v 0.01951814 -0.00264541 0.04055231
+v 0.02033749 0.00128334 -0.02042147
+v 0.02105437 0.00128334 -0.02043351
+v 0.02105527 0.00128334 -0.02009039
+v 0.02105527 -0.00264464 0.04058843
+v 0.02105437 -0.00264541 0.04058843
+v 0.01951814 0.00128334 -0.02040341
+v 0.02020507 -0.00264541 0.04057037
+v 0.01951814 -0.00254658 0.04055833
+v 0.02105527 0.00128334 0.04028142
+v 0.02105527 -0.00101023 0.04064863
+v 0.02105437 -0.00101023 0.04065465
+v 0.01951814 0.00128334 0.04007675
+v 0.01951814 -0.00102830 0.04044396
+v 0.02097055 0.00128334 0.04028142
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 15
+f 2 15 20
+f 2 20 19
+f 2 19 13
+f 2 13 6
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 6 13 8
+f 7 14 15
+f 8 13 19
+f 8 19 21
+f 8 21 16
+f 8 16 10
+f 8 10 9
+f 11 17 18
+f 11 18 12
+f 12 18 14
+f 14 18 15
+f 15 18 20
+f 16 21 18
+f 16 18 17
+f 18 21 20
+f 19 20 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_289.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb84687c954ac14c150cfe6af538c9352e6f77b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_289.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01929959 -0.01579466 0.03789075
+v 0.01785966 -0.01579466 0.03752903
+v 0.01929959 -0.01875041 0.03774606
+v 0.01929959 -0.01579466 -0.02269720
+v 0.01737855 -0.01579466 0.03736023
+v 0.01836815 -0.01875041 0.03738434
+v 0.01929959 -0.01875041 -0.02341461
+v 0.01929959 -0.01587683 -0.02272132
+v 0.01514200 -0.01579466 -0.02324581
+v 0.01546161 -0.01579466 0.03656445
+v 0.01688990 -0.01875041 0.03673928
+v 0.01809714 -0.01875041 -0.02349901
+v 0.01929959 -0.01875012 -0.02341461
+v 0.01929959 -0.01665483 -0.02293232
+v 0.01230800 -0.01579466 -0.02345681
+v 0.01521386 -0.01579466 0.03644990
+v 0.01514200 -0.01875041 0.03572646
+v 0.01513995 -0.01875041 -0.02366781
+v 0.01514200 -0.01875012 -0.02366781
+v 0.01809714 -0.01875012 -0.02349901
+v 0.01230800 -0.01579466 0.03389978
+v 0.01230800 -0.01591762 -0.02347490
+v 0.01510573 -0.01579466 0.03638358
+v 0.01323122 -0.01875041 0.03438810
+v 0.01230800 -0.01875041 -0.02369796
+v 0.01231895 -0.01579466 0.03391787
+v 0.01230800 -0.01589187 0.03387567
+v 0.01289382 -0.01579466 0.03478599
+v 0.01288766 -0.01579466 0.03477996
+v 0.01230800 -0.01875041 0.03306180
+v 0.01230800 -0.01749647 0.03343557
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 26
+f 1 26 29
+f 1 29 28
+f 1 28 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 17
+f 3 17 24
+f 3 24 30
+f 3 30 25
+f 3 25 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 20
+f 7 20 13
+f 8 14 9
+f 9 13 15
+f 9 14 13
+f 10 16 11
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 13 20 15
+f 15 20 22
+f 15 22 25
+f 15 25 30
+f 15 30 31
+f 15 31 27
+f 15 27 21
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 22
+f 19 22 20
+f 21 27 26
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 26 27 29
+f 27 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_29.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e92a6ba2dc236f0bec11537b384ca626d95dce7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00727543 -0.03813460 -0.02520870
+v 0.00728867 -0.03813460 -0.02520870
+v 0.00712523 -0.03813460 -0.02519819
+v 0.00718114 -0.03806618 -0.02522445
+v 0.00728867 -0.03811972 -0.02521395
+v 0.00728867 -0.03813460 0.01627704
+v 0.00553105 -0.03813460 -0.02506689
+v 0.00728867 -0.03807511 -0.02522445
+v 0.00553105 -0.03766759 -0.02519294
+v 0.00553105 -0.03642124 -0.02527172
+v 0.00553105 -0.03583524 -0.02530849
+v 0.00553105 -0.03813460 0.01578335
+v 0.00728867 -0.03657889 0.01760580
+v 0.00728867 -0.03721545 -0.02525071
+v 0.00553105 -0.03344367 -0.02532424
+v 0.00728867 -0.03662351 -0.02526647
+v 0.00553105 -0.03652534 0.01713312
+v 0.00728867 -0.03417542 0.01944401
+v 0.00553105 -0.03250965 -0.02531899
+v 0.00728867 -0.03367569 -0.02527697
+v 0.00728867 -0.03471680 -0.02527697
+v 0.00553105 -0.03437174 0.01870872
+v 0.00728867 -0.03321463 0.02004274
+v 0.00553105 -0.03289337 0.01966459
+v 0.00553105 -0.02971353 -0.02514042
+v 0.00728867 -0.03111159 -0.02510366
+v 0.00553105 -0.03172733 0.02032110
+v 0.00728867 -0.02831250 0.02260047
+v 0.00553105 -0.03051370 0.02100386
+v 0.00553105 -0.00774917 -0.02257218
+v 0.00728867 -0.00774917 -0.02259319
+v 0.00728867 -0.02746772 0.02301538
+v 0.00553105 -0.02905913 0.02175490
+v 0.00553105 -0.00774917 0.02833043
+v 0.00728867 -0.00774917 0.02787876
+v 0.00553105 -0.02731007 0.02261098
+v 0.00728867 -0.02114969 0.02576219
+v 0.00553105 -0.02104856 0.02540505
+v 0.00553105 -0.02460319 0.02382945
+v 0.00553105 -0.00907881 0.02819388
+v 0.00728867 -0.01277325 0.02742708
+v 0.00596598 -0.00774917 0.02822014
+v 0.00728867 -0.01875217 0.02648172
+v 0.00553105 -0.01875217 0.02635567
+v 0.00553105 -0.00960531 0.02812560
+v 0.00553105 -0.01106286 0.02793128
+v 0.00728867 -0.01579543 0.02702268
+v 0.00553105 -0.01217535 0.02774221
+v 0.00553105 -0.01581923 0.02706469
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 14
+f 2 14 16
+f 2 16 21
+f 2 21 20
+f 2 20 26
+f 2 26 31
+f 2 31 35
+f 2 35 41
+f 2 41 47
+f 2 47 43
+f 2 43 37
+f 2 37 32
+f 2 32 28
+f 2 28 23
+f 2 23 18
+f 2 18 13
+f 2 13 6
+f 3 7 4
+f 4 8 5
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 6 13 12
+f 7 12 17
+f 7 17 22
+f 7 22 24
+f 7 24 27
+f 7 27 29
+f 7 29 33
+f 7 33 36
+f 7 36 39
+f 7 39 38
+f 7 38 44
+f 7 44 49
+f 7 49 48
+f 7 48 46
+f 7 46 45
+f 7 45 40
+f 7 40 34
+f 7 34 30
+f 7 30 25
+f 7 25 19
+f 7 19 15
+f 7 15 11
+f 7 11 10
+f 7 10 9
+f 8 11 14
+f 11 15 16
+f 11 16 14
+f 12 13 17
+f 13 18 17
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 18 22
+f 18 23 24
+f 18 24 22
+f 19 25 20
+f 20 25 26
+f 23 27 24
+f 23 28 29
+f 23 29 27
+f 25 30 31
+f 25 31 26
+f 28 32 33
+f 28 33 29
+f 30 34 42
+f 30 42 35
+f 30 35 31
+f 32 36 33
+f 32 37 38
+f 32 38 39
+f 32 39 36
+f 34 40 41
+f 34 41 42
+f 35 42 41
+f 37 43 44
+f 37 44 38
+f 40 45 41
+f 41 45 46
+f 41 46 47
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_290.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533c1312ab521ec6f388165cf1cf2767c8de9c79
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_290.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01177076 0.04758341 -0.02424866
+v 0.01052010 0.04758341 -0.02408148
+v 0.01177076 0.04898003 -0.02361666
+v 0.01177076 0.04758341 0.01740636
+v 0.01052010 0.04930330 -0.02326192
+v 0.01177076 0.04926511 -0.02348618
+v 0.01052010 0.04758341 0.01688853
+v 0.01177076 0.04834255 0.01678659
+v 0.01052010 0.04814292 0.01654602
+v 0.01052010 0.05071803 -0.02250760
+v 0.01177076 0.04961633 -0.02329862
+v 0.01177076 0.04980414 0.01482942
+v 0.01052010 0.04838508 0.01622391
+v 0.01177076 0.05096137 -0.02250352
+v 0.01052010 0.05090703 -0.02239343
+v 0.01177076 0.05015025 0.01434829
+v 0.01084467 0.05069244 0.01316583
+v 0.01052010 0.05061684 0.01297012
+v 0.01177076 0.05100823 -0.02247498
+v 0.01052010 0.05160594 -0.02146378
+v 0.01177076 0.05160594 -0.02183075
+v 0.01177076 0.05055108 0.01374075
+v 0.01177076 0.05150159 0.01221579
+v 0.01052010 0.05160594 0.01117197
+v 0.01177076 0.05081017 0.01334524
+v 0.01177076 0.05160594 0.01197930
+v 0.01157952 0.05160594 0.01186513
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 14
+f 1 14 19
+f 1 19 21
+f 1 21 26
+f 1 26 23
+f 1 23 25
+f 1 25 22
+f 1 22 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 9
+f 2 9 13
+f 2 13 18
+f 2 18 24
+f 2 24 20
+f 2 20 15
+f 2 15 10
+f 2 10 5
+f 4 8 9
+f 4 9 7
+f 5 10 6
+f 6 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 10 15 14
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 15 19
+f 15 20 21
+f 15 21 19
+f 16 22 17
+f 17 23 24
+f 17 24 18
+f 17 22 25
+f 17 25 23
+f 20 24 27
+f 20 27 26
+f 20 26 21
+f 23 26 27
+f 23 27 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_291.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568ee22175d2cfb131d97f33666860eec02ac2dc
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_291.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.02896671 0.05035045 0.00769626
+v 0.02894205 0.05035045 0.01065441
+v 0.02892390 0.04925234 0.01175033
+v 0.02891692 0.04906378 0.01193869
+v 0.02891879 0.04906378 0.00910042
+v 0.02891879 0.04906378 -0.02076787
+v 0.02892576 0.04925234 -0.02076787
+v 0.02896624 0.05035045 -0.01780972
+v 0.02872757 0.05035045 0.01347556
+v 0.02870384 0.04906378 0.01508092
+v 0.02872245 0.04906378 0.01483263
+v 0.02868058 0.04906378 -0.02332360
+v 0.02896485 0.05035045 -0.02076787
+v 0.02865964 0.05035045 0.01407490
+v 0.02703035 0.04906378 0.01766234
+v 0.02746071 0.04906378 -0.02478342
+v 0.02870477 0.05035045 -0.02319090
+v 0.02716155 0.05035045 0.01549190
+v 0.02696754 0.04906378 0.01773512
+v 0.02609661 0.04906378 -0.02522435
+v 0.02578257 0.05035045 -0.02523292
+v 0.02620361 0.05035045 -0.02509593
+v 0.02742861 0.04925234 -0.02477057
+v 0.02717551 0.05035045 -0.02460361
+v 0.02696754 0.05035045 0.01561604
+v 0.02421422 0.04906756 0.01848001
+v 0.02421422 0.04906378 0.01831733
+v 0.02426679 0.05035045 0.01662635
+v 0.02600635 0.04906378 -0.02525004
+v 0.02515448 0.05035045 -0.02523292
+v 0.02492232 0.04906378 -0.02525432
+v 0.02421422 0.05035045 0.01663919
+v 0.02421422 0.04906378 -0.02519011
+v 0.02421422 0.04925234 -0.02518154
+v 0.02421422 0.05035045 -0.02495037
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 17
+f 1 17 24
+f 1 24 22
+f 1 22 21
+f 1 21 30
+f 1 30 35
+f 1 35 32
+f 1 32 28
+f 1 28 25
+f 1 25 18
+f 1 18 14
+f 1 14 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 4
+f 4 11 10
+f 4 10 15
+f 4 15 19
+f 4 19 27
+f 4 27 33
+f 4 33 31
+f 4 31 29
+f 4 29 20
+f 4 20 16
+f 4 16 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 26 27
+f 19 25 28
+f 19 28 26
+f 20 29 21
+f 21 29 31
+f 21 31 30
+f 22 24 23
+f 26 28 32
+f 26 32 35
+f 26 35 34
+f 26 34 33
+f 26 33 27
+f 30 31 33
+f 30 33 34
+f 30 34 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_292.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdc0cbd30dcf188c5e5fb2641aedd2a01f75ba5
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_292.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01422038 -0.01875041 0.03508806
+v 0.01323077 -0.01875041 0.03439003
+v 0.01339121 -0.01995073 0.03421120
+v 0.01422038 -0.01995073 0.03479385
+v 0.01422038 -0.01875041 -0.02367250
+v 0.01230818 -0.01875041 0.03306322
+v 0.01302259 -0.01995073 0.03372663
+v 0.01422038 -0.01995073 -0.02383402
+v 0.01422038 -0.01879048 -0.02367826
+v 0.01230818 -0.01875041 -0.02369557
+v 0.01230818 -0.01995073 0.03269402
+v 0.01253509 -0.01995073 0.03302284
+v 0.01338485 -0.01995073 -0.02384556
+v 0.01422038 -0.01960071 -0.02378787
+v 0.01230818 -0.01887390 -0.02371288
+v 0.01230818 -0.01995073 -0.02379364
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 16
+f 3 16 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 6 10 15
+f 6 15 16
+f 6 16 11
+f 8 13 14
+f 9 14 13
+f 9 13 15
+f 9 15 10
+f 13 16 15
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_293.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cadba8ddaf519364e86924d2bc68ef575ac41c35
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_293.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00316328 -0.02705980 0.02288350
+v 0.00309696 -0.02705980 0.02289138
+v 0.00293993 -0.02787270 0.02252252
+v 0.00316328 -0.02767051 0.02258084
+v 0.00316328 -0.02705980 0.00678924
+v 0.00061379 -0.02705980 0.02259976
+v 0.00094725 -0.02787270 0.02235543
+v 0.00291427 -0.02787270 0.02252252
+v 0.00310572 -0.02787270 0.02248626
+v 0.00316328 -0.02787270 0.02247365
+v 0.00316328 -0.02787007 0.00678924
+v -0.00322766 -0.02705980 0.00678924
+v 0.00015894 -0.02705980 0.02236646
+v 0.00009888 -0.02787270 0.02191564
+v 0.00316328 -0.02787270 0.00720539
+v -0.00117493 -0.02787270 0.00678924
+v -0.00322766 -0.02705980 0.02028257
+v -0.00322766 -0.02787270 0.00678924
+v -0.00204770 -0.02705980 0.02107230
+v -0.00116054 -0.02787270 0.02116688
+v -0.00322766 -0.02722005 0.02019114
+v -0.00236052 -0.02787270 0.02041498
+v -0.00259138 -0.02705980 0.02071921
+v -0.00322766 -0.02787270 0.01978918
+v -0.00288043 -0.02787270 0.02005085
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 17
+f 1 17 23
+f 1 23 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 14
+f 3 14 20
+f 3 20 22
+f 3 22 25
+f 3 25 24
+f 3 24 18
+f 3 18 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 5 11 16
+f 5 16 18
+f 5 18 12
+f 6 13 7
+f 7 13 14
+f 11 15 16
+f 12 18 24
+f 12 24 21
+f 12 21 17
+f 13 19 14
+f 14 19 20
+f 17 21 22
+f 17 22 23
+f 19 23 22
+f 19 22 20
+f 21 24 25
+f 21 25 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_294.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a67fb09b7766b63228468ea76ea17c124988452
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_294.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.02553082 -0.04268369 0.02055954
+v 0.01326848 -0.04268369 0.02055954
+v 0.02548681 -0.04386147 0.02055954
+v 0.02551270 -0.04319009 0.01900820
+v 0.02553082 -0.04268369 0.01900820
+v 0.01313515 -0.04268369 0.02034446
+v 0.01343935 -0.04418177 0.01955277
+v 0.01381345 -0.04370734 0.02055954
+v 0.02546998 -0.04418177 0.02055954
+v 0.02547516 -0.04418177 0.01765821
+v 0.02547516 -0.04418177 -0.01813240
+v 0.02547646 -0.04414686 -0.01813240
+v 0.02551011 -0.04323232 -0.01813240
+v 0.02552953 -0.04268369 -0.02076372
+v 0.01230800 -0.04268369 0.01847736
+v 0.01350666 -0.04418177 0.01965802
+v 0.01230800 -0.04356508 0.01746144
+v 0.01230800 -0.04418177 0.01669721
+v 0.01419402 -0.04418177 0.02055954
+v 0.02547257 -0.04418177 -0.02076372
+v 0.02535607 -0.04418177 -0.02204506
+v 0.02526287 -0.04268369 -0.02364674
+v 0.01230800 -0.04268369 -0.01813240
+v 0.01230800 -0.04418177 -0.01813240
+v 0.02526158 -0.04269131 -0.02365589
+v 0.02512954 -0.04418177 -0.02369250
+v 0.02525769 -0.04268369 -0.02365589
+v 0.01230929 -0.04268369 -0.02527130
+v 0.01230929 -0.04381410 -0.02507910
+v 0.01230929 -0.04418177 -0.02494638
+v 0.02363575 -0.04418177 -0.02559163
+v 0.02371341 -0.04268369 -0.02560536
+v 0.01287497 -0.04268369 -0.02560536
+v 0.01314939 -0.04418177 -0.02550469
+v 0.01256042 -0.04418177 -0.02515689
+v 0.02256912 -0.04418177 -0.02576553
+v 0.02129020 -0.04268369 -0.02599892
+v 0.01304325 -0.04268369 -0.02565113
+v 0.01421861 -0.04418177 -0.02581129
+v 0.02105073 -0.04418177 -0.02599434
+v 0.02105073 -0.04268369 -0.02603553
+v 0.01514155 -0.04268369 -0.02615908
+v 0.01514155 -0.04418177 -0.02603553
+v 0.01987277 -0.04418177 -0.02605383
+v 0.01838027 -0.04268369 -0.02617281
+v 0.01542375 -0.04268369 -0.02617281
+v 0.01692143 -0.04418177 -0.02612705
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+f 45 48 49
+f 46 49 48
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_295.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751c73995821bd325b9dc996622b384a5affa1a9
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_295.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00971710 0.01059343 -0.02207415
+v 0.00971710 0.01069362 -0.02208595
+v 0.01477513 0.01644225 -0.02167899
+v 0.01218447 0.01059343 -0.02151974
+v 0.00971710 0.01059343 0.03244637
+v 0.00971710 0.01160907 -0.02217441
+v 0.01477513 0.01377204 -0.02129562
+v 0.01048262 0.01377204 -0.02221570
+v 0.00971710 0.01644111 -0.02253419
+v 0.01226023 0.01644225 -0.02208005
+v 0.01477513 0.01644225 0.03617387
+v 0.01477513 0.01059343 -0.02082379
+v 0.00984881 0.01059343 0.03267639
+v 0.00971710 0.01061862 0.03244637
+v 0.00971710 0.01644225 -0.01999218
+v 0.01225330 0.01644225 -0.02208005
+v 0.01250533 0.01644225 0.03492351
+v 0.01477513 0.01616859 0.03638619
+v 0.01477513 0.01059343 0.03771323
+v 0.01017314 0.01059343 0.03321310
+v 0.00971710 0.01092778 0.03244047
+v 0.00971710 0.01644225 0.03188017
+v 0.01100748 0.01644225 0.03366135
+v 0.01400516 0.01478195 0.03675776
+v 0.01477513 0.01511516 0.03688752
+v 0.01477513 0.01081614 0.03771913
+v 0.01344613 0.01059343 0.03708215
+v 0.00971710 0.01377204 0.03219276
+v 0.01065691 0.01059343 0.03397984
+v 0.01076238 0.01377204 0.03385598
+v 0.00991962 0.01644225 0.03218097
+v 0.01353773 0.01281135 0.03699368
+v 0.01477513 0.01360887 0.03730037
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+v 0.01344415 0.01081614 0.03708215
+v 0.01333472 0.01059343 0.03697009
+v 0.01130755 0.01059343 0.03472298
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_297.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a113283bd4a3e2e7fa2c526faf29d5b491040d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_297.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02880344 0.04594507 0.01505711
+v 0.02880344 0.04594507 -0.02076425
+v 0.02879997 0.04594507 0.01521538
+v 0.02871478 0.04426560 0.01969485
+v 0.02874086 0.04426560 0.01673572
+v 0.02874086 0.04426560 -0.02076425
+v 0.02858265 0.04426560 -0.02376655
+v 0.02859395 0.04594507 -0.02385768
+v 0.02873825 0.04594507 0.01801625
+v 0.02854353 0.04504097 0.02227510
+v 0.02855483 0.04426560 0.02243817
+v 0.02844618 0.04426560 -0.02520535
+v 0.02844531 0.04482576 -0.02520535
+v 0.02858613 0.04594507 -0.02392482
+v 0.02858526 0.04594507 0.02071640
+v 0.02696669 0.04594507 0.02199693
+v 0.02696669 0.04537867 0.02256766
+v 0.02702840 0.04426560 0.02328226
+v 0.02793418 0.04426560 0.02298491
+v 0.02694496 0.04426560 -0.02541158
+v 0.02810630 0.04594507 -0.02505188
+v 0.02690584 0.04594507 -0.02530127
+v 0.02698233 0.04594507 -0.02529168
+v 0.02401205 0.04594507 0.02208806
+v 0.02401205 0.04539676 0.02259644
+v 0.02401205 0.04426560 0.02352206
+v 0.02513341 0.04426560 0.02350288
+v 0.02415548 0.04426560 -0.02547393
+v 0.02506647 0.04594507 -0.02533964
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+v 0.01992390 0.04503374 0.02228469
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+v 0.01992390 0.04426560 -0.02491759
+v 0.01992390 0.04437938 -0.02491280
+v 0.01992390 0.04496320 -0.02487922
+v 0.01992390 0.04594507 -0.02481688
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+v 0.01992390 0.04594507 0.02140703
+v 0.01992390 0.04426560 0.02285542
+v 0.02099049 0.04426560 0.02308083
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_298.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c588b376450e594a6311aab7d16fa227623c4e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_298.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01514582 0.02172106 -0.01084697
+v 0.01514582 0.02785120 -0.01084697
+v 0.01641733 0.02172106 -0.01084697
+v 0.01514582 0.02172106 0.03396441
+v 0.01642082 0.02785120 -0.01084697
+v 0.01514582 0.02785120 0.03201570
+v 0.01642082 0.02627950 -0.01084697
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+v 0.01514582 0.02559898 0.03280667
+v 0.01642082 0.02558097 0.03308948
+v 0.01567886 0.02785120 0.03210850
+v 0.01642082 0.02172106 0.03429582
+f 1 2 5
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+f 5 13 15
+f 5 15 8
+f 5 8 7
+f 6 12 13
+f 6 13 14
+f 9 15 10
+f 10 15 12
+f 11 14 13
+f 12 15 13
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_299.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e389d3c2849eb15d49f8130120d127ee7a618b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_299.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02301019 -0.02395251 0.03815483
+v 0.02148962 -0.02395251 0.03797486
+v 0.02301019 -0.02455153 0.03805666
+v 0.02301019 -0.02395251 -0.01756038
+v 0.02148962 -0.02455153 0.03787669
+v 0.02148962 -0.02395251 -0.01756038
+v 0.02301019 -0.02455153 -0.01756038
+v 0.02148962 -0.02455153 -0.01756038
+f 1 2 5
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+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_3.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0df3ab412384c46300bc91ca0fecace759c7f2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
+v -0.01748861 -0.03729453 -0.00894020
+v -0.01984957 -0.03639025 -0.00894020
+v -0.01748861 -0.03724694 -0.01189751
+v -0.01748861 -0.03689891 -0.00598288
+v -0.01984957 -0.03607197 -0.00598288
+v -0.01984957 -0.03628614 -0.01189751
+v -0.01748861 -0.03674423 -0.01485062
+v -0.01748861 -0.03613741 -0.00303817
+v -0.01984957 -0.03542052 -0.00318940
+v -0.01984957 -0.03578938 -0.01471620
+v -0.01984957 -0.03543837 -0.01588820
+v -0.01748861 -0.03671151 -0.01495984
+v -0.01748861 -0.03536401 -0.00066896
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+v -0.01984957 -0.03523015 -0.00252148
+v -0.01984957 -0.03520933 -0.01657292
+v -0.01942503 -0.03532831 -0.01685017
+v -0.01748861 -0.03560495 -0.01773232
+v -0.01748861 -0.03485832 0.00072148
+v -0.01984957 -0.03445378 -0.00005565
+v -0.01984957 -0.03464118 -0.00057234
+v -0.01984957 -0.03483453 -0.01728285
+v -0.01819787 -0.03472149 -0.01882452
+v -0.01748861 -0.03542647 -0.01805158
+v -0.01748861 -0.03482560 0.00080550
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+v -0.01984957 -0.03433777 -0.01806838
+v -0.01984957 -0.03316874 -0.01972347
+v -0.01748861 -0.03487022 -0.01904295
+v -0.01748861 -0.03381721 0.00288486
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+v -0.01984957 -0.03251730 0.00403586
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+v -0.01748861 -0.03274635 -0.02124414
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+v -0.01748861 -0.03134828 0.00633366
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+v -0.01748861 -0.03186586 -0.02207588
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+v -0.01748861 -0.01834030 0.01600374
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+v -0.01984957 -0.01886383 0.01574749
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+v -0.01984957 -0.01583270 0.01691110
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+f 31 36 37
+f 31 37 38
+f 31 38 32
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+f 33 40 34
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+f 37 45 43
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+f 42 49 45
+f 43 45 50
+f 45 49 51
+f 45 51 52
+f 45 52 50
+f 47 53 54
+f 47 54 48
+f 49 55 56
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 49 59 51
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+f 56 68 57
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+f 74 83 89
+f 74 89 84
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+f 74 85 75
+f 76 86 77
+f 77 86 87
+f 81 83 82
+f 81 88 83
+f 83 88 90
+f 83 90 89
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+f 84 91 92
+f 84 92 93
+f 84 93 94
+f 84 94 85
+f 86 95 99
+f 86 99 96
+f 86 96 87
+f 89 97 98
+f 89 98 91
+f 89 90 96
+f 89 96 97
+f 91 98 92
+f 95 97 99
+f 96 99 97
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_30.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43430c85e45458cb1be20e2874f647946bb482a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.02902356 -0.00370881 0.01518021
+v -0.02920843 -0.00392515 0.01510308
+v -0.02917799 -0.00392515 0.01511594
+v -0.02902356 -0.00392515 0.01517057
+v -0.02902356 -0.00100626 0.01516093
+v -0.02920843 -0.00100626 0.01508701
+v -0.03021434 -0.00392515 0.01460174
+v -0.02902356 -0.00392515 -0.01765120
+v -0.02902356 -0.00075441 0.01515129
+v -0.03022885 -0.00225583 0.01458246
+v -0.03022885 0.00490578 0.01405220
+v -0.03022885 -0.00100626 0.01457282
+v -0.03022885 -0.00392515 0.01459210
+v -0.02902356 0.02583200 -0.01765120
+v -0.03022885 -0.00392515 -0.01765120
+v -0.02902356 0.00490578 0.01460817
+v -0.03022885 0.00786018 0.01373404
+v -0.02929303 0.02571253 -0.01765120
+v -0.02999029 0.02681035 -0.01589008
+v -0.02902356 0.02769182 -0.01494204
+v -0.03022885 0.02523466 -0.01765120
+v -0.02902356 0.00785372 0.01426109
+v -0.02920843 0.00786018 0.01418717
+v -0.03022885 0.00983947 0.01337088
+v -0.03022885 0.02672317 -0.01577439
+v -0.03022885 0.02693304 -0.01543695
+v -0.03022885 0.02748841 -0.01431857
+v -0.02902356 0.02772088 -0.01488740
+v -0.02904975 0.01061117 0.01357335
+v -0.02902356 0.01061117 0.01357978
+v -0.02902356 0.01196406 0.01309129
+v -0.03022885 0.01075647 0.01303666
+v -0.03022885 0.02821813 -0.01189542
+v -0.03021009 0.02822781 -0.01189542
+v -0.02902356 0.02875412 -0.01209146
+v -0.02902356 0.02826656 -0.01341230
+v -0.02902356 0.01065637 0.01356692
+v -0.02992918 0.01145713 0.01290168
+v -0.02902356 0.01360755 0.01242605
+v -0.03022885 0.01606148 0.01070671
+v -0.03022885 0.02822781 -0.01180865
+v -0.03022885 0.02835051 -0.01065814
+v -0.02920843 0.02872183 -0.01189542
+v -0.02902356 0.02880255 -0.01189542
+v -0.02904975 0.01363338 0.01240355
+v -0.02918330 0.01663622 0.01100558
+v -0.02902356 0.01697848 0.01093488
+v -0.02902356 0.01825065 0.01026321
+v -0.02902356 0.01957125 0.00951763
+v -0.02918330 0.01972623 0.00931838
+v -0.03022885 0.02149565 0.00757011
+v -0.03022885 0.02850550 -0.00894201
+v -0.02920843 0.02899305 -0.00894201
+v -0.02902356 0.02904794 -0.00920232
+v -0.02902356 0.02193154 0.00794612
+v -0.02920843 0.02189602 0.00791719
+v -0.02920843 0.02337161 0.00680846
+v -0.03022885 0.02199935 0.00719089
+v -0.03022885 0.02848612 -0.00774329
+v -0.02902356 0.02906086 -0.00894201
+v -0.03022885 0.02833760 -0.00598860
+v -0.02920843 0.02873797 -0.00598860
+v -0.02902356 0.02340713 0.00683095
+v -0.02920843 0.02479877 0.00533014
+v -0.03022885 0.02461795 0.00504412
+v -0.02902356 0.02880578 -0.00598860
+v -0.03022885 0.02822781 -0.00489593
+v -0.03018791 0.02822781 -0.00473203
+v -0.02902356 0.02482137 0.00535264
+v -0.02902356 0.02492469 0.00517589
+v -0.02902356 0.02614197 0.00289093
+v -0.02920843 0.02610323 0.00288129
+v -0.03022885 0.02519592 0.00395467
+v -0.03022885 0.02772734 -0.00188788
+v -0.02902356 0.02839572 -0.00366829
+v -0.03022885 0.02820521 -0.00468061
+v -0.02902356 0.02698148 0.00094020
+v -0.03022885 0.02740446 -0.00072773
+v -0.02902356 0.02809543 -0.00234102
+v -0.02902356 0.02827948 -0.00302554
+v -0.02902356 0.02750778 -0.00032923
+v -0.02902356 0.02761756 -0.00063132
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 28
+f 1 28 36
+f 1 36 35
+f 1 35 44
+f 1 44 54
+f 1 54 60
+f 1 60 66
+f 1 66 75
+f 1 75 80
+f 1 80 79
+f 1 79 82
+f 1 82 81
+f 1 81 77
+f 1 77 71
+f 1 71 70
+f 1 70 69
+f 1 69 63
+f 1 63 55
+f 1 55 49
+f 1 49 48
+f 1 48 47
+f 1 47 39
+f 1 39 31
+f 1 31 37
+f 1 37 30
+f 1 30 22
+f 1 22 16
+f 1 16 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 7 13
+f 2 13 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 5 9 6
+f 6 10 7
+f 6 9 11
+f 6 11 12
+f 6 12 10
+f 7 10 13
+f 8 15 21
+f 8 21 18
+f 8 18 14
+f 9 16 11
+f 10 12 11
+f 10 11 17
+f 10 17 24
+f 10 24 32
+f 10 32 40
+f 10 40 51
+f 10 51 58
+f 10 58 65
+f 10 65 73
+f 10 73 78
+f 10 78 74
+f 10 74 76
+f 10 76 67
+f 10 67 61
+f 10 61 59
+f 10 59 52
+f 10 52 42
+f 10 42 41
+f 10 41 33
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+f 10 27 26
+f 10 26 25
+f 10 25 21
+f 10 21 15
+f 10 15 13
+f 11 16 17
+f 14 18 19
+f 14 19 20
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 21 19
+f 19 21 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
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+f 22 29 24
+f 22 24 23
+f 22 30 29
+f 24 29 31
+f 24 31 32
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 29 30 37
+f 29 37 31
+f 31 38 32
+f 31 39 38
+f 32 38 40
+f 33 41 34
+f 34 41 42
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+f 34 43 35
+f 35 43 44
+f 38 39 45
+f 38 45 46
+f 38 46 40
+f 39 47 45
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 42 52 53
+f 42 53 43
+f 43 53 44
+f 44 53 54
+f 45 47 46
+f 49 55 56
+f 49 56 51
+f 49 51 50
+f 51 56 57
+f 51 57 58
+f 52 59 53
+f 53 60 54
+f 53 59 61
+f 53 61 62
+f 53 62 66
+f 53 66 60
+f 55 63 57
+f 55 57 56
+f 57 63 64
+f 57 64 65
+f 57 65 58
+f 61 67 68
+f 61 68 62
+f 62 68 66
+f 63 69 64
+f 64 69 70
+f 64 70 71
+f 64 71 72
+f 64 72 65
+f 65 72 73
+f 66 68 74
+f 66 74 75
+f 67 76 68
+f 68 76 74
+f 71 77 72
+f 72 77 78
+f 72 78 73
+f 74 79 80
+f 74 80 75
+f 74 78 79
+f 77 81 78
+f 78 81 82
+f 78 82 79
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_300.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bef4a5c3fa41c317a64d95244877c61857bfd61
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_300.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.03228824 0.00578950 -0.02528048
+v -0.03332409 0.00578950 -0.02516061
+v -0.03228824 0.00785957 -0.02526175
+v -0.03228824 0.00578950 -0.00370799
+v -0.03339819 0.00578950 -0.02514937
+v -0.03315477 0.00785957 -0.02512690
+v -0.03228824 0.01095588 -0.02507446
+v -0.03228824 0.00785957 0.01262402
+v -0.03229088 0.00578950 0.01298737
+v -0.03351503 0.00578950 -0.02513064
+v -0.03351503 0.00785957 -0.02506696
+v -0.03228824 0.01106406 -0.02506696
+v -0.03228824 0.00803800 0.01259780
+v -0.03351503 0.00784570 0.01192729
+v -0.03351503 0.00669833 0.01212582
+v -0.03351503 0.00578950 0.01227940
+v -0.03351503 0.01089486 -0.02481599
+v -0.03351503 0.01095403 -0.02480850
+v -0.03228824 0.01377206 -0.02463994
+v -0.03228824 0.01029853 0.01196849
+v -0.03351503 0.00926858 0.01154521
+v -0.03351503 0.00835235 0.01179244
+v -0.03351503 0.01377206 -0.02426909
+v -0.03228824 0.01523378 -0.02421290
+v -0.03228824 0.01064061 0.01184862
+v -0.03351503 0.01075341 0.01103202
+v -0.03351503 0.00948030 0.01147404
+v -0.03351503 0.01523378 -0.02378587
+v -0.03337729 0.01523378 -0.02383457
+v -0.03228824 0.01523378 0.00985956
+v -0.03228824 0.01367961 0.01062747
+v -0.03305030 0.01433881 0.00990826
+v -0.03351503 0.01422047 0.00967227
+v -0.03351503 0.01289929 0.01019669
+v -0.03351503 0.01523378 0.00902049
+v -0.03228824 0.01482512 0.01012552
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 24
+f 1 24 30
+f 1 30 36
+f 1 36 31
+f 1 31 25
+f 1 25 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 7
+f 6 10 11
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 16 15
+f 10 15 14
+f 10 14 22
+f 10 22 21
+f 10 21 27
+f 10 27 26
+f 10 26 34
+f 10 34 33
+f 10 33 35
+f 10 35 28
+f 10 28 23
+f 10 23 18
+f 10 18 17
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 29
+f 23 29 24
+f 24 29 28
+f 24 28 35
+f 24 35 30
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 30 35 36
+f 31 36 32
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_301.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d14fb0c6626c596f550a12fe3470bed36b62506
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_301.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.05165310 -0.00318008
+v 0.01236780 0.05165310 -0.00523287
+v 0.01177082 0.05165310 -0.00318008
+v 0.01236780 0.02172339 -0.00318008
+v 0.01177117 0.05165310 -0.00523287
+v 0.01236780 0.02172339 -0.00523287
+v 0.01177082 0.05165310 -0.00506226
+v 0.01177082 0.02196364 -0.00318008
+v 0.01177339 0.02172339 -0.00318008
+v 0.01177117 0.05162380 -0.00523287
+v 0.01177222 0.02172339 -0.00523287
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 8
+f 4 9 11
+f 4 11 6
+f 5 10 7
+f 7 10 11
+f 7 11 8
+f 8 11 9
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_303.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2d5c7a03c7f56809c39490de6cac3c9ebef360
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_303.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00241953 0.01422209 -0.02330155
+v 0.00241953 0.01674329 -0.02361421
+v 0.00329010 0.01672972 -0.02351992
+v 0.00329010 0.01422209 -0.02319237
+v 0.00241953 0.01422209 0.02659518
+v 0.00329010 0.01968516 -0.02386236
+v 0.00329010 0.01689184 -0.02353977
+v 0.00241953 0.01968516 -0.02393680
+v 0.00329010 0.01422209 0.02667955
+v 0.00329010 0.01670543 0.02643637
+v 0.00241953 0.01583480 0.02643637
+v 0.00329010 0.02151785 -0.02392191
+v 0.00241953 0.02052437 -0.02398643
+v 0.00241953 0.02151785 -0.02402117
+v 0.00329010 0.01991585 0.02572668
+v 0.00329010 0.02010369 0.02568201
+v 0.00241953 0.01915592 0.02563735
+v 0.00329010 0.02151785 0.02514106
+v 0.00241953 0.02151785 0.02502195
+v 0.00329010 0.02150571 0.02515595
+v 0.00241953 0.02063079 0.02527010
+v 0.00241953 0.02045223 0.02531476
+v 0.00328814 0.02151785 0.02515099
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 11
+f 1 11 17
+f 1 17 22
+f 1 22 21
+f 1 21 19
+f 1 19 14
+f 1 14 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 6
+f 3 6 12
+f 3 12 18
+f 3 18 20
+f 3 20 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 5 9 10
+f 5 10 11
+f 6 8 13
+f 6 13 14
+f 6 14 12
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 14 19
+f 12 19 23
+f 12 23 18
+f 16 20 19
+f 16 19 21
+f 16 21 22
+f 16 22 17
+f 18 23 20
+f 19 20 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_304.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b90168395586d1ddec3515af884f6016a37077
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_304.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00857419 -0.00693806 -0.02376291
+v -0.01004998 -0.00693806 -0.02371158
+v -0.01004998 -0.00692561 -0.02371158
+v -0.01004998 -0.00538582 -0.02367892
+v -0.00857419 -0.00528639 -0.02368825
+v -0.00857419 -0.00693806 0.02366209
+v -0.01004998 -0.00693806 0.02275689
+v -0.01004998 -0.00528639 -0.02367425
+v -0.00857419 -0.00528639 0.02390472
+v -0.00857419 -0.00692367 0.02366676
+v -0.01004998 -0.00692367 0.02276156
+v -0.01004998 -0.00528639 0.02300885
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 12
+f 5 12 9
+f 6 10 11
+f 6 11 7
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_305.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54ccdb5777477b726df8b251ea871e4c420a3b81
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_305.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01586762 -0.01995091 0.03591237
+v 0.01504314 -0.01995091 0.03543088
+v 0.01586762 -0.02181480 0.03566576
+v 0.01586762 -0.01995091 -0.02382657
+v 0.01489295 -0.02181480 0.03497289
+v 0.01339139 -0.01995091 0.03420957
+v 0.01586762 -0.02181480 -0.02407318
+v 0.01586762 -0.02038262 -0.02388528
+v 0.01338512 -0.01995091 -0.02384418
+v 0.01488528 -0.02181480 0.03496702
+v 0.01302271 -0.01995091 0.03372221
+v 0.01351719 -0.02089061 0.03407452
+v 0.01514106 -0.02181480 -0.02406731
+v 0.01586762 -0.02170696 -0.02406144
+v 0.01230800 -0.01995091 -0.02379134
+v 0.01514106 -0.02170696 -0.02405556
+v 0.01230800 -0.02170696 -0.02392639
+v 0.01270700 -0.02181480 0.03270053
+v 0.01253520 -0.01995091 0.03302348
+v 0.01266727 -0.02181480 -0.02394987
+v 0.01230800 -0.01995091 0.03269466
+v 0.01230800 -0.02181480 -0.02393226
+v 0.01230800 -0.02034248 0.03257136
+v 0.01270003 -0.02181480 0.03268879
+v 0.01230800 -0.02181480 0.03195482
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 18
+f 3 18 24
+f 3 24 25
+f 3 25 22
+f 3 22 20
+f 3 20 13
+f 3 13 7
+f 4 8 9
+f 5 6 10
+f 6 11 12
+f 6 12 10
+f 7 13 16
+f 7 16 14
+f 8 14 9
+f 9 14 16
+f 9 16 13
+f 9 13 17
+f 9 17 15
+f 10 12 18
+f 11 19 18
+f 11 18 12
+f 13 20 17
+f 15 17 22
+f 15 22 25
+f 15 25 23
+f 15 23 21
+f 17 20 22
+f 18 19 21
+f 18 21 23
+f 18 23 24
+f 23 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_306.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9539cb69f056e5e79a20d5aa792ce4512fb6d8a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_306.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00908218 0.02172114 -0.02345840
+v 0.00908218 0.02176646 -0.02346935
+v 0.00922798 0.02172114 -0.02344744
+v 0.00908218 0.02172114 0.03008722
+v 0.00908218 0.02264256 -0.02360628
+v 0.00922798 0.02264256 -0.02359533
+v 0.01051998 0.02264256 -0.02344744
+v 0.01051998 0.02224296 -0.02336528
+v 0.01051998 0.02172114 -0.02325574
+v 0.01016827 0.02172114 0.03152773
+v 0.01025327 0.02559907 0.03126483
+v 0.00908218 0.02332436 0.02991742
+v 0.01051998 0.02559907 -0.02385276
+v 0.00908218 0.02546725 -0.02392944
+v 0.00922798 0.02559907 -0.02394039
+v 0.01051998 0.02172114 0.03175778
+v 0.01051998 0.02559907 0.03137437
+v 0.01040499 0.02736708 0.03113885
+v 0.00908218 0.02576523 0.02962713
+v 0.00908218 0.02538142 0.02969833
+v 0.01051998 0.02855558 -0.02418140
+v 0.00908218 0.02559907 -0.02394039
+v 0.01051998 0.02873410 -0.02419783
+v 0.01051998 0.02742818 0.03114980
+v 0.01051998 0.02756138 0.03107860
+v 0.00982036 0.02873410 0.02941352
+v 0.00921686 0.02873410 0.02850977
+v 0.00908218 0.02873410 0.02830711
+v 0.00908218 0.02849036 0.02844952
+v 0.00908218 0.02870114 -0.02418687
+v 0.00908541 0.02873410 -0.02418687
+v 0.01051998 0.02873410 0.02999958
+v 0.00908218 0.02873410 -0.02415401
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 10
+f 1 10 4
+f 1 4 12
+f 1 12 20
+f 1 20 19
+f 1 19 29
+f 1 29 28
+f 1 28 33
+f 1 33 30
+f 1 30 22
+f 1 22 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 6 7
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 5 14 15
+f 5 15 13
+f 6 13 7
+f 7 13 21
+f 7 21 23
+f 7 23 32
+f 7 32 25
+f 7 25 24
+f 7 24 17
+f 7 17 16
+f 7 16 9
+f 7 9 8
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 15 21
+f 14 22 15
+f 15 22 23
+f 15 23 21
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 22 30 23
+f 23 30 31
+f 23 31 33
+f 23 33 28
+f 23 28 27
+f 23 27 26
+f 23 26 32
+f 25 32 26
+f 30 33 31
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_307.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f94535bdf3150c09411494272566e4b3641c7a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_307.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01940324 0.00487953 0.03902420
+v 0.01940324 0.00662084 0.03861666
+v 0.01809760 0.00662084 0.03859337
+v 0.01847980 0.00487953 0.03887283
+v 0.01940324 0.00487953 -0.02015173
+v 0.01940324 0.00662084 -0.02004111
+v 0.01809734 0.00487953 0.03880878
+v 0.01675279 0.00662084 0.03822075
+v 0.01675279 0.00487953 -0.02045447
+v 0.01675279 0.00624786 -0.02039043
+v 0.01675279 0.00662084 -0.02036714
+v 0.01940324 0.00655384 -0.02004693
+v 0.01675279 0.00487953 0.03842453
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 9
+f 1 9 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 8
+f 2 8 3
+f 3 7 4
+f 3 8 7
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 12 11
+f 7 8 13
+f 8 11 10
+f 8 10 9
+f 8 9 13
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_309.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6800263dd1dbfc49d1e145ae2c0c3114b6b3866
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_309.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00971685 0.01059343 0.03245696
+v 0.00828081 0.01059343 0.03023736
+v 0.00971685 0.01059343 -0.02207414
+v 0.00971685 0.01092792 0.03244619
+v 0.00712487 0.01309321 0.02890668
+v 0.00712487 0.01081610 0.02890129
+v 0.00712487 0.01059367 0.02887974
+v 0.00828081 0.01059343 -0.02220882
+v 0.00935784 0.01059343 -0.02216033
+v 0.00971685 0.01069375 -0.02208491
+v 0.00971685 0.01268849 0.03228457
+v 0.00828081 0.01309321 0.03011345
+v 0.00712487 0.01309321 -0.02258055
+v 0.00712487 0.01059367 -0.02225731
+v 0.00931293 0.01059343 -0.02216572
+v 0.00828081 0.01155678 -0.02235428
+v 0.00874917 0.01268849 -0.02237044
+v 0.00959430 0.01268849 -0.02226270
+v 0.00971685 0.01268849 -0.02224653
+v 0.00971685 0.01160817 -0.02217650
+v 0.00828081 0.01309321 -0.02244587
+v 0.00828081 0.01268849 -0.02242432
+v 0.00712487 0.01283090 -0.02255900
+v 0.00712487 0.01129105 -0.02236505
+v 0.00828081 0.01092278 -0.02226270
+v 0.00844116 0.01137938 -0.02232196
+v 0.00828081 0.01136886 -0.02232734
+f 1 2 8
+f 1 8 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 14
+f 2 14 8
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 21
+f 5 21 13
+f 5 13 23
+f 5 23 24
+f 5 24 14
+f 5 14 7
+f 5 7 6
+f 8 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 19 21
+f 11 21 12
+f 13 21 17
+f 13 17 22
+f 13 22 16
+f 13 16 23
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 24
+f 16 24 23
+f 16 22 17
+f 17 21 18
+f 18 21 19
+f 24 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_31.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517393d8cc98ab6a791db769894e6b748d2f9c27
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00876731 -0.00774530 -0.02260214
+v 0.00707436 -0.00774530 -0.02259696
+v 0.00707287 -0.00774374 -0.02259696
+v 0.00707287 -0.00509484 -0.02241584
+v 0.00876731 -0.00509484 -0.02241584
+v 0.00876731 -0.00774530 0.02937359
+v 0.00707287 -0.00774530 -0.02058914
+v 0.00707287 -0.00509484 0.02905276
+v 0.00876731 -0.00509484 0.03026366
+v 0.00876731 -0.00685792 0.02970996
+v 0.00707287 -0.00684728 0.02862325
+v 0.00707287 -0.00774530 0.02788325
+v 0.00707287 -0.00573988 0.02894926
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 8 13 9
+f 9 13 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_310.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396728420136ba551e0dbeabf9ac74b8e5d4cbb5
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_310.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02885840 0.04742385 0.01062042
+v 0.02885752 0.04742385 0.01357829
+v 0.02881641 0.04629582 0.01470430
+v 0.02885840 0.04742385 -0.02076910
+v 0.02873420 0.04742385 0.01650675
+v 0.02874295 0.04629582 0.01766216
+v 0.02873857 0.04594524 0.01801509
+v 0.02880330 0.04594524 0.01505722
+v 0.02881641 0.04629582 -0.02076910
+v 0.02881204 0.04629003 -0.02083212
+v 0.02885228 0.04742385 -0.02083212
+v 0.02858813 0.04742385 0.01862851
+v 0.02859426 0.04613428 0.02038895
+v 0.02858551 0.04594524 0.02071246
+v 0.02880330 0.04594524 -0.02076910
+v 0.02879892 0.04594654 -0.02083212
+v 0.02614175 0.04742385 -0.02083212
+v 0.02851466 0.04742385 0.01952763
+v 0.02696742 0.04594524 0.02199392
+v 0.02875257 0.04594524 -0.02083212
+v 0.02614175 0.04594524 -0.02083212
+v 0.01992303 0.04742385 -0.02082792
+v 0.02784556 0.04742385 0.02002341
+v 0.02401112 0.04594524 0.02209056
+v 0.02696742 0.04685701 0.02107379
+v 0.02614088 0.04686194 0.02112001
+v 0.02401112 0.04687511 0.02122085
+v 0.01992303 0.04594524 -0.02082792
+v 0.01992303 0.04742385 0.01992678
+v 0.02696742 0.04742385 0.02040155
+v 0.02028251 0.04594524 0.02148554
+v 0.02401112 0.04742385 0.02063263
+v 0.02105482 0.04659835 0.02098976
+v 0.02105482 0.04742385 0.02017047
+v 0.01992303 0.04594524 0.02140991
+v 0.01992303 0.04741270 0.01993938
+v 0.01994227 0.04742385 0.01993098
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 22
+f 1 22 29
+f 1 29 37
+f 1 37 34
+f 1 34 32
+f 1 32 30
+f 1 30 23
+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 15
+f 3 15 9
+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 19
+f 7 19 24
+f 7 24 31
+f 7 31 35
+f 7 35 28
+f 7 28 21
+f 7 21 20
+f 7 20 15
+f 7 15 8
+f 9 15 10
+f 10 16 20
+f 10 20 21
+f 10 21 17
+f 10 17 11
+f 10 15 16
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 17 21 28
+f 17 28 22
+f 18 23 19
+f 19 23 25
+f 19 25 26
+f 19 26 27
+f 19 27 24
+f 22 28 35
+f 22 35 36
+f 22 36 29
+f 23 30 25
+f 24 27 31
+f 25 30 32
+f 25 32 26
+f 26 32 27
+f 27 33 31
+f 27 32 34
+f 27 34 33
+f 29 36 37
+f 31 33 34
+f 31 34 35
+f 34 37 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_311.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fc37e2f42a16829e1378921627ee7fc927f3bb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_311.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00260607 0.02889366 -0.02457675
+v -0.00118608 0.03159976 -0.02443935
+v -0.00118608 0.02889366 -0.02450805
+v -0.00260704 0.02889366 -0.02432341
+v -0.00260704 0.03151177 -0.02425901
+v -0.00118608 0.03297554 -0.02417743
+v -0.00118608 0.02889366 0.01928879
+v -0.00260704 0.02889366 0.01844720
+v -0.00260704 0.03152062 -0.02425471
+v -0.00260218 0.03319404 -0.02393697
+v -0.00118608 0.03319404 -0.02413449
+v -0.00118608 0.03034312 0.01842144
+v -0.00260565 0.02889366 0.01869195
+v -0.00260704 0.02913699 0.01849443
+v -0.00260704 0.03319404 -0.02313403
+v -0.00118608 0.03319404 0.01616719
+v -0.00118608 0.03267159 0.01691431
+v -0.00260704 0.02914331 0.01849014
+v -0.00260704 0.03149325 0.01686278
+v -0.00260704 0.03319404 0.01560899
+v -0.00118998 0.03319404 0.01618007
+v -0.00260704 0.03271664 0.01598255
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 16
+f 2 16 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 4 8 14
+f 4 14 18
+f 4 18 19
+f 4 19 22
+f 4 22 20
+f 4 20 15
+f 4 15 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 13 14
+f 9 15 10
+f 10 15 20
+f 10 20 21
+f 10 21 16
+f 10 16 11
+f 12 17 13
+f 13 18 14
+f 13 17 19
+f 13 19 18
+f 16 21 17
+f 17 21 20
+f 17 20 22
+f 17 22 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_312.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350ee15cb0cf186419b61725a4aad7f0b5da302c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_312.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01279228 0.01915861 0.03002578
+v 0.00875087 0.01915861 0.03002578
+v 0.01279228 0.01644225 0.03002578
+v 0.01279228 0.01915861 -0.02237899
+v 0.00712487 0.01644225 0.02857430
+v 0.00845407 0.01672944 0.03002578
+v 0.00712487 0.01915861 0.02807307
+v 0.00712487 0.01908468 0.02808873
+v 0.00712487 0.01672944 0.02853253
+v 0.00843299 0.01644225 0.03002578
+v 0.01279228 0.01644225 -0.02199784
+v 0.01279228 0.01915408 -0.02241031
+v 0.01270684 0.01915861 -0.02242598
+v 0.00829874 0.01644225 0.02989003
+v 0.00712487 0.01644225 -0.02291677
+v 0.00712487 0.01915861 -0.02331358
+v 0.00951477 0.01644225 -0.02256695
+v 0.01132550 0.01722644 -0.02239465
+v 0.01225971 0.01915861 -0.02254607
+v 0.00792982 0.01915861 -0.02320915
+v 0.00927456 0.01915861 -0.02303163
+v 0.00945430 0.01644225 -0.02257739
+v 0.01208496 0.01915861 -0.02257739
+v 0.00967787 0.01915861 -0.02296898
+f 1 2 6
+f 1 6 10
+f 1 10 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 13
+f 1 13 19
+f 1 19 23
+f 1 23 24
+f 1 24 21
+f 1 21 20
+f 1 20 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 14
+f 3 14 5
+f 3 5 15
+f 3 15 22
+f 3 22 17
+f 3 17 11
+f 4 12 13
+f 5 14 6
+f 5 9 8
+f 5 8 7
+f 5 7 16
+f 5 16 15
+f 6 14 10
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 15 16 20
+f 15 20 21
+f 15 21 22
+f 17 22 18
+f 18 22 23
+f 18 23 19
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_313.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_313.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c55dda9ad9ec1a8b3bf58662c51ee2955715f2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_313.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00350430 0.00127887 -0.02235088
+v 0.00350430 0.00347769 -0.02242011
+v 0.00411484 0.00127887 -0.02221736
+v 0.00350430 0.00127887 0.02809812
+v 0.00375073 0.00347769 -0.02236571
+v 0.00350430 0.00347769 0.02755912
+v 0.00411484 0.00347769 -0.02228165
+v 0.00411484 0.00127887 0.02789043
+v 0.00411484 0.00347769 0.02755417
+v 0.00350430 0.00163766 0.02802395
+v 0.00350430 0.00194631 0.02795966
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 7
+f 2 7 5
+f 3 5 7
+f 3 7 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 6 11 9
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_314.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_314.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8b5147098f332b050f6bf96758aa752d265f32
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_314.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01798530 -0.02455153 -0.02434980
+v 0.01738698 -0.02395251 -0.02428866
+v 0.01809705 -0.02395251 -0.02429131
+v 0.01809705 -0.02455153 -0.02434980
+v 0.01514205 -0.02455153 -0.02428201
+v 0.01514205 -0.02395251 -0.02423482
+v 0.02034297 -0.02395251 -0.02421488
+v 0.02094228 -0.02455153 -0.02425276
+v 0.01502932 -0.02455153 -0.02427669
+v 0.01443100 -0.02395251 -0.02420225
+v 0.01451803 -0.02395251 -0.02420624
+v 0.02105403 -0.02395251 -0.02415174
+v 0.02105403 -0.02455153 -0.02424346
+v 0.01290702 -0.02455153 -0.02413379
+v 0.01290702 -0.02408438 -0.02410720
+v 0.01290702 -0.02395251 -0.02409923
+v 0.02300920 -0.02395251 -0.02380545
+v 0.02300920 -0.02436430 -0.02386860
+v 0.02300920 -0.02455153 -0.02389717
+v 0.01290702 -0.02455153 -0.01756038
+v 0.01290702 -0.02395251 -0.01756038
+v 0.02300920 -0.02395251 -0.01756038
+v 0.02300920 -0.02455153 -0.01756038
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 10
+f 2 10 16
+f 2 16 21
+f 2 21 22
+f 2 22 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 16
+f 14 16 15
+f 17 22 23
+f 17 23 19
+f 17 19 18
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_315.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_315.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1495b51d89c502b1294bb4124357db9213d7d4c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_315.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00767391 0.02172046 -0.02357963
+v 0.00767391 0.02220527 -0.02365921
+v 0.00908218 0.02172046 -0.02346289
+v 0.00767391 0.02172046 0.02812239
+v 0.00767391 0.02264281 -0.02372819
+v 0.00908218 0.02264281 -0.02360615
+v 0.00908218 0.02172046 0.03009093
+v 0.00834744 0.02172046 0.02911993
+v 0.00767391 0.02173255 0.02812239
+v 0.00767391 0.02559897 -0.02398819
+v 0.00908218 0.02546760 -0.02392982
+v 0.00908218 0.02538130 0.02969829
+v 0.00868999 0.02172046 0.02958155
+v 0.00767391 0.02407307 0.02794729
+v 0.00767391 0.02733595 -0.02411553
+v 0.00785752 0.02733595 -0.02411023
+v 0.00908218 0.02733595 -0.02407308
+v 0.00908218 0.02559897 -0.02394043
+v 0.00908218 0.02576497 0.02962931
+v 0.00870778 0.02531149 0.02919952
+v 0.00767391 0.02424017 0.02789423
+v 0.00767391 0.02733595 0.02684894
+v 0.00908218 0.02733595 0.02889177
+v 0.00767391 0.02707815 0.02694976
+v 0.00767391 0.02587216 0.02735832
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 25
+f 1 25 24
+f 1 24 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 18
+f 3 18 17
+f 3 17 23
+f 3 23 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 13 12
+f 8 12 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 17
+f 15 17 16
+f 19 23 22
+f 19 22 24
+f 19 24 20
+f 20 24 25
+f 20 25 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_316.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f67220ca004805c39889debb9bb5da16484a7c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_316.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.02528659 -0.04933231 0.00584037
+v 0.02527476 -0.04933231 0.00879515
+v 0.02526057 -0.04998940 0.00584037
+v 0.02526057 -0.04998940 -0.00496764
+v 0.02527003 -0.04973264 -0.00496764
+v 0.02528422 -0.04933604 -0.00496764
+v 0.02528422 -0.04933231 -0.00418968
+v 0.02524402 -0.04998940 0.00879515
+v 0.02517661 -0.04933231 0.01175238
+v 0.01320570 -0.04998940 -0.00496764
+v 0.02519198 -0.04933231 -0.00496764
+v 0.02508437 -0.04998940 0.01175238
+v 0.02482421 -0.04933231 0.01470716
+v 0.01320570 -0.04933231 -0.00496764
+v 0.01320570 -0.04998940 0.00891295
+v 0.02430507 -0.04933231 0.01766439
+v 0.02452503 -0.04998940 0.01470471
+v 0.01320570 -0.04933231 0.01055967
+v 0.01320689 -0.04933514 0.01070692
+v 0.01320570 -0.04936872 0.01055967
+v 0.01488255 -0.04998940 0.01339665
+v 0.02342526 -0.04933231 0.01991729
+v 0.02386044 -0.04998940 0.01766439
+v 0.01320689 -0.04933231 0.01068483
+v 0.01463067 -0.04933231 0.01412553
+v 0.01486363 -0.04994335 0.01344819
+v 0.01490502 -0.04998940 0.01344819
+v 0.02151781 -0.04933231 0.02010380
+v 0.02305158 -0.04996226 0.01949027
+v 0.02308350 -0.04998940 0.01938229
+v 0.01489201 -0.04933231 0.01470961
+v 0.01546910 -0.04998940 0.01470961
+v 0.02211264 -0.04996226 0.01949027
+v 0.01809908 -0.04933231 0.01821412
+v 0.01809908 -0.04998940 0.01739689
+v 0.02297708 -0.04998940 0.01942401
+v 0.01601070 -0.04933231 0.01673918
+v 0.01639976 -0.04998760 0.01644469
+v 0.01639739 -0.04998940 0.01643733
+v 0.02207243 -0.04998940 0.01942401
+v 0.01782236 -0.04933231 0.01805705
+v 0.01640685 -0.04998940 0.01644469
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 14
+f 1 14 18
+f 1 18 24
+f 1 24 25
+f 1 25 31
+f 1 31 37
+f 1 37 41
+f 1 41 34
+f 1 34 28
+f 1 28 22
+f 1 22 16
+f 1 16 13
+f 1 13 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 3 8 12
+f 3 12 17
+f 3 17 23
+f 3 23 30
+f 3 30 36
+f 3 36 40
+f 3 40 35
+f 3 35 42
+f 3 42 39
+f 3 39 32
+f 3 32 27
+f 3 27 21
+f 3 21 15
+f 3 15 10
+f 3 10 4
+f 4 10 14
+f 4 14 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 8 9 12
+f 9 13 12
+f 10 15 20
+f 10 20 18
+f 10 18 14
+f 12 13 16
+f 12 16 17
+f 15 19 20
+f 15 21 19
+f 16 22 23
+f 16 23 17
+f 18 19 24
+f 18 20 19
+f 19 25 24
+f 19 21 26
+f 19 26 25
+f 21 27 26
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 25 26 31
+f 26 27 32
+f 26 32 31
+f 28 33 29
+f 28 34 35
+f 28 35 33
+f 29 33 40
+f 29 40 36
+f 29 36 30
+f 31 32 38
+f 31 38 37
+f 32 39 38
+f 33 35 40
+f 34 41 38
+f 34 38 35
+f 35 38 42
+f 37 38 41
+f 38 39 42
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_318.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238e7da9eea730dd2b45f55d59c6b1d60a55d8be
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_318.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01516072 -0.03631340 -0.02562826
+v 0.01230800 -0.03631340 -0.02528011
+v 0.01230800 -0.03502655 -0.02518063
+v 0.01230800 -0.03359009 -0.02500429
+v 0.01230800 -0.03247279 -0.02485960
+v 0.01516072 -0.03600814 -0.02557401
+v 0.01530907 -0.03365287 -0.02506759
+v 0.01516072 -0.03631340 0.02056412
+v 0.01230800 -0.03631340 0.02056412
+v 0.01403885 -0.03247279 -0.02485508
+v 0.01230800 -0.03247279 0.02055960
+v 0.01530907 -0.03247730 -0.02483699
+v 0.01530907 -0.03365287 0.02055960
+v 0.01520978 -0.03502618 0.02056412
+v 0.01230800 -0.03502655 0.02056412
+v 0.01450152 -0.03247279 -0.02483699
+v 0.01450152 -0.03365324 0.02056412
+v 0.01450152 -0.03247279 0.02055960
+v 0.01504821 -0.03247354 -0.02480986
+v 0.01530907 -0.03247354 -0.02394172
+v 0.01530907 -0.03247354 0.02055960
+v 0.01520978 -0.03365324 0.02056412
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 8
+f 1 8 9
+f 1 9 2
+f 2 9 15
+f 2 15 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 10 6
+f 5 11 18
+f 5 18 16
+f 5 16 10
+f 6 10 12
+f 6 12 7
+f 7 12 20
+f 7 20 21
+f 7 21 13
+f 8 13 14
+f 8 14 22
+f 8 22 17
+f 8 17 15
+f 8 15 9
+f 10 16 12
+f 11 15 17
+f 11 17 22
+f 11 22 18
+f 12 16 19
+f 12 19 20
+f 13 21 22
+f 13 22 14
+f 16 18 21
+f 16 21 20
+f 16 20 19
+f 18 22 21
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_319.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_319.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846e5f5225720a881e233e008572f4adfbca27ac
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_319.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.02838069 0.03447515 0.02357406
+v 0.02838069 0.03447515 0.02356289
+v 0.02824137 0.03447515 0.02651759
+v 0.02824137 0.03446905 0.02652876
+v 0.02826245 0.03176314 0.02652876
+v 0.02827415 0.03176314 0.02627742
+v 0.02827884 0.03176314 0.02357406
+v 0.02827884 0.03176314 -0.01780858
+v 0.02837952 0.03446905 -0.01780858
+v 0.02837952 0.03447515 -0.01781975
+v 0.02824020 0.03447515 0.02652876
+v 0.02706833 0.03176314 0.02976274
+v 0.02827767 0.03176314 -0.01805992
+v 0.02835493 0.03446905 -0.02076328
+v 0.02835493 0.03447515 -0.02076328
+v 0.02679673 0.03447515 0.02910366
+v 0.02679556 0.03446905 0.02910924
+v 0.02705780 0.03176314 0.02977950
+v 0.02814772 0.03176314 -0.02076328
+v 0.02835259 0.03447515 -0.02076887
+v 0.02426100 0.03447515 0.03019282
+v 0.02503717 0.03293119 0.03093010
+v 0.02405963 0.03176314 0.03152216
+v 0.02802597 0.03176314 -0.02098111
+v 0.02691029 0.03447515 -0.02336610
+v 0.02403271 0.03447515 0.03023192
+v 0.02403505 0.03422163 0.03037714
+v 0.02306805 0.03307189 0.03100271
+v 0.02403505 0.03176314 0.03152774
+v 0.02675225 0.03176314 -0.02301422
+v 0.02690912 0.03446905 -0.02336610
+v 0.02690209 0.03447515 -0.02337169
+v 0.02231763 0.03307189 0.03100271
+v 0.02146887 0.03447515 0.03008111
+v 0.02131786 0.03176314 0.03139928
+v 0.02651576 0.03176314 -0.02312593
+v 0.02412285 0.03447515 -0.02465634
+v 0.02111649 0.03176314 0.03136577
+v 0.02120547 0.03447515 0.03005877
+v 0.02122186 0.03422163 0.03020958
+v 0.02034617 0.03270369 0.03082398
+v 0.02400227 0.03176314 -0.02406987
+v 0.02391681 0.03447515 -0.02473454
+v 0.01931011 0.03176314 0.03103622
+v 0.01642082 0.03314782 0.02973481
+v 0.01642082 0.03447515 0.02896402
+v 0.01642082 0.03189640 0.03043300
+v 0.02368384 0.03176314 -0.02412014
+v 0.01923986 0.03318896 -0.02515904
+v 0.02321790 0.03447515 -0.02484066
+v 0.01642082 0.03176314 0.03048885
+v 0.01642082 0.03447515 -0.02552767
+v 0.02078402 0.03176314 -0.02455022
+v 0.01726841 0.03278519 -0.02527075
+v 0.01819209 0.03429198 -0.02551092
+v 0.01872827 0.03447515 -0.02547741
+v 0.02105562 0.03447515 -0.02515904
+v 0.01642082 0.03176314 -0.02495237
+v 0.01817687 0.03447515 -0.02551092
+v 0.01642082 0.03439471 -0.02553326
+v 0.01812536 0.03176314 -0.02482391
+v 0.01642082 0.03272095 -0.02528191
+v 0.01856671 0.03447515 -0.02548858
+f 1 2 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 32
+f 1 32 37
+f 1 37 43
+f 1 43 50
+f 1 50 57
+f 1 57 56
+f 1 56 63
+f 1 63 59
+f 1 59 52
+f 1 52 46
+f 1 46 39
+f 1 39 34
+f 1 34 26
+f 1 26 21
+f 1 21 16
+f 1 16 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 18
+f 5 18 23
+f 5 23 29
+f 5 29 35
+f 5 35 38
+f 5 38 44
+f 5 44 51
+f 5 51 58
+f 5 58 61
+f 5 61 53
+f 5 53 48
+f 5 48 42
+f 5 42 36
+f 5 36 30
+f 5 30 24
+f 5 24 19
+f 5 19 13
+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 8 13 9
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 18
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 30 25
+f 25 31 32
+f 25 30 31
+f 26 33 27
+f 26 34 33
+f 27 33 28
+f 28 33 29
+f 29 33 35
+f 30 36 32
+f 30 32 31
+f 32 36 37
+f 33 38 35
+f 33 34 39
+f 33 39 40
+f 33 40 41
+f 33 41 38
+f 36 42 43
+f 36 43 37
+f 38 41 44
+f 39 45 40
+f 39 46 45
+f 40 47 41
+f 40 45 47
+f 41 47 44
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 44 47 51
+f 45 46 52
+f 45 52 60
+f 45 60 62
+f 45 62 58
+f 45 58 51
+f 45 51 47
+f 48 53 49
+f 49 54 55
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 49 53 54
+f 52 59 60
+f 53 61 54
+f 54 61 58
+f 54 58 62
+f 54 62 55
+f 55 60 59
+f 55 59 63
+f 55 63 56
+f 55 62 60
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_32.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1610e181692c2972648aab629f54f104cf8a0981
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_32.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01505233 -0.01910354 -0.02510185
+v -0.01505233 -0.01874959 -0.02511062
+v -0.01407354 -0.01910354 -0.02509747
+v -0.01505233 -0.01910354 0.01542527
+v -0.01505233 -0.01809662 -0.02509308
+v -0.01442509 -0.01874959 -0.02509747
+v -0.01375636 -0.01874959 -0.02507117
+v -0.01375636 -0.01910354 -0.02508432
+v -0.01375636 -0.01910354 0.01562252
+v -0.01375636 -0.01853491 0.01614412
+v -0.01505233 -0.01856941 0.01572771
+v -0.01505233 -0.01581444 -0.02495282
+v -0.01375636 -0.01646102 -0.02493091
+v -0.01505233 -0.01603039 0.01671831
+v -0.01375636 -0.01596267 0.01712157
+v -0.01505233 -0.00605066 -0.02400605
+v -0.01375636 -0.01579272 -0.02487393
+v -0.01375636 -0.01481008 0.01751606
+v -0.01375636 -0.01215606 0.01832695
+v -0.01505233 -0.01356805 0.01746346
+v -0.01505233 -0.00605066 0.01461438
+v -0.01375636 -0.00605066 -0.02383949
+v -0.01375636 -0.00800060 0.01926058
+v -0.01376080 -0.00605066 0.01966821
+v -0.01505233 -0.01081052 0.01799821
+v -0.01505233 -0.00605194 0.01830942
+v -0.01504929 -0.00605066 0.01831380
+v -0.01375636 -0.00605066 0.01223430
+v -0.01375636 -0.00692468 0.01948412
+v -0.01461197 -0.00605066 0.01877842
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 14
+f 1 14 20
+f 1 20 25
+f 1 25 26
+f 1 26 21
+f 1 21 16
+f 1 16 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 10
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 7 13 17
+f 7 17 22
+f 7 22 28
+f 7 28 29
+f 7 29 23
+f 7 23 19
+f 7 19 18
+f 7 18 15
+f 7 15 10
+f 7 10 9
+f 7 9 8
+f 10 14 11
+f 10 15 14
+f 12 16 17
+f 12 17 13
+f 14 15 18
+f 14 18 19
+f 14 19 20
+f 16 21 27
+f 16 27 30
+f 16 30 24
+f 16 24 28
+f 16 28 22
+f 16 22 17
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 21 26 27
+f 23 29 24
+f 24 30 25
+f 24 29 28
+f 25 30 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_320.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_320.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97b1dd50bc39b41e2dd9ff8983b066b78c52273
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_320.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02471550 -0.00358514 -0.02504265
+v -0.02471550 0.00322537 -0.02503854
+v -0.02442547 0.00322537 -0.02504676
+v -0.02329321 0.00322537 -0.02507145
+v -0.02329516 -0.00358514 -0.02503443
+v -0.02471550 -0.00358514 0.01653369
+v -0.02471550 0.00322537 0.01656248
+v -0.02329321 0.00198474 -0.02506322
+v -0.02329321 0.00322537 0.01677639
+v -0.02329321 -0.00101253 -0.02502208
+v -0.02329321 -0.00358514 -0.01959622
+v -0.02453185 -0.00358514 0.01657894
+v -0.02471550 -0.00100986 0.01662830
+v -0.02471550 0.00196140 0.01672291
+v -0.02329516 0.00194607 0.01695328
+v -0.02329321 0.00198807 0.01694505
+v -0.02329321 -0.00100986 0.01684632
+v -0.02329516 -0.00358514 0.01685866
+v -0.02471550 0.00011344 0.01666944
+v -0.02471550 0.00194607 0.01672291
+v -0.02329321 0.00194607 0.01694916
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 12
+f 1 12 6
+f 1 6 13
+f 1 13 19
+f 1 19 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 7 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 16
+f 4 16 21
+f 4 21 17
+f 4 17 11
+f 4 11 10
+f 4 10 8
+f 5 8 10
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 9
+f 9 15 16
+f 11 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 18 21
+f 15 21 16
+f 15 20 18
+f 17 21 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_321.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_321.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf86468e3cd80edc9db05ccf087747ebd926c5fe
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_321.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00331462 0.03155557 -0.02505189
+v 0.00370532 0.03155557 -0.02500763
+v 0.00326300 0.03155557 -0.02504861
+v 0.00310878 0.03268119 -0.02526827
+v 0.00331462 0.03265763 -0.02527482
+v 0.00370532 0.03266802 -0.02527646
+v 0.00370532 0.03155557 -0.00859099
+v 0.00310878 0.03155557 -0.02503878
+v 0.00310878 0.03412266 -0.02530925
+v 0.00329611 0.03426328 -0.02532072
+v 0.00370532 0.03430899 -0.02532892
+v 0.00370532 0.03863203 -0.00859099
+v 0.00310878 0.03155557 -0.00859099
+v 0.00310878 0.03442259 -0.02528138
+v 0.00370532 0.03564864 -0.02533547
+v 0.00310878 0.03863203 -0.00859099
+v 0.00370532 0.03863203 -0.02486502
+v 0.00370532 0.03742538 -0.02516500
+v 0.00370532 0.03645424 -0.02525843
+v 0.00310878 0.03742538 -0.02494862
+v 0.00310878 0.03863203 -0.02464865
+v 0.00346889 0.03863203 -0.02477978
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 19
+f 2 19 18
+f 2 18 17
+f 2 17 12
+f 2 12 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 13
+f 4 13 16
+f 4 16 21
+f 4 21 20
+f 4 20 14
+f 4 14 9
+f 5 10 11
+f 5 11 6
+f 7 12 16
+f 7 16 13
+f 9 14 15
+f 9 15 10
+f 10 15 11
+f 12 17 22
+f 12 22 21
+f 12 21 16
+f 14 18 19
+f 14 19 15
+f 14 20 18
+f 17 18 22
+f 18 20 22
+f 20 21 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_322.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_322.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294e66401216e5377c33f1d8484bacca0c942cff
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_322.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00975575 -0.02519564 -0.02351380
+v 0.00975575 -0.02519564 -0.02414056
+v 0.00876731 -0.02519564 -0.02351380
+v 0.00975575 -0.04423296 -0.02351380
+v 0.00876731 -0.02519564 -0.02418512
+v 0.00975575 -0.03326344 -0.02516937
+v 0.00876731 -0.03234465 -0.02513348
+v 0.00876731 -0.04350613 -0.02351380
+v 0.00975575 -0.04337754 -0.02391621
+v 0.00975575 -0.03333426 -0.02517613
+v 0.00975575 -0.03432573 -0.02526924
+v 0.00922796 -0.03420645 -0.02527964
+v 0.00876731 -0.03375172 -0.02525502
+v 0.00876731 -0.04240284 -0.02400879
+v 0.00975575 -0.04298989 -0.02409774
+v 0.00975575 -0.03468168 -0.02528484
+v 0.00876731 -0.03408159 -0.02527981
+v 0.00876731 -0.04191270 -0.02419482
+v 0.00975575 -0.03967816 -0.02498542
+v 0.00876731 -0.03885443 -0.02508719
+v 0.00876731 -0.03600116 -0.02527895
+v 0.00975575 -0.03674290 -0.02528138
+v 0.00876731 -0.03820587 -0.02520283
+v 0.00975575 -0.03925511 -0.02504680
+v 0.00876731 -0.03671681 -0.02527687
+v 0.00975575 -0.03701872 -0.02526178
+v 0.00876731 -0.03790769 -0.02523387
+v 0.00975575 -0.03703549 -0.02526057
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 24
+f 1 24 28
+f 1 28 26
+f 1 26 22
+f 1 22 16
+f 1 16 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 27
+f 3 27 23
+f 3 23 20
+f 3 20 18
+f 3 18 14
+f 3 14 8
+f 4 8 9
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 11 16 12
+f 12 17 13
+f 12 16 17
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 21 17
+f 16 22 21
+f 19 23 24
+f 19 20 23
+f 21 22 25
+f 22 26 27
+f 22 27 25
+f 23 27 24
+f 24 27 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_325.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ff6cb8e8205e9fba1e426d34030219e86ffeac
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_325.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01218451 0.04626507 -0.02488099
+v 0.01222010 0.04625578 -0.02488099
+v 0.01218451 0.04506901 -0.02528687
+v 0.01177082 0.04507962 -0.02529024
+v 0.01209058 0.04624649 -0.02488099
+v 0.01236780 0.04621463 -0.02488099
+v 0.01236780 0.04504378 -0.02527828
+v 0.01218451 0.04333796 -0.02547708
+v 0.01177082 0.04336053 -0.02547987
+v 0.01177082 0.04498537 -0.02530066
+v 0.01177082 0.04618144 -0.02488099
+v 0.01236780 0.03270479 -0.02488099
+v 0.01236780 0.04333796 -0.02545199
+v 0.01236780 0.04315211 -0.02545258
+v 0.01214786 0.04055024 -0.02544335
+v 0.01177082 0.04052900 -0.02548555
+v 0.01177082 0.03416237 -0.02488099
+v 0.01177082 0.03730984 -0.02532776
+v 0.01236780 0.03394997 -0.02500681
+v 0.01236780 0.04069228 -0.02541890
+v 0.01236780 0.03721824 -0.02530231
+v 0.01177082 0.04020907 -0.02547294
+v 0.01177082 0.03781960 -0.02537842
+v 0.01236780 0.03554561 -0.02515524
+v 0.01236780 0.03711337 -0.02529545
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 22
+f 4 22 23
+f 4 23 18
+f 4 18 17
+f 4 17 11
+f 4 11 5
+f 6 12 19
+f 6 19 24
+f 6 24 25
+f 6 25 21
+f 6 21 20
+f 6 20 14
+f 6 14 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 12 17 18
+f 12 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 24
+f 21 25 23
+f 21 23 22
+f 23 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_326.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_326.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78119975cc8e215b74e084f05e75afc39d8356c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_326.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01457219 0.03727171 -0.01648426
+v -0.01457219 0.03772646 -0.01648426
+v -0.01375644 0.03727171 -0.01648426
+v -0.01457219 0.03727171 0.00230791
+v -0.01457219 0.03855250 -0.01485558
+v -0.01375644 0.03833999 -0.01648426
+v -0.01375644 0.03727171 0.00373276
+v -0.01439123 0.03727171 0.00267995
+v -0.01375644 0.03858764 0.00088108
+v -0.01457219 0.03817005 0.00018251
+v -0.01457219 0.03953092 -0.01168331
+v -0.01375644 0.03911671 -0.01485558
+v -0.01375644 0.03779977 0.00267006
+v -0.01437718 0.03727171 0.00270568
+v -0.01438700 0.03727171 0.00268787
+v -0.01375644 0.03804539 0.00215949
+v -0.01375644 0.03895015 -0.00007476
+v -0.01457219 0.03826769 -0.00007476
+v -0.01457219 0.03955896 -0.01157645
+v -0.01450575 0.03959072 -0.01163186
+v -0.01375644 0.03936605 -0.01404619
+v -0.01375644 0.03958666 -0.00186373
+v -0.01399234 0.03980424 -0.00303132
+v -0.01457219 0.03930253 -0.00303132
+v -0.01457219 0.04004479 -0.00894246
+v -0.01442517 0.04016473 -0.00894246
+v -0.01375644 0.04067691 -0.00894246
+v -0.01375644 0.04005526 -0.01170706
+v -0.01375644 0.03988634 -0.01229679
+v -0.01375644 0.04013263 -0.00355178
+v -0.01457219 0.03947889 -0.00375957
+v -0.01457219 0.04004412 -0.00877821
+v -0.01375644 0.04072320 -0.00608287
+v -0.01457219 0.04002215 -0.00615213
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 24
+f 1 24 31
+f 1 31 34
+f 1 34 32
+f 1 32 25
+f 1 25 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 6 12
+f 3 12 21
+f 3 21 29
+f 3 29 28
+f 3 28 27
+f 3 27 33
+f 3 33 30
+f 3 30 22
+f 3 22 17
+f 3 17 9
+f 3 9 16
+f 3 16 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 16 14
+f 14 16 15
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 30 33 31
+f 31 33 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_327.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_327.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabbd0d9408f0b488e5a2f11d108e02f1d9c29ef
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_327.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.02329334 -0.03468856 -0.00894095
+v -0.02329334 -0.03464450 -0.00973530
+v -0.02329334 -0.03458249 -0.00664893
+v -0.02373199 -0.03445357 -0.00894095
+v -0.02329334 -0.03452374 -0.01189859
+v -0.02329334 -0.03454822 -0.00598959
+v -0.02359181 -0.03439156 -0.00598959
+v -0.02471550 -0.03373555 -0.00598959
+v -0.02471550 -0.03384651 -0.00894095
+v -0.02358318 -0.03436708 -0.01189859
+v -0.02329334 -0.03448947 -0.01219058
+v -0.02329334 -0.03427896 -0.00445425
+v -0.02329334 -0.03405213 -0.00320149
+v -0.02471550 -0.03323619 -0.00310102
+v -0.02471550 -0.03362784 -0.01189859
+v -0.02471550 -0.03328678 -0.01370080
+v -0.02329334 -0.03397706 -0.01469924
+v -0.02329334 -0.03352666 -0.00147149
+v -0.02471550 -0.03251490 -0.00049189
+v -0.02471550 -0.03306158 -0.01479971
+v -0.02471550 -0.03303874 -0.01487820
+v -0.02471550 -0.03257528 -0.01640098
+v -0.02329334 -0.03391016 -0.01491902
+v -0.02329334 -0.03301915 0.00010152
+v -0.02351260 -0.03291961 0.00012036
+v -0.02464228 -0.03198781 0.00124125
+v -0.02471550 -0.03203350 0.00097751
+v -0.02471550 -0.03234845 -0.01693474
+v -0.02329334 -0.03271726 -0.01771967
+v -0.02329334 -0.03279232 0.00064784
+v -0.02329334 -0.03167286 0.00279228
+v -0.02329334 -0.03146234 0.00314079
+v -0.02351260 -0.03141012 0.00302462
+v -0.02471550 -0.02931806 0.00459450
+v -0.02471550 -0.03195191 0.00118787
+v -0.02471550 -0.03144439 -0.01852973
+v -0.02413626 -0.03172508 -0.01872125
+v -0.02329334 -0.03264709 -0.01785154
+v -0.02329334 -0.02982231 0.00509058
+v -0.02329543 -0.02982231 0.00509058
+v -0.02471550 -0.02699916 0.00706861
+v -0.02471550 -0.03099726 -0.01917966
+v -0.02329334 -0.03194048 -0.01904465
+v -0.02329334 -0.02843195 0.00656939
+v -0.02329543 -0.02794728 0.00706547
+v -0.02413375 -0.02735165 0.00706861
+v -0.02471550 -0.01801896 0.00706861
+v -0.02471550 -0.03003609 -0.02024403
+v -0.02329334 -0.03044079 -0.02065534
+v -0.02329334 -0.02652103 0.00706861
+v -0.02329460 -0.02735165 0.00706861
+v -0.02471550 -0.01801896 -0.02485945
+v -0.02329334 -0.01801896 0.00706861
+v -0.02471550 -0.02847438 -0.02167261
+v -0.02408698 -0.02868163 -0.02192693
+v -0.02329334 -0.03017479 -0.02091907
+v -0.02402628 -0.01801896 -0.02497562
+v -0.02329543 -0.02172495 -0.02472759
+v -0.02471550 -0.02028726 -0.02461769
+v -0.02329334 -0.01801896 -0.02252034
+v -0.02471550 -0.02770577 -0.02225347
+v -0.02471550 -0.02735165 -0.02247011
+v -0.02389640 -0.02735328 -0.02281234
+v -0.02329334 -0.02779552 -0.02279664
+v -0.02329334 -0.02891172 -0.02210276
+v -0.02329543 -0.01801896 -0.02499760
+v -0.02329334 -0.01875330 -0.02500702
+v -0.02329334 -0.02170863 -0.02472759
+v -0.02329334 -0.02466722 -0.02412476
+v -0.02329543 -0.02466558 -0.02412476
+v -0.02471550 -0.02324422 -0.02395521
+v -0.02471550 -0.02699264 -0.02268675
+v -0.02329334 -0.02471780 -0.02410591
+v -0.02329334 -0.02761765 -0.02290025
+v -0.02471550 -0.02461336 -0.02354704
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 23
+f 1 23 29
+f 1 29 38
+f 1 38 43
+f 1 43 49
+f 1 49 56
+f 1 56 65
+f 1 65 64
+f 1 64 74
+f 1 74 73
+f 1 73 69
+f 1 69 68
+f 1 68 67
+f 1 67 60
+f 1 60 53
+f 1 53 50
+f 1 50 44
+f 1 44 39
+f 1 39 32
+f 1 32 31
+f 1 31 30
+f 1 30 24
+f 1 24 18
+f 1 18 13
+f 1 13 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 19
+f 8 19 27
+f 8 27 35
+f 8 35 34
+f 8 34 41
+f 8 41 47
+f 8 47 52
+f 8 52 59
+f 8 59 71
+f 8 71 75
+f 8 75 72
+f 8 72 62
+f 8 62 61
+f 8 61 54
+f 8 54 48
+f 8 48 42
+f 8 42 36
+f 8 36 28
+f 8 28 22
+f 8 22 21
+f 8 21 20
+f 8 20 16
+f 8 16 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 14
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 22 28 23
+f 23 28 29
+f 24 30 26
+f 24 26 25
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 26 30 31
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 32 39 40
+f 32 40 34
+f 32 34 33
+f 34 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 41
+f 41 45 46
+f 41 46 51
+f 41 51 50
+f 41 50 53
+f 41 53 47
+f 41 44 45
+f 42 48 43
+f 43 48 49
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 47 53 60
+f 47 60 66
+f 47 66 57
+f 47 57 52
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 52 57 58
+f 52 58 59
+f 54 61 55
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 65
+f 55 65 56
+f 57 66 67
+f 57 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 60 67 66
+f 62 72 63
+f 63 73 74
+f 63 74 64
+f 63 72 73
+f 69 73 70
+f 70 73 72
+f 70 72 75
+f 70 75 71
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_329.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424c29d25bc9046d5c3b6207c1c68a7c765327bb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_329.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01279247 0.01644225 -0.02199780
+v 0.01279247 0.01915408 -0.02241358
+v 0.01426443 0.01915861 -0.02220825
+v 0.01477586 0.01915861 -0.02213639
+v 0.01477586 0.01644225 -0.02168468
+v 0.01279247 0.01644225 0.03002578
+v 0.01279247 0.01915861 -0.02238278
+v 0.01477586 0.01915861 0.03002578
+v 0.01477586 0.01644225 0.03002578
+v 0.01279247 0.01915861 0.03002578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 9 8
+f 6 8 10
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_33.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48699a01b194c65720f0e08cd22c69a67db1427e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01082670 -0.01594870 -0.02349082
+v 0.01082670 -0.01443518 -0.02333341
+v 0.01218417 -0.01579165 -0.02346750
+v 0.01230800 -0.01594870 -0.02347916
+v 0.01082670 -0.01594870 0.03131127
+v 0.01082670 -0.00021918 -0.02178262
+v 0.01127040 -0.00021918 -0.02170100
+v 0.01218431 -0.00021918 -0.02153193
+v 0.01227465 -0.00021918 -0.02151444
+v 0.01230800 -0.00740955 -0.02240644
+v 0.01230800 -0.01594870 0.03384732
+v 0.01117905 -0.01594870 0.03209249
+v 0.01082670 -0.01550064 0.03146285
+v 0.01082670 -0.00021918 0.03345088
+v 0.01230800 -0.00021918 -0.02150278
+v 0.01230800 -0.01588865 0.03386481
+v 0.01195348 -0.01594870 0.03331679
+v 0.01126575 -0.01594870 0.03226739
+v 0.01093763 -0.00987922 0.03336926
+v 0.01082670 -0.00987922 0.03308942
+v 0.01082670 -0.00102906 0.03400473
+v 0.01082975 -0.00021918 0.03416797
+v 0.01230800 -0.00021918 0.03606855
+v 0.01105072 -0.01148204 0.03312440
+v 0.01116295 -0.01327733 0.03282707
+v 0.01230800 -0.01283543 0.03462854
+v 0.01230800 -0.00977914 0.03518822
+v 0.01085077 -0.00692455 0.03365493
+v 0.01082670 -0.00692455 0.03360829
+v 0.01082670 -0.00191900 0.03401056
+v 0.01190447 -0.00347255 0.03535729
+v 0.01163724 -0.00021918 0.03525818
+v 0.01230800 -0.00102136 0.03605689
+v 0.01230800 -0.00767438 0.03545640
+v 0.01218779 -0.00692455 0.03539227
+v 0.01230800 -0.00662277 0.03558466
+v 0.01230800 -0.00586678 0.03566628
+v 0.01230800 -0.00396834 0.03585867
+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 13
+f 1 13 20
+f 1 20 29
+f 1 29 30
+f 1 30 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 4
+f 4 6 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 15
+f 4 15 23
+f 4 23 33
+f 4 33 38
+f 4 38 37
+f 4 37 36
+f 4 36 34
+f 4 34 27
+f 4 27 26
+f 4 26 16
+f 4 16 11
+f 5 12 13
+f 6 14 22
+f 6 22 32
+f 6 32 23
+f 6 23 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 10
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 16 19 24
+f 16 24 25
+f 16 25 17
+f 16 26 19
+f 17 25 18
+f 18 25 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 19 25 24
+f 21 30 22
+f 22 30 29
+f 22 29 28
+f 22 28 31
+f 22 31 32
+f 23 32 33
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 31
+f 31 38 32
+f 32 38 33
+f 34 36 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_330.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_330.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48949fbc9fd80b3ab9ac9af3fba1411818ce2064
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_330.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.04663604 0.00238656 -0.00950754
+v -0.04723108 0.00238656 -0.00950754
+v -0.04663446 0.00233827 -0.00950754
+v -0.04663446 0.00238656 -0.01844163
+v -0.04723108 0.00238656 -0.02009682
+v -0.04723108 -0.01462685 -0.00950754
+v -0.04663446 -0.01462685 -0.00950754
+v -0.04663446 0.00238656 -0.02042471
+v -0.04719832 0.00238656 -0.02011617
+v -0.04723108 -0.00101246 -0.02083729
+v -0.04723108 -0.01462685 -0.01997703
+v -0.04663446 -0.01462685 -0.02022870
+v -0.04663446 -0.00101246 -0.02115429
+v -0.04694813 -0.00101246 -0.02099216
+v -0.04723108 -0.00396682 -0.02143741
+v -0.04723108 -0.00987888 -0.02134667
+v -0.04663446 -0.01019197 -0.02141442
+v -0.04694813 -0.00987888 -0.02143136
+v -0.04663446 -0.00387856 -0.02172780
+v -0.04673234 -0.00395017 -0.02169150
+v -0.04723108 -0.00704109 -0.02160680
+v -0.04673234 -0.00706274 -0.02182459
+v -0.04663446 -0.00714102 -0.02185484
+v -0.04663446 -0.00986889 -0.02147613
+v -0.04663446 -0.00403344 -0.02174473
+v -0.04663446 -0.00698447 -0.02186694
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 21
+f 2 21 16
+f 2 16 11
+f 2 11 6
+f 3 7 12
+f 3 12 17
+f 3 17 24
+f 3 24 23
+f 3 23 26
+f 3 26 25
+f 3 25 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 18
+f 12 18 17
+f 13 19 15
+f 13 15 14
+f 15 19 20
+f 15 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 18
+f 17 18 24
+f 18 23 24
+f 19 25 20
+f 20 25 21
+f 21 26 22
+f 21 25 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_331.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_331.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b175e70319dfe7e23a28a91be6b3aa59309fa648
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_331.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.02136319 0.03490223 -0.00965593
+v -0.02136319 0.03466114 -0.01190329
+v -0.02254068 0.03393786 -0.01190176
+v -0.02254068 0.03411374 -0.00965593
+v -0.02136319 0.01471373 -0.00965593
+v -0.02136319 0.03388846 -0.01485696
+v -0.02226567 0.03336675 -0.01485696
+v -0.02254068 0.03364934 -0.01305755
+v -0.02254068 0.01471373 -0.00965593
+v -0.02136319 0.01471373 -0.02526669
+v -0.02136319 0.03318297 -0.01683525
+v -0.02191194 0.03306242 -0.01648974
+v -0.02254068 0.03304661 -0.01488907
+v -0.02254068 0.01471373 -0.02517190
+v -0.02136319 0.01667606 -0.02527280
+v -0.02221288 0.01471373 -0.02525446
+v -0.02136319 0.03259802 -0.01765317
+v -0.02203504 0.03030369 -0.01951680
+v -0.02253906 0.03137873 -0.01760884
+v -0.02254068 0.03137675 -0.01760884
+v -0.02254068 0.03284899 -0.01521165
+v -0.02254068 0.01650809 -0.02513674
+v -0.02205221 0.01672942 -0.02525598
+v -0.02136319 0.01889529 -0.02526363
+v -0.02136319 0.03062778 -0.01983021
+v -0.02136319 0.02946778 -0.02088357
+v -0.02254068 0.02913578 -0.02008399
+v -0.02254068 0.01672942 -0.02513215
+v -0.02192185 0.01852575 -0.02523611
+v -0.02136319 0.02046634 -0.02511381
+v -0.02136319 0.02895792 -0.02133610
+v -0.02254068 0.02839867 -0.02073680
+v -0.02254068 0.01909884 -0.02489060
+v -0.02254068 0.01985373 -0.02475759
+v -0.02136319 0.02264210 -0.02460624
+v -0.02136319 0.02747975 -0.02243073
+v -0.02187563 0.02712602 -0.02228243
+v -0.02254068 0.02609249 -0.02250717
+v -0.02254068 0.02264210 -0.02405586
+v -0.02136319 0.02532771 -0.02355747
+v -0.02254068 0.02532376 -0.02293524
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 15
+f 1 15 24
+f 1 24 30
+f 1 30 35
+f 1 35 40
+f 1 40 36
+f 1 36 31
+f 1 31 26
+f 1 26 25
+f 1 25 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 21
+f 3 21 20
+f 3 20 27
+f 3 27 32
+f 3 32 38
+f 3 38 41
+f 3 41 39
+f 3 39 34
+f 3 34 33
+f 3 33 28
+f 3 28 22
+f 3 22 14
+f 3 14 9
+f 3 9 4
+f 5 9 14
+f 5 14 16
+f 5 16 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 10 16 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 23
+f 14 23 16
+f 15 23 24
+f 15 16 23
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 20
+f 18 20 19
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 26 31 27
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 30
+f 30 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 34 39 35
+f 35 39 40
+f 36 40 41
+f 36 41 38
+f 36 38 37
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_332.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f352baf1e60948424d9d9db3b471802b6084db7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_332.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00370764 0.03155558 -0.01414086
+v 0.00489212 0.03155558 -0.01414086
+v 0.00370543 0.03155558 -0.01384020
+v 0.00370543 0.03215526 -0.01414086
+v 0.00489212 0.04635215 -0.01414086
+v 0.00489212 0.03155558 0.02198434
+v 0.00370543 0.03155558 0.02098332
+v 0.00370543 0.04635215 -0.01414086
+v 0.00489212 0.04635215 0.01136573
+v 0.00489212 0.03156427 0.02199142
+v 0.00489014 0.03155558 0.02199495
+v 0.00370543 0.03209877 0.02077109
+v 0.00370543 0.04635215 0.00957238
+v 0.00489212 0.04611170 0.01165932
+v 0.00489212 0.03367041 0.02116372
+v 0.00489212 0.03576641 0.02023344
+v 0.00370543 0.03428023 0.01979129
+v 0.00370543 0.04531791 0.01083516
+v 0.00370543 0.04428947 0.01200950
+v 0.00455177 0.04461973 0.01286196
+v 0.00489212 0.04477327 0.01317677
+v 0.00489212 0.03668187 0.01972408
+v 0.00370543 0.03567515 0.01911215
+v 0.00370543 0.03446998 0.01969932
+v 0.00370543 0.04398962 0.01234907
+v 0.00370543 0.04251648 0.01385591
+v 0.00489212 0.04301477 0.01495243
+v 0.00489212 0.03826509 0.01865586
+v 0.00370543 0.03763354 0.01791305
+v 0.00370543 0.03709180 0.01825262
+v 0.00370543 0.04140692 0.01497366
+v 0.00370543 0.04101437 0.01532737
+v 0.00489212 0.04174442 0.01609494
+v 0.00489212 0.03964263 0.01772558
+v 0.00370543 0.03796815 0.01768667
+v 0.00370543 0.03947171 0.01660429
+v 0.00489212 0.04020321 0.01730466
+v 0.00489212 0.04012933 0.01736125
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 21
+f 2 21 27
+f 2 27 33
+f 2 33 37
+f 2 37 38
+f 2 38 34
+f 2 34 28
+f 2 28 22
+f 2 22 16
+f 2 16 15
+f 2 15 10
+f 2 10 6
+f 3 7 12
+f 3 12 17
+f 3 17 24
+f 3 24 23
+f 3 23 30
+f 3 30 29
+f 3 29 35
+f 3 35 36
+f 3 36 32
+f 3 32 31
+f 3 31 26
+f 3 26 25
+f 3 25 19
+f 3 19 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 5 8 13
+f 5 13 9
+f 6 10 11
+f 7 11 12
+f 9 13 18
+f 9 18 14
+f 10 15 11
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 19 25 20
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 32 36 33
+f 33 36 37
+f 34 38 36
+f 34 36 35
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_333.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_333.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697eb5ab0c76c82f9a9cf1e8786a273833e63846
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_333.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01662854 -0.04068793 0.02056412
+v 0.01236805 -0.04068793 0.02056412
+v 0.01662854 -0.04179668 0.02056412
+v 0.01662854 -0.04068793 -0.02614803
+v 0.01230800 -0.04068793 0.02043140
+v 0.01230800 -0.04179668 0.01939711
+v 0.01284510 -0.04179668 0.02056412
+v 0.01635068 -0.04268368 0.02056412
+v 0.01662854 -0.04179668 -0.02617091
+v 0.01635068 -0.04240332 -0.02618922
+v 0.01514071 -0.04179668 -0.02616633
+v 0.01514113 -0.04068793 -0.02613430
+v 0.01230800 -0.04068793 -0.02550732
+v 0.01230800 -0.04179668 -0.02545240
+v 0.01230842 -0.04268368 0.01848182
+v 0.01230842 -0.04227535 0.01894862
+v 0.01305656 -0.04228805 0.02056412
+v 0.01326802 -0.04268368 0.02056412
+v 0.01635068 -0.04268368 -0.02617091
+v 0.01635068 -0.04251800 -0.02618464
+v 0.01514071 -0.04240332 -0.02618006
+v 0.01352896 -0.04068793 -0.02580937
+v 0.01230800 -0.04161811 -0.02549359
+v 0.01255667 -0.04068793 -0.02557597
+v 0.01242557 -0.04179668 -0.02552563
+v 0.01230842 -0.04268368 -0.02527392
+v 0.01313396 -0.04268368 0.02034444
+v 0.01306037 -0.04229547 0.02056412
+v 0.01542110 -0.04268368 -0.02617091
+v 0.01514071 -0.04268368 -0.02615718
+v 0.01282311 -0.04240332 -0.02562631
+v 0.01287471 -0.04268368 -0.02560801
+v 0.01318851 -0.04268368 -0.02569038
+v 0.01304261 -0.04268368 -0.02565377
+f 1 2 7
+f 1 7 17
+f 1 17 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 22
+f 1 22 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 19
+f 3 19 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 23
+f 5 23 14
+f 5 14 6
+f 6 14 26
+f 6 26 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 18 27
+f 8 27 15
+f 8 15 26
+f 8 26 32
+f 8 32 34
+f 8 34 33
+f 8 33 30
+f 8 30 29
+f 8 29 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 13 24 25
+f 13 25 23
+f 14 23 26
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 18 28 27
+f 19 29 20
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 24
+f 23 25 32
+f 23 32 26
+f 24 31 25
+f 25 31 32
+f 30 33 31
+f 31 33 34
+f 31 34 32
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_334.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_334.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c4992711e1e4c39938eee532cc83f429460991
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_334.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00316328 -0.02787296 0.02247180
+v 0.00310583 -0.02787296 0.02248593
+v 0.00316328 -0.02887191 0.02199588
+v 0.00316328 -0.02787296 -0.02518551
+v 0.00293985 -0.02787296 0.02252363
+v 0.00196153 -0.02915654 0.02212311
+v 0.00316328 -0.03032181 0.02128908
+v 0.00316328 -0.02803564 -0.02522320
+v 0.00280898 -0.02844638 -0.02536927
+v 0.00293267 -0.02787296 -0.02521849
+v 0.00291431 -0.02787296 0.02252363
+v 0.00177321 -0.02915654 0.02212311
+v 0.00311141 -0.03052342 0.02117599
+v 0.00316328 -0.03052342 0.02117128
+v 0.00316328 -0.02857274 -0.02534100
+v 0.00238525 -0.02787296 -0.02529388
+v 0.00316328 -0.02927797 -0.02538812
+v 0.00316328 -0.03034802 -0.02544467
+v 0.00035760 -0.03052342 -0.02561430
+v 0.00128724 -0.02787296 -0.02538341
+v 0.00094730 -0.02787296 0.02235400
+v 0.00009905 -0.02787296 0.02191578
+v -0.00019779 -0.02816823 0.02160950
+v 0.00039909 -0.03052342 0.02063882
+v 0.00291671 -0.03052342 0.02115714
+v 0.00316328 -0.03052342 -0.02544467
+v 0.00101274 -0.03052342 -0.02557660
+v -0.00204910 -0.03052342 -0.02537399
+v -0.00154637 -0.02787296 -0.02534100
+v 0.00036239 -0.02787296 -0.02541639
+v -0.00116095 -0.02787296 0.02116657
+v -0.00236031 -0.02787296 0.02041265
+v -0.00180412 -0.02991315 0.01963516
+v -0.00245128 -0.03052342 0.01877287
+v -0.00357004 -0.03052342 -0.02511012
+v -0.00498804 -0.02844898 -0.02483210
+v -0.00175305 -0.02787296 -0.02531744
+v -0.00288059 -0.02787296 0.02004982
+v -0.00377512 -0.02874606 0.01892365
+v -0.00284229 -0.03052342 0.01848543
+v -0.00498804 -0.03052342 -0.02472844
+v -0.00498804 -0.02787296 -0.02480383
+v -0.00379507 -0.02787296 0.01936187
+v -0.00498804 -0.02787296 0.01846187
+v -0.00498804 -0.02823388 0.01827339
+v -0.00489548 -0.03052342 0.01686921
+v -0.00498804 -0.03052342 0.01678911
+v -0.00498804 -0.03024527 0.01697288
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 18
+f 1 18 17
+f 1 17 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 30
+f 1 30 29
+f 1 29 37
+f 1 37 42
+f 1 42 44
+f 1 44 43
+f 1 43 38
+f 1 38 32
+f 1 32 31
+f 1 31 22
+f 1 22 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 16
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 24
+f 13 24 34
+f 13 34 40
+f 13 40 46
+f 13 46 47
+f 13 47 41
+f 13 41 35
+f 13 35 28
+f 13 28 19
+f 13 19 27
+f 13 27 26
+f 13 26 14
+f 18 26 27
+f 18 27 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 47
+f 36 47 48
+f 36 48 45
+f 36 45 44
+f 36 44 42
+f 36 42 37
+f 38 43 39
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 39 43 44
+f 45 48 46
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_336.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4e736666ee91ff73e050325bdc8b7bd2e09aad
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_336.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.05670308 0.00306672
+v 0.01236780 0.05698356 0.00232381
+v 0.01218451 0.05696580 0.00226939
+v 0.01218451 0.05666402 0.00306672
+v 0.01236780 0.02172756 0.00306672
+v 0.01236780 0.05704036 0.00212386
+v 0.01177082 0.05690900 0.00212447
+v 0.01218451 0.05755873 -0.00007309
+v 0.01177082 0.05648294 0.00306672
+v 0.01236505 0.02172045 0.00306672
+v 0.01236780 0.02172045 0.00306428
+v 0.01236780 0.05759424 -0.00007309
+v 0.01177082 0.05735280 0.00036838
+v 0.01236780 0.05761909 -0.00025652
+v 0.01236780 0.05798124 -0.00303007
+v 0.01218451 0.05794218 -0.00303007
+v 0.01177082 0.05773270 -0.00241128
+v 0.01177082 0.05742737 -0.00007309
+v 0.01177082 0.03708682 0.00306672
+v 0.01177094 0.02172045 0.00306672
+v 0.01236780 0.02172045 -0.00317988
+v 0.01236780 0.05799189 -0.00317988
+v 0.01219374 0.05795283 -0.00317988
+v 0.01177082 0.05779661 -0.00303007
+v 0.01177082 0.02172045 -0.00316459
+v 0.01177339 0.02172045 -0.00317988
+v 0.01188403 0.05784277 -0.00317988
+v 0.01177082 0.05780017 -0.00317988
+v 0.01177082 0.02196189 -0.00317988
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 5
+f 1 5 11
+f 1 11 21
+f 1 21 22
+f 1 22 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 9
+f 5 10 11
+f 6 12 8
+f 7 8 13
+f 7 13 18
+f 7 18 17
+f 7 17 24
+f 7 24 28
+f 7 28 29
+f 7 29 25
+f 7 25 19
+f 7 19 9
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 13
+f 10 20 25
+f 10 25 26
+f 10 26 21
+f 10 21 11
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 19 25 20
+f 21 26 29
+f 21 29 28
+f 21 28 27
+f 21 27 23
+f 21 23 22
+f 23 27 24
+f 24 27 28
+f 25 29 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_337.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_337.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5c0a8d72111d2774691561bc0ea5839d058c17
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_337.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00260704 0.04191864 -0.01864413
+v -0.00260704 0.04041016 -0.02042401
+v -0.00377663 0.04011310 -0.02030230
+v -0.00377663 0.04070080 -0.01953949
+v -0.00377663 0.04072523 -0.01950696
+v -0.00377663 0.04076896 -0.01944369
+v -0.00377663 0.04131808 -0.01864413
+v -0.00260704 0.02878219 -0.01864413
+v -0.00260704 0.03852103 -0.02195323
+v -0.00377663 0.03832942 -0.02181103
+v -0.00377663 0.02878219 -0.01864413
+v -0.00260704 0.02878219 -0.02458990
+v -0.00260704 0.03704214 -0.02279798
+v -0.00377663 0.03685053 -0.02272266
+v -0.00377663 0.02878219 -0.02479838
+v -0.00260704 0.03151236 -0.02426092
+v -0.00260704 0.03447015 -0.02369696
+v -0.00377663 0.03447015 -0.02364875
+v -0.00377663 0.03143134 -0.02443385
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 8
+f 1 8 12
+f 1 12 16
+f 1 16 17
+f 1 17 13
+f 1 13 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 14
+f 3 14 18
+f 3 18 19
+f 3 19 15
+f 3 15 11
+f 3 11 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 11 15
+f 8 15 12
+f 9 13 14
+f 9 14 10
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_338.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_338.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4c670ca302bb0ad1d59cbd997af41584ff578e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_338.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01992303 0.04426544 0.02285615
+v 0.01992303 0.04503378 0.02229028
+v 0.01913181 0.04497318 0.02223416
+v 0.01864604 0.04426544 0.02266441
+v 0.01992303 0.04426544 -0.02492029
+v 0.01992303 0.04564196 0.02172441
+v 0.01642082 0.04606432 0.02037286
+v 0.01642082 0.04448219 0.02182729
+v 0.01873586 0.04742414 0.01973684
+v 0.01642082 0.04426544 0.02199565
+v 0.01642082 0.04426544 -0.02481273
+v 0.01642082 0.04615182 -0.02474258
+v 0.01992303 0.04437922 -0.02491562
+v 0.01992303 0.04742414 0.01992858
+v 0.01642082 0.04742414 0.01900728
+v 0.01642082 0.04742414 -0.02433571
+v 0.01809788 0.04742414 -0.02454148
+v 0.01992303 0.04742414 -0.02465840
+v 0.01992303 0.04672722 -0.02474726
+v 0.01992303 0.04629559 -0.02479870
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 13
+f 1 13 20
+f 1 20 19
+f 1 19 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 5 11 12
+f 5 12 13
+f 6 14 9
+f 7 9 15
+f 7 15 16
+f 7 16 12
+f 7 12 11
+f 7 11 10
+f 7 10 8
+f 9 14 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_339.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_339.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e792f203f260bc44c93a97c257af2dcab1b4ad44
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_339.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01375644 0.03833987 -0.01648516
+v -0.01375644 0.03804421 -0.01715446
+v -0.01457219 0.03772451 -0.01648516
+v -0.01375644 0.01378326 -0.01648516
+v -0.01457219 0.03770288 -0.01653098
+v -0.01375644 0.03756587 -0.01788305
+v -0.01457219 0.03693608 -0.01797738
+v -0.01457219 0.03717646 -0.01759018
+v -0.01457219 0.01378326 -0.01648516
+v -0.01375644 0.01378326 -0.02441614
+v -0.01375644 0.03660437 -0.01910037
+v -0.01375644 0.03594574 -0.01992509
+v -0.01457219 0.03454436 -0.02087469
+v -0.01457219 0.01378326 -0.02451855
+v -0.01375644 0.01890323 -0.02527949
+v -0.01375644 0.03476310 -0.02112444
+v -0.01457219 0.03452513 -0.02089445
+v -0.01457219 0.01917004 -0.02541514
+v -0.01436328 0.01954262 -0.02545467
+v -0.01375644 0.01978059 -0.02542323
+v -0.01375644 0.03346508 -0.02234266
+v -0.01457219 0.03449869 -0.02091781
+v -0.01457219 0.01948974 -0.02545198
+v -0.01457219 0.01955224 -0.02545916
+v -0.01442517 0.02264345 -0.02566130
+v -0.01375644 0.02259537 -0.02562177
+v -0.01375644 0.03316462 -0.02257893
+v -0.01457219 0.03171997 -0.02312784
+v -0.01457219 0.02264345 -0.02565411
+v -0.01375644 0.02557361 -0.02542233
+v -0.01430099 0.02556880 -0.02540077
+v -0.01375644 0.03165507 -0.02337311
+v -0.01455742 0.03170555 -0.02314222
+v -0.01457219 0.03170074 -0.02313952
+v -0.01457219 0.02525631 -0.02541245
+v -0.01375644 0.02643895 -0.02533159
+v -0.01457219 0.02538131 -0.02540077
+v -0.01457219 0.02547265 -0.02539179
+v -0.01375644 0.02848453 -0.02471889
+v -0.01430099 0.02838117 -0.02466319
+v -0.01457219 0.02839560 -0.02459312
+v -0.01375644 0.02781870 -0.02497044
+v -0.01457219 0.02585725 -0.02529476
+v -0.01457219 0.02782591 -0.02477908
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 26
+f 1 26 30
+f 1 30 36
+f 1 36 42
+f 1 42 39
+f 1 39 32
+f 1 32 27
+f 1 27 21
+f 1 21 16
+f 1 16 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 3 7 13
+f 3 13 17
+f 3 17 22
+f 3 22 28
+f 3 28 34
+f 3 34 41
+f 3 41 44
+f 3 44 43
+f 3 43 38
+f 3 38 37
+f 3 37 35
+f 3 35 29
+f 3 29 24
+f 3 24 23
+f 3 23 18
+f 3 18 14
+f 3 14 9
+f 4 9 14
+f 4 14 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 28
+f 21 28 22
+f 24 29 25
+f 25 30 26
+f 25 29 31
+f 25 31 30
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 31
+f 30 31 36
+f 31 35 37
+f 31 37 38
+f 31 38 36
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 33 41 34
+f 36 38 43
+f 36 43 42
+f 39 42 40
+f 40 42 44
+f 40 44 41
+f 42 43 44
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_34.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e59a6b992ee9dee62320fee5a20714c6bd3ede5
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01587823 -0.00014975 0.03897371
+v 0.01587823 0.00347733 0.03833729
+v 0.01514048 0.00347733 0.03812317
+v 0.01526113 -0.00014975 0.03871795
+v 0.01230814 -0.00021886 0.03605926
+v 0.01587823 -0.00014975 -0.02081428
+v 0.01230814 0.00347769 0.03613658
+v 0.01587823 0.00347733 -0.02062395
+v 0.01328670 0.00347733 0.03719530
+v 0.01322143 0.00194566 0.03727262
+v 0.01326198 -0.00014975 0.03730236
+v 0.01163764 -0.00021886 0.03526224
+v 0.01230814 -0.00021886 -0.02150423
+v 0.01227501 -0.00021886 -0.02151613
+v 0.01218452 -0.00021886 -0.02153398
+v 0.01082670 0.00347769 -0.02173026
+v 0.01218452 0.00347769 -0.02145665
+v 0.01180823 0.00347769 0.03566075
+v 0.01230814 0.00347769 -0.02142691
+v 0.01230814 0.00194603 0.03623769
+v 0.01174296 0.00194603 0.03558937
+v 0.01082670 0.00194603 0.03441764
+v 0.01082670 -0.00021561 0.03416189
+v 0.01082967 -0.00021886 0.03416189
+v 0.01082670 -0.00021886 -0.02178973
+v 0.01082670 0.00347769 0.03449497
+v 0.01082670 -0.00021886 0.03345409
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 8
+f 1 8 2
+f 2 7 3
+f 2 8 19
+f 2 19 7
+f 3 7 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 24
+f 5 24 27
+f 5 27 25
+f 5 25 15
+f 5 15 14
+f 5 14 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 18 9
+f 7 19 17
+f 7 17 16
+f 7 16 26
+f 7 26 18
+f 8 17 19
+f 9 18 10
+f 10 18 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 22 23
+f 12 23 24
+f 12 21 22
+f 15 25 16
+f 16 25 27
+f 16 27 23
+f 16 23 22
+f 16 22 26
+f 18 21 20
+f 18 26 21
+f 21 26 22
+f 23 27 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_340.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_340.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73ef5d6a74c8dba8218d861e4ec9ecaf9319d1d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_340.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.01514114 0.05162237 -0.02247544
+v 0.01449973 0.05162237 -0.02232512
+v 0.01449973 0.05162307 -0.02232512
+v 0.01514576 0.05284887 -0.02150357
+v 0.01514576 0.05162237 -0.02227268
+v 0.01449973 0.05162237 0.01303652
+v 0.01449973 0.05275977 -0.02142316
+v 0.01449973 0.05278066 -0.02140568
+v 0.01514576 0.05430438 -0.02002478
+v 0.01514576 0.05162237 0.01323929
+v 0.01514576 0.05267067 0.01162765
+v 0.01449973 0.05219177 0.01215903
+v 0.01449973 0.05422851 -0.01992689
+v 0.01514114 0.05430856 -0.02001778
+v 0.01514576 0.05584481 -0.01779785
+v 0.01514576 0.05291013 0.01125008
+v 0.01449973 0.05354008 0.01004048
+v 0.01449973 0.05572996 -0.01772443
+v 0.01514576 0.05587614 -0.01775240
+v 0.01514576 0.05355400 0.01023276
+v 0.01514576 0.05360760 0.01014536
+v 0.01449973 0.05432944 0.00874348
+v 0.01449973 0.05598194 -0.01724199
+v 0.01514576 0.05589424 -0.01772443
+v 0.01514576 0.05365424 0.01006845
+v 0.01514576 0.05608566 0.00576842
+v 0.01449973 0.05575363 0.00615647
+v 0.01514576 0.05435798 0.00890429
+v 0.01449973 0.05626246 -0.01668613
+v 0.01514576 0.05593113 -0.01765102
+v 0.01514576 0.05612464 0.00569500
+v 0.01499086 0.05607800 0.00572647
+v 0.01449973 0.05597080 0.00574744
+v 0.01449973 0.05676852 -0.01555344
+v 0.01514576 0.05712561 -0.01498360
+v 0.01514576 0.05620399 0.00554118
+v 0.01514576 0.05654020 0.00487345
+v 0.01514576 0.05672257 0.00450987
+v 0.01449973 0.05665575 0.00437003
+v 0.01449973 0.05705112 -0.01477384
+v 0.01449973 0.05706226 -0.01474238
+v 0.01514576 0.05713953 -0.01493815
+v 0.01514576 0.05687641 0.00411133
+v 0.01514576 0.05726900 0.00309401
+v 0.01449973 0.05694463 0.00361840
+v 0.01449973 0.05777505 -0.01194212
+v 0.01514576 0.05791636 -0.01191065
+v 0.01514576 0.05731216 0.00294718
+v 0.01449973 0.05719870 0.00292271
+v 0.01449973 0.05718826 0.00295767
+v 0.01499086 0.05723489 0.00310450
+v 0.01449973 0.05778619 -0.01189667
+v 0.01514576 0.05791775 -0.01190366
+v 0.01514576 0.05736436 0.00276189
+v 0.01449973 0.05789756 0.00043358
+v 0.01449973 0.05835280 -0.00894258
+v 0.01514576 0.05849689 -0.00894608
+v 0.01514576 0.05815720 -0.00008032
+v 0.01449973 0.05802564 -0.00007683
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_342.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_342.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1688a328648914419f50644b4e7e1b5fb0d63d75
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_342.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02449737 -0.04068774 0.02055954
+v 0.01662854 -0.04068774 0.02055954
+v 0.02449737 -0.04179669 0.02055954
+v 0.02449737 -0.04068774 -0.02478918
+v 0.01662854 -0.04179669 0.02055954
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+v 0.02375486 -0.04179669 -0.02560896
+v 0.02379876 -0.04068774 -0.02560438
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+v 0.02318102 -0.04179669 -0.02570514
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+v 0.01809817 -0.04179669 -0.02620433
+v 0.01933903 -0.04068774 -0.02615853
+v 0.02000915 -0.04179669 -0.02610815
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+v 0.02105437 -0.04068774 -0.02606236
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+f 15 19 16
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_36.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a7a029d043c4b838f7c426302cbc5f742e3c80
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01659136 0.01378326 -0.02487136
+v -0.01630188 0.01378326 -0.02482133
+v -0.01659136 0.01378326 -0.02482133
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_37.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ff3eb484d374a915d332154616151c609c035b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_37.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00975575 -0.04335243 0.01352937
+v 0.00876731 -0.04271089 0.01352937
+v 0.00876731 -0.04302899 0.01309875
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_38.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a511d9d41257b23e2734535d009ee00fbb4a4fb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_38.obj
@@ -0,0 +1,378 @@
+# https://github.com/mikedh/trimesh
+v -0.03802426 -0.00388887 0.00942276
+v -0.03802426 -0.00107819 0.00939634
+v -0.03915691 -0.00216593 0.00904283
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+f 119 124 125
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+f 121 125 124
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_39.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d838a425e9bf71d109dcd974948b41f63beaa704
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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+v -0.02471550 0.00641493 -0.02508883
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_4.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e01fb17c81b1de9708d760f7f7f7a97d981b3d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.04142888 -0.02700783 -0.01186189
+v -0.04348827 -0.02652942 -0.01167152
+v -0.04142888 -0.02666423 -0.01483754
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+v -0.04348827 -0.02636008 -0.01308613
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+v -0.04163148 -0.02599839 -0.00527798
+v -0.04271842 -0.02618088 -0.00724905
+v -0.04348827 -0.02626637 -0.00863144
+v -0.04348827 -0.02627624 -0.01373046
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+v -0.04142888 -0.02621212 -0.01639273
+v -0.04142888 -0.02607895 -0.00549178
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+v -0.04142888 -0.02581590 -0.00479766
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+v -0.04348827 -0.02586523 -0.00648464
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_40.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74fdd184ff0d8b76633f404170e38ae0d1705a11
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_40.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.03500670 0.00194804 0.01164670
+v -0.03500670 0.00490417 0.01159432
+v -0.03512167 0.00490417 0.01152942
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+v -0.03500670 -0.00087754 0.01147818
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+v -0.03590386 -0.00085075 0.01082005
+v -0.03500670 -0.00337167 0.01130169
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+v -0.03500670 0.00789714 0.01106713
+v -0.03590386 0.00842275 0.01042267
+v -0.03590386 -0.00396424 0.01052287
+v -0.03500670 -0.00396424 0.01125501
+v -0.03500670 0.00801431 0.01103525
+v -0.03590386 0.00916262 0.01019380
+v -0.03590386 -0.00692372 0.01005717
+v -0.03500670 -0.00692372 0.01082347
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+v -0.03500670 0.02173373 0.00204234
+v -0.03590386 0.02132865 0.00154817
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+f 10 16 11
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+f 21 25 26
+f 21 26 22
+f 22 26 27
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+f 28 34 35
+f 28 35 29
+f 31 36 33
+f 33 36 37
+f 33 37 38
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+f 37 42 38
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+f 40 43 44
+f 41 45 42
+f 42 45 46
+f 42 46 47
+f 43 48 49
+f 43 49 44
+f 46 50 47
+f 47 50 51
+f 48 51 49
+f 49 51 50
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_41.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c32f969cb20d39c0a1cc4e29376e95f7ee4446
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_41.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.03590386 0.00887005 -0.02440735
+v -0.03685941 0.00887005 -0.02410171
+v -0.03590386 0.01081734 -0.02419340
+v -0.03590386 0.00887005 0.01028560
+v -0.03685941 0.01079288 -0.02385041
+v -0.03685941 0.00887005 0.00944680
+v -0.03685941 0.01081734 -0.02384701
+v -0.03590386 0.01373521 -0.02346328
+v -0.03590386 0.00916657 0.01019391
+v -0.03621209 0.00887005 0.01012260
+v -0.03651994 0.00887005 0.00982036
+v -0.03685941 0.01081734 0.00883553
+v -0.03685941 0.01368783 -0.02307614
+v -0.03590386 0.01610742 -0.02260750
+v -0.03590386 0.01006227 0.00987809
+v -0.03627486 0.00887005 0.01008863
+v -0.03685941 0.01334698 0.00791184
+v -0.03685941 0.01547616 -0.02233922
+v -0.03614642 0.01748153 -0.02192831
+v -0.03590386 0.01726601 -0.02214565
+v -0.03590386 0.01456212 0.00803749
+v -0.03659553 0.01524689 0.00731415
+v -0.03685941 0.01426407 0.00754168
+v -0.03685941 0.01721710 -0.02156834
+v -0.03685941 0.01829468 -0.02076690
+v -0.03685941 0.01857745 -0.02053937
+v -0.03590386 0.01803331 -0.02165324
+v -0.03590386 0.01550673 0.00753149
+v -0.03685941 0.01503901 0.00715794
+v -0.03590386 0.01620066 0.00699833
+v -0.03685941 0.01844600 0.00465852
+v -0.03685941 0.01905587 -0.02015223
+v -0.03590386 0.01942729 -0.02052578
+v -0.03590386 0.01878991 0.00493699
+v -0.03590386 0.01981858 0.00369068
+v -0.03685941 0.01845823 0.00464154
+v -0.03685941 0.02046972 -0.01852218
+v -0.03615175 0.02083350 -0.01882781
+v -0.03590386 0.02055225 -0.01932362
+v -0.03590386 0.02132873 0.00154445
+v -0.03685941 0.02052169 0.00160897
+v -0.03685941 0.02138375 -0.01721474
+v -0.03685941 0.02158245 -0.01691590
+v -0.03590386 0.02204100 -0.01727587
+v -0.03590386 0.02117740 -0.01857991
+v -0.03590386 0.02186522 0.00073281
+v -0.03590386 0.02222136 0.00016230
+v -0.03685941 0.02142196 0.00014192
+v -0.03685941 0.02257597 -0.01485456
+v -0.03590386 0.02332034 -0.01485456
+v -0.03590386 0.02236809 -0.00013655
+v -0.03685941 0.02144030 0.00010457
+v -0.03685941 0.02294433 -0.01378484
+v -0.03590386 0.02338606 -0.01466439
+v -0.03590386 0.02353738 -0.00303329
+v -0.03685941 0.02178116 -0.00059839
+v -0.03685941 0.02174753 -0.00052708
+v -0.03685941 0.02298407 -0.01366938
+v -0.03685941 0.02311247 -0.01326186
+v -0.03685941 0.02352363 -0.01195442
+v -0.03634857 0.02392256 -0.01190009
+v -0.03590386 0.02359547 -0.01399539
+v -0.03590386 0.02411515 -0.00533573
+v -0.03685941 0.02273035 -0.00303329
+v -0.03685941 0.02206393 -0.00130136
+v -0.03685941 0.02362909 -0.01102394
+v -0.03590386 0.02432914 -0.01090847
+v -0.03590386 0.02423896 -0.01190009
+v -0.03590386 0.02423896 -0.00598776
+v -0.03685941 0.02342581 -0.00594700
+v -0.03685941 0.02378500 -0.00896260
+v -0.03590386 0.02448352 -0.00894222
+v -0.03590386 0.02446670 -0.00788609
+v -0.03685941 0.02378653 -0.00894222
+f 1 2 3
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+f 1 8 14
+f 1 14 20
+f 1 20 27
+f 1 27 33
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+f 1 39 45
+f 1 45 44
+f 1 44 50
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+f 1 62 68
+f 1 68 67
+f 1 67 72
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+f 1 73 69
+f 1 69 63
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+f 1 46 40
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+f 1 34 30
+f 1 30 28
+f 1 28 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
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+f 2 17 23
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+f 60 66 61
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+f 63 70 64
+f 66 71 72
+f 66 72 67
+f 69 73 74
+f 69 74 70
+f 71 74 72
+f 72 74 73
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_42.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c5eb8f490963f59f76ae3d258e3248f4e64efa
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_42.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02254075 0.01471373 -0.02517270
+v -0.02329307 0.01471373 -0.02505651
+v -0.02254075 0.01633530 -0.02513897
+v -0.02254075 0.01471373 0.01311787
+v -0.02329307 0.01672993 -0.02494032
+v -0.02254075 0.01672993 -0.02512772
+v -0.02254075 0.01650750 -0.02513522
+v -0.02329307 0.01471373 0.01296795
+v -0.02254075 0.01552595 0.01299044
+v -0.02323276 0.01471373 0.01299418
+v -0.02329307 0.01817714 -0.02473418
+v -0.02254075 0.01909770 -0.02488785
+v -0.02254075 0.01779830 0.01240198
+v -0.02329307 0.01633530 0.01240573
+v -0.02329307 0.01958776 -0.02452428
+v -0.02254075 0.01985180 -0.02475291
+v -0.02254075 0.01968893 0.01170859
+v -0.02329307 0.01974705 0.01116136
+v -0.02329307 0.01672993 0.01226705
+v -0.02329307 0.02204379 -0.02385712
+v -0.02254075 0.02204379 -0.02419070
+v -0.02254075 0.02059729 0.01137126
+v -0.02329307 0.02133848 0.01039300
+v -0.02329307 0.02204379 0.00990200
+v -0.02254075 0.02204379 0.01043049
+v -0.02254075 0.02060375 0.01136751
+v -0.02254075 0.02180271 0.01066661
+v -0.02254075 0.02203877 0.01050545
+v -0.02254510 0.02204379 0.01049795
+f 1 2 3
+f 1 3 7
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+f 1 12 16
+f 1 16 21
+f 1 21 25
+f 1 25 28
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+f 1 17 13
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+f 9 13 10
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+f 15 21 16
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+f 20 24 29
+f 20 29 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 23 28 24
+f 24 28 29
+f 25 29 28
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_43.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc39d4013316e8aa53ef4cf7bd7bcaa4dc7fca1
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_43.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.02768866 0.01174464 -0.02506611
+v -0.02768866 0.01377333 -0.02491390
+v -0.02645565 0.01375875 -0.02492531
+v -0.02645565 0.01174464 -0.02505089
+v -0.02768866 0.01174464 0.01347796
+v -0.02645565 0.01671703 -0.02446867
+v -0.02768866 0.01672979 -0.02436593
+v -0.02645565 0.01174464 0.01380902
+v -0.02768866 0.01174646 0.01347796
+v -0.02645565 0.01672979 -0.02446487
+v -0.02768866 0.01976463 -0.02325858
+v -0.02645565 0.01968807 -0.02353256
+v -0.02645565 0.01405768 0.01291097
+v -0.02768866 0.01283281 0.01324203
+v -0.02768866 0.01259768 0.01332955
+v -0.02768866 0.02156912 -0.02239097
+v -0.02645565 0.02220161 -0.02248991
+v -0.02645565 0.01650195 0.01184548
+v -0.02768866 0.01883139 0.01059734
+v -0.02768866 0.02307652 -0.02131787
+v -0.02677452 0.02330618 -0.02158805
+v -0.02645565 0.02296533 -0.02196477
+v -0.02645565 0.01672432 0.01174654
+v -0.02645565 0.01898268 0.01068105
+v -0.02768866 0.01920870 0.01039185
+v -0.02645565 0.02507787 -0.02036654
+v -0.02645565 0.02401157 -0.02122274
+v -0.02768866 0.02466775 -0.01990610
+v -0.02645565 0.02030415 0.00994663
+v -0.02645565 0.02244221 0.00835600
+v -0.02768866 0.02219250 0.00815813
+v -0.02645565 0.02527108 -0.02016866
+v -0.02768866 0.02517994 -0.01937335
+v -0.02645565 0.02391315 0.00711166
+v -0.02768866 0.02367073 0.00697467
+v -0.02768866 0.02224171 0.00812007
+v -0.02768866 0.02545153 -0.01908795
+v -0.02645565 0.02532576 -0.02010778
+v -0.02645565 0.02510703 0.00563520
+v -0.02768866 0.02497033 0.00549821
+v -0.02768866 0.02610406 -0.01827742
+v -0.02645565 0.02781013 -0.01726520
+v -0.02645565 0.02722868 -0.01794255
+v -0.02645565 0.02664723 0.00302856
+v -0.02768866 0.02582701 0.00404458
+v -0.02768866 0.02775363 -0.01614644
+v -0.02768866 0.02845355 -0.01496299
+v -0.02645565 0.02913161 -0.01502768
+v -0.02645565 0.02665999 0.00300572
+v -0.02768866 0.02641028 0.00295245
+v -0.02768866 0.02849730 -0.01484883
+v -0.02645565 0.02921181 -0.01481458
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+v -0.02645565 0.02810906 0.00011749
+v -0.02768866 0.02756953 0.00050944
+v -0.02768866 0.02899126 -0.01350555
+v -0.02645565 0.03017785 -0.01189590
+v -0.02645565 0.02914072 -0.00269084
+v -0.02768866 0.02784294 -0.00015269
+v -0.02768866 0.02906052 -0.01322776
+v -0.02768866 0.02937221 -0.01195298
+v -0.02768866 0.02938497 -0.01189590
+v -0.02768866 0.02945970 -0.01109678
+v -0.02645565 0.03027628 -0.01045369
+v -0.02645565 0.02921181 -0.00294960
+v -0.02768866 0.02872878 -0.00285447
+v -0.02768866 0.02841163 -0.00170145
+v -0.02768866 0.02954537 -0.00893917
+v -0.02645565 0.03036377 -0.00893917
+v -0.02645565 0.02992814 -0.00598624
+v -0.02768866 0.02876524 -0.00298765
+v -0.02768866 0.02948522 -0.00825802
+v -0.02768866 0.02928107 -0.00598624
+v -0.02768866 0.02878894 -0.00312084
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+f 1 19 25
+f 1 25 31
+f 1 31 36
+f 1 36 35
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+f 1 40 45
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+f 42 47 48
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+f 50 53 54
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+f 52 56 57
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+f 58 65 66
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+f 69 72 73
+f 69 73 70
+f 70 73 74
+f 70 74 71
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_44.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99583c4d3ad84cdf20e8902d32b2df77923cbdff
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.04142888 -0.00396403 0.00833911
+v -0.04142888 -0.00100538 0.00795051
+v -0.04309619 -0.00100829 0.00754304
+v -0.04347013 -0.00396403 0.00770716
+v -0.04142888 -0.00692269 0.00817499
+v -0.04142888 0.00313208 0.00721669
+v -0.04241746 -0.00013434 0.00755436
+v -0.04348827 -0.00100829 0.00741099
+v -0.04348827 -0.00401630 0.00769584
+v -0.04348827 -0.00396403 0.00769961
+v -0.04348827 -0.00865026 0.00717707
+v -0.04348827 -0.00980004 0.00703748
+v -0.04142888 -0.00736692 0.00809765
+v -0.04348827 0.00203747 0.00674886
+v -0.04142888 0.00713018 0.00622066
+v -0.04348827 -0.00997715 0.00700541
+v -0.04310103 -0.01021233 0.00708275
+v -0.04241746 -0.00980004 0.00736760
+v -0.04142888 -0.00979714 0.00767132
+v -0.04241746 0.00627075 0.00600750
+v -0.04348827 0.00533873 0.00577358
+v -0.04142888 0.01012077 0.00509258
+v -0.04348827 -0.01021233 0.00695636
+v -0.04241746 -0.01021233 0.00729215
+v -0.04142888 -0.01002942 0.00762604
+v -0.04163631 -0.01020943 0.00752983
+v -0.04241746 0.00906971 0.00493601
+v -0.04348827 0.00793155 0.00476435
+v -0.04142888 0.01199933 0.00397583
+v -0.04348827 0.01100924 0.00312883
+v -0.04348827 0.01030369 0.00353818
+v -0.04348827 0.00906100 0.00422861
+v -0.04348827 -0.01021233 -0.01047978
+v -0.04142888 -0.01020943 0.00757888
+v -0.04142888 -0.01021233 0.00088588
+v -0.04142888 0.01369206 0.00277041
+v -0.04241746 0.01331170 0.00238180
+v -0.04348827 0.01289651 0.00195925
+v -0.04241746 -0.01021233 -0.01093252
+v -0.04348827 0.01776275 -0.01047978
+v -0.04142888 -0.01021233 -0.01093252
+v -0.04142888 0.01525123 0.00132353
+v -0.04348827 0.01474312 -0.00020447
+v -0.04142969 0.01563449 0.00088588
+v -0.04144138 0.01656941 -0.00020447
+v -0.04241746 0.01656941 -0.01093252
+v -0.04348827 0.01757112 -0.00894235
+v -0.04142888 0.01941193 -0.00894046
+v -0.04142888 0.01944967 -0.00924418
+v -0.04142888 0.01938870 -0.01093063
+v -0.04241746 0.01826215 -0.01093063
+v -0.04142888 0.01656941 -0.01093252
+v -0.04142888 0.01657813 -0.00020258
+v -0.04142888 0.01775404 -0.00226821
+v -0.04348827 0.01625874 -0.00301334
+v -0.04348827 0.01710656 -0.00598445
+v -0.04142888 0.01887478 -0.00591088
+v -0.04142888 0.01805600 -0.00303032
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 25
+f 1 25 34
+f 1 34 35
+f 1 35 41
+f 1 41 52
+f 1 52 50
+f 1 50 49
+f 1 49 48
+f 1 48 57
+f 1 57 58
+f 1 58 54
+f 1 54 53
+f 1 53 42
+f 1 42 36
+f 1 36 29
+f 1 29 22
+f 1 22 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
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+f 3 6 8
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+f 4 8 10
+f 4 10 9
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+f 5 12 13
+f 5 9 11
+f 6 14 8
+f 6 15 14
+f 8 14 21
+f 8 21 28
+f 8 28 32
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+f 8 31 30
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+f 8 55 56
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+f 8 47 40
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+f 8 23 16
+f 8 16 12
+f 8 12 11
+f 8 11 9
+f 8 9 10
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 15 20
+f 14 20 21
+f 15 22 20
+f 16 23 17
+f 17 23 33
+f 17 33 39
+f 17 39 41
+f 17 41 35
+f 17 35 24
+f 17 24 19
+f 17 19 18
+f 19 24 26
+f 19 26 25
+f 20 22 21
+f 21 22 27
+f 21 27 28
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 27
+f 24 34 26
+f 24 35 34
+f 25 26 34
+f 27 32 28
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 33 40 46
+f 33 46 39
+f 36 42 37
+f 37 42 38
+f 38 42 44
+f 38 44 45
+f 38 45 43
+f 39 46 52
+f 39 52 41
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 46
+f 42 53 44
+f 43 45 54
+f 43 54 55
+f 44 53 45
+f 45 53 54
+f 46 51 50
+f 46 50 52
+f 47 56 48
+f 48 56 57
+f 54 58 55
+f 55 58 56
+f 56 58 57
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_45.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c402416f78b337fb3238999ed38e150a6876de01
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.03915712 0.01361505 -0.02207085
+v -0.04016002 0.01361505 -0.02159241
+v -0.03915712 0.01437551 -0.02182758
+v -0.03915712 0.01361505 0.00554337
+v -0.04016002 0.01393432 -0.02148700
+v -0.04016002 0.01361505 0.00444594
+v -0.03915712 0.01475948 -0.02162755
+v -0.04016002 0.01542623 -0.02071122
+v -0.03915712 0.01561946 0.00460542
+v -0.03959225 0.01531345 0.00440810
+v -0.03999989 0.01361505 0.00465678
+v -0.04016002 0.01479597 0.00388371
+v -0.03915712 0.01607226 -0.02082745
+v -0.04016002 0.01623148 -0.02021927
+v -0.03915712 0.01648856 -0.02057337
+v -0.03915712 0.01645788 0.00391344
+v -0.03967629 0.01834453 0.00158343
+v -0.04016002 0.01632602 0.00252949
+v -0.04016002 0.01775739 -0.01875152
+v -0.03932981 0.01801447 -0.01905697
+v -0.03915712 0.01784115 -0.01931916
+v -0.03915712 0.01853030 0.00191590
+v -0.03915712 0.01874094 0.00156180
+v -0.03915712 0.01901875 0.00109418
+v -0.03915712 0.02082331 -0.00297660
+v -0.03917754 0.02082911 -0.00303066
+v -0.03999949 0.01876250 -0.00007624
+v -0.04016002 0.01864889 -0.00032222
+v -0.04016002 0.01785774 0.00108877
+v -0.03915712 0.01939940 -0.01761084
+v -0.03915712 0.01906519 -0.01799467
+v -0.03915712 0.01827985 -0.01889208
+v -0.04016002 0.01899636 -0.01725674
+v -0.03915712 0.02083741 -0.00300903
+v -0.03915712 0.02084570 -0.00303066
+v -0.03915712 0.02124708 -0.00436866
+v -0.03947836 0.02110029 -0.00474979
+v -0.04016002 0.01987044 -0.00354153
+v -0.04016002 0.01968551 -0.00303066
+v -0.04016002 0.01897314 -0.00113313
+v -0.03915712 0.02076277 -0.01485645
+v -0.04016002 0.02002386 -0.01485645
+v -0.03915712 0.02126781 -0.00443894
+v -0.03915712 0.02142372 -0.00505253
+v -0.03975248 0.02136567 -0.00672030
+v -0.04016002 0.02069394 -0.00630133
+v -0.03951360 0.02112517 -0.01324814
+v -0.03915712 0.02085150 -0.01462669
+v -0.04016002 0.02095434 -0.01149387
+v -0.03978242 0.02144611 -0.01127763
+v -0.03915712 0.02173885 -0.00634999
+v -0.03915712 0.02192130 -0.00751229
+v -0.03915712 0.02208633 -0.00894220
+v -0.03987284 0.02152738 -0.00894220
+v -0.04016002 0.02090292 -0.00733389
+v -0.03915712 0.02150250 -0.01290215
+v -0.04016002 0.02110776 -0.00965040
+v -0.03915712 0.02184417 -0.01164253
+v -0.04016002 0.02113761 -0.00894220
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 21
+f 1 21 32
+f 1 32 31
+f 1 31 30
+f 1 30 41
+f 1 41 48
+f 1 48 56
+f 1 56 58
+f 1 58 53
+f 1 53 52
+f 1 52 51
+f 1 51 44
+f 1 44 43
+f 1 43 36
+f 1 36 35
+f 1 35 34
+f 1 34 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
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+f 2 18 29
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+f 2 28 40
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+f 2 14 8
+f 2 8 5
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+f 8 14 15
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+f 9 16 10
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+f 10 17 12
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+f 14 20 15
+f 15 20 21
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+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 19 33 30
+f 20 32 21
+f 25 34 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 26 34 35
+f 27 40 28
+f 30 33 41
+f 33 42 41
+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 41 42 47
+f 41 47 48
+f 42 49 50
+f 42 50 47
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 47 50 56
+f 47 56 48
+f 49 57 54
+f 49 54 50
+f 50 58 56
+f 50 54 53
+f 50 53 58
+f 54 57 59
+f 54 59 55
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_46.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef5874874c7caaaa7debd34a63ced79a27cc3ee
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_46.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00316328 -0.02705980 0.00678452
+v -0.00322766 -0.02705980 0.00678452
+v 0.00316328 -0.02787270 0.00678452
+v 0.00316328 -0.02705980 -0.02502567
+v -0.00322766 -0.02787270 0.00678452
+v -0.00322766 -0.02705980 -0.02502252
+v 0.00316328 -0.02787270 -0.02518646
+v 0.00310885 -0.02705980 -0.02503513
+v -0.00322766 -0.02787270 -0.02504144
+v -0.00166606 -0.02705980 -0.02530941
+v -0.00175302 -0.02787270 -0.02532202
+v -0.00322766 -0.02784421 -0.02504144
+v 0.00238561 -0.02787270 -0.02529680
+v 0.00178436 -0.02705980 -0.02519276
+v -0.00002937 -0.02705980 -0.02537246
+v 0.00036228 -0.02787270 -0.02541975
+v -0.00154656 -0.02787270 -0.02534094
+v 0.00128698 -0.02787270 -0.02538508
+v 0.00015457 -0.02705980 -0.02537246
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 17
+f 3 17 16
+f 3 16 18
+f 3 18 13
+f 3 13 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 12 11
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 14
+f 15 19 16
+f 16 19 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_47.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fca320eba1a33381e9addf1fb65dbd511993fba
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_47.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01642082 0.02785120 0.03223831
+v 0.01642082 0.02855579 0.03198948
+v 0.01514582 0.02854962 0.03177017
+v 0.01514582 0.02785120 0.03201478
+v 0.01642082 0.02785120 -0.01084697
+v 0.01642082 0.02859265 0.03197261
+v 0.01514582 0.02859265 0.03175330
+v 0.01514582 0.02785120 -0.01084697
+v 0.01642082 0.02859265 -0.01084697
+v 0.01514582 0.02859265 -0.01084697
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 5 8 10
+f 5 10 9
+f 6 9 10
+f 6 10 7
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_48.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f945fcd5f8813dbc8ffdf8c94ffc8170d61cd7a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.03915712 -0.02744219 -0.01189889
+v -0.04015992 -0.02725739 -0.01189889
+v -0.03915712 -0.02724936 -0.01488939
+v -0.03915712 -0.02718910 -0.00894017
+v -0.04015992 -0.02700631 -0.00894017
+v -0.04015992 -0.02698421 -0.01492117
+v -0.03915712 -0.02701032 -0.01585550
+v -0.03915712 -0.02655636 -0.00605454
+v -0.03966014 -0.02615663 -0.00448143
+v -0.04015992 -0.02623296 -0.00521555
+v -0.04015992 -0.02652221 -0.01678348
+v -0.04015992 -0.02647601 -0.01694238
+v -0.03915712 -0.02661059 -0.01719026
+v -0.03915712 -0.02616266 -0.00446236
+v -0.03915712 -0.02591559 -0.00399202
+v -0.03915712 -0.02444924 -0.00157991
+v -0.04015992 -0.02575891 -0.00396659
+v -0.04015992 -0.02562834 -0.01821358
+v -0.03915712 -0.02575288 -0.01855681
+v -0.04015992 -0.02493735 -0.00263501
+v -0.03915712 -0.02382655 -0.00060427
+v -0.04015992 -0.02451954 -0.01962462
+v -0.03915712 -0.02517840 -0.01929092
+v -0.04015992 -0.02373616 -0.00075681
+v -0.03915712 -0.02315966 0.00033325
+v -0.04015992 -0.02342481 -0.00031825
+v -0.04015992 -0.02408165 -0.02005364
+v -0.03915712 -0.02424034 -0.02020619
+v -0.03915712 -0.02271976 0.00087351
+v -0.04015992 -0.02257714 0.00072096
+v -0.04015992 -0.02169934 -0.02123904
+v -0.03915712 -0.02168930 -0.02152506
+v -0.03915712 -0.02124337 0.00236717
+v -0.04015992 -0.02110075 0.00223687
+v -0.04015992 -0.01959825 -0.02176341
+v -0.03915712 -0.02057045 -0.02180472
+v -0.03915712 -0.02018679 0.00330468
+v -0.04015992 -0.02060862 0.00267226
+v -0.04015992 -0.01536191 -0.02254838
+v -0.03915712 -0.01573352 -0.02270728
+v -0.03915712 -0.01956209 0.00384494
+v -0.04015992 -0.01940139 0.00371464
+v -0.04015992 -0.00779918 -0.02334288
+v -0.03915712 -0.01283699 -0.02308546
+v -0.03915712 -0.01808369 0.00487143
+v -0.04015992 -0.01792300 0.00476656
+v -0.04015992 -0.00692540 -0.02341280
+v -0.03915712 -0.00692540 -0.02356216
+v -0.03915712 -0.01579378 0.00608543
+v -0.04015992 -0.01579378 0.00590428
+v -0.04015992 -0.00692540 0.00859923
+v -0.03915712 -0.00692540 0.00890114
+v -0.03915712 -0.01483564 0.00649857
+v -0.04015992 -0.01520523 0.00615852
+v -0.04015992 -0.00886580 0.00822740
+v -0.03915712 -0.00793176 0.00870728
+v -0.03915712 -0.01453031 0.00662887
+v -0.03915712 -0.01346972 0.00707061
+v -0.04015992 -0.01315637 0.00701023
+v -0.04015992 -0.01176836 0.00754413
+v -0.03915712 -0.00842991 0.00858970
+v -0.03915712 -0.01209779 0.00758227
+v -0.04015992 -0.01188486 0.00750600
+v -0.03915712 -0.01086043 0.00801448
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 40
+f 1 40 44
+f 1 44 48
+f 1 48 52
+f 1 52 56
+f 1 56 61
+f 1 61 64
+f 1 64 62
+f 1 62 58
+f 1 58 57
+f 1 57 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 16
+f 1 16 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 10
+f 2 10 17
+f 2 17 20
+f 2 20 24
+f 2 24 26
+f 2 26 30
+f 2 30 34
+f 2 34 38
+f 2 38 42
+f 2 42 46
+f 2 46 50
+f 2 50 54
+f 2 54 59
+f 2 59 63
+f 2 63 60
+f 2 60 55
+f 2 55 51
+f 2 51 47
+f 2 47 43
+f 2 43 39
+f 2 39 35
+f 2 35 31
+f 2 31 27
+f 2 27 22
+f 2 22 18
+f 2 18 12
+f 2 12 11
+f 2 11 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 12 18 19
+f 12 19 13
+f 16 20 17
+f 16 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 26
+f 21 26 24
+f 22 27 23
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 49 50
+f 45 50 46
+f 47 51 52
+f 47 52 48
+f 49 53 54
+f 49 54 50
+f 51 55 52
+f 52 55 56
+f 53 57 54
+f 54 57 58
+f 54 58 59
+f 55 60 56
+f 56 60 61
+f 58 62 63
+f 58 63 59
+f 60 63 64
+f 60 64 61
+f 62 64 63
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_49.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..257e33e5c212e5c6d3fef5eed163c01b615d59fe
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,474 @@
+# https://github.com/mikedh/trimesh
+v 0.02914321 0.05516636 -0.00007774
+v 0.02882067 0.05742324 -0.00007774
+v 0.02901370 0.05516636 0.00287641
+v 0.02897011 0.05220997 0.00878883
+v 0.02903362 0.05220997 0.00583468
+v 0.02896513 0.05035149 0.00769181
+v 0.02914321 0.05516636 -0.01485674
+v 0.02890909 0.05834316 -0.01212034
+v 0.02890286 0.05834316 -0.00873066
+v 0.02870609 0.05990880 -0.00956062
+v 0.02869115 0.05698759 0.00287641
+v 0.02870361 0.05411709 0.00878883
+v 0.02873474 0.05211270 0.01160740
+v 0.02872602 0.05035149 0.01347686
+v 0.02894022 0.05035149 0.01065007
+v 0.02896513 0.05035149 -0.01781089
+v 0.02903362 0.05220997 -0.01781089
+v 0.02896388 0.05035149 -0.02076915
+v 0.02902988 0.05220997 -0.02076915
+v 0.02902864 0.05516636 -0.01781089
+v 0.02890286 0.05841560 -0.01219019
+v 0.02890909 0.05834316 -0.01218197
+v 0.02870609 0.05990880 -0.01140132
+v 0.02718554 0.06025753 -0.00872245
+v 0.02574094 0.05964286 -0.00139663
+v 0.02754046 0.05922377 -0.00303190
+v 0.02852303 0.05672786 0.00454455
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diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_50.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7945e8a49d5f8ffa51485e1433495db92201634a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_50.obj
@@ -0,0 +1,255 @@
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_52.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9866a18998273d88c68751d90ce4cddac69c9230
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_52.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.04564446 -0.00523287
+v 0.01236780 0.04564446 -0.02488093
+v 0.01177140 0.04564446 -0.00523287
+v 0.01236780 0.02172056 -0.00523287
+v 0.01177082 0.04564446 -0.02488093
+v 0.01236780 0.03270705 -0.02488093
+v 0.01177088 0.04564446 -0.00607334
+v 0.01177129 0.04336566 -0.00547136
+v 0.01177158 0.03924601 -0.00523287
+v 0.01177234 0.02172056 -0.00523287
+v 0.01236780 0.02172056 -0.02304614
+v 0.01177082 0.04564446 -0.00623104
+v 0.01177082 0.03415911 -0.02488093
+v 0.01236780 0.03164142 -0.02477323
+v 0.01177082 0.03220117 -0.02478477
+v 0.01177094 0.04336566 -0.00608103
+v 0.01177082 0.02335764 -0.00754848
+v 0.01177088 0.02500175 -0.00733115
+v 0.01177082 0.02172056 -0.00773888
+v 0.01177082 0.02275340 -0.00761772
+v 0.01220751 0.02172056 -0.02306537
+v 0.01236780 0.02264566 -0.02324039
+v 0.01177082 0.02560366 -0.02376928
+v 0.01236780 0.02275340 -0.02325962
+v 0.01236102 0.02275340 -0.02326154
+v 0.01177082 0.02264566 -0.02330770
+v 0.01177082 0.02172056 -0.02311537
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 4 10 19
+f 4 19 27
+f 4 27 21
+f 4 21 11
+f 5 13 15
+f 5 15 23
+f 5 23 26
+f 5 26 27
+f 5 27 19
+f 5 19 20
+f 5 20 17
+f 5 17 12
+f 6 14 15
+f 6 15 13
+f 7 16 8
+f 7 12 17
+f 7 17 16
+f 8 16 18
+f 8 18 9
+f 9 18 10
+f 10 18 17
+f 10 17 20
+f 10 20 19
+f 11 21 22
+f 14 23 15
+f 14 24 25
+f 14 25 26
+f 14 26 23
+f 16 17 18
+f 21 27 22
+f 22 26 25
+f 22 25 24
+f 22 27 26
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_54.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb02c030112c751bda7d24fb98de77cd95e985a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.04663446 -0.00396856 0.00646573
+v -0.04663446 -0.00357742 0.00644072
+v -0.04694813 -0.00396856 0.00634691
+v -0.04694813 -0.00692213 0.00615461
+v -0.04663446 -0.00645912 0.00630314
+v -0.04663446 -0.00101164 0.00618432
+v -0.04694813 -0.00101164 0.00605299
+v -0.04723108 -0.00396856 0.00621559
+v -0.04663446 -0.00692213 0.00626562
+v -0.04723108 -0.00692213 0.00602172
+v -0.04694813 -0.00987905 0.00568245
+v -0.04663446 -0.00987237 0.00580753
+v -0.04663446 0.00192021 0.00570747
+v -0.04694813 0.00194528 0.00559490
+v -0.04723108 -0.00132087 0.00595136
+v -0.04723108 0.00194528 0.00547139
+v -0.04723108 -0.01021336 0.00546514
+v -0.04723108 -0.01293794 0.00488823
+v -0.04707381 -0.01279753 0.00499923
+v -0.04663446 -0.01280254 0.00517590
+v -0.04663446 0.00225953 0.00560272
+v -0.04691391 0.00238656 0.00547139
+v -0.04723108 0.00238656 0.00533224
+v -0.04663446 -0.01468969 0.00443170
+v -0.04663446 -0.01375364 0.00483351
+v -0.04723108 -0.01468969 0.00413622
+v -0.04663446 0.00233809 -0.00950633
+v -0.04663604 0.00238656 -0.00950633
+v -0.04663861 0.00238656 0.00556207
+v -0.04723108 0.00238656 -0.00950633
+v -0.04663446 -0.01468969 -0.00950633
+v -0.04723108 -0.01468969 -0.00950633
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 12
+f 1 12 20
+f 1 20 25
+f 1 25 24
+f 1 24 31
+f 1 31 27
+f 1 27 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 15
+f 8 15 16
+f 8 16 23
+f 8 23 30
+f 8 30 32
+f 8 32 26
+f 8 26 18
+f 8 18 17
+f 8 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 13 22 14
+f 14 22 16
+f 16 22 23
+f 18 24 25
+f 18 25 20
+f 18 20 19
+f 18 26 24
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 28
+f 22 28 30
+f 22 30 23
+f 24 26 32
+f 24 32 31
+f 27 31 32
+f 27 32 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_56.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a3df2cf5d7e593d8c7fca16334d7fb03790e13
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_56.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02528669 -0.04933231 -0.01975163
+v 0.02526186 -0.04998940 -0.01909502
+v 0.02525003 -0.04998940 -0.02076696
+v 0.02527841 -0.04933231 -0.02076696
+v 0.02528551 -0.04933231 -0.00497368
+v 0.02528551 -0.04933604 -0.00497165
+v 0.02527132 -0.04973264 -0.00497165
+v 0.02526186 -0.04998940 -0.00497165
+v 0.02503599 -0.04933231 -0.02192820
+v 0.02498041 -0.04998940 -0.02205182
+v 0.02519090 -0.04933231 -0.00497165
+v 0.01566187 -0.04933231 -0.00496962
+v 0.01566187 -0.04998940 -0.00496962
+v 0.02487162 -0.04933231 -0.02270844
+v 0.02422358 -0.04998940 -0.02383118
+v 0.01320570 -0.04933231 -0.00496962
+v 0.01320570 -0.04998940 -0.00496962
+v 0.02441160 -0.04933231 -0.02378862
+v 0.02302446 -0.04998940 -0.02537342
+v 0.01320570 -0.04933231 -0.02335898
+v 0.01320570 -0.04998940 -0.02300635
+v 0.02313563 -0.04933231 -0.02540990
+v 0.02267916 -0.04998940 -0.02542206
+v 0.02204058 -0.04933231 -0.02556797
+v 0.01454317 -0.04933231 -0.02457291
+v 0.01477614 -0.04998940 -0.02427905
+v 0.02105314 -0.04998940 -0.02554568
+v 0.02105314 -0.04933231 -0.02564296
+v 0.01516993 -0.04933231 -0.02498026
+v 0.01566187 -0.04960857 -0.02511604
+v 0.01566187 -0.04974126 -0.02502687
+v 0.01566187 -0.04998940 -0.02485866
+v 0.02028330 -0.04998940 -0.02555784
+v 0.01942476 -0.04933231 -0.02567133
+v 0.01989187 -0.04933231 -0.02566322
+v 0.01566187 -0.04933231 -0.02521332
+v 0.01635367 -0.04998940 -0.02530654
+v 0.01634184 -0.04998940 -0.02530046
+v 0.01809912 -0.04998940 -0.02549704
+v 0.01809912 -0.04933231 -0.02563283
+v 0.01598589 -0.04933231 -0.02536329
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 24
+f 1 24 28
+f 1 28 35
+f 1 35 34
+f 1 34 40
+f 1 40 41
+f 1 41 36
+f 1 36 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 13
+f 2 13 17
+f 2 17 21
+f 2 21 26
+f 2 26 32
+f 2 32 38
+f 2 38 37
+f 2 37 39
+f 2 39 33
+f 2 33 27
+f 2 27 23
+f 2 23 19
+f 2 19 15
+f 2 15 10
+f 2 10 3
+f 3 9 4
+f 3 10 9
+f 5 11 6
+f 6 12 13
+f 6 13 7
+f 6 11 12
+f 7 13 8
+f 9 10 14
+f 10 15 14
+f 12 16 17
+f 12 17 13
+f 14 15 18
+f 15 19 18
+f 16 20 21
+f 16 21 17
+f 18 19 22
+f 19 23 24
+f 19 24 22
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 31 38 32
+f 33 39 34
+f 34 39 40
+f 36 41 37
+f 37 41 40
+f 37 40 39
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_57.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a2aa01ffd3d486d9b4586819f6c5dead5d11880
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_57.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.04663446 0.00238656 -0.02042364
+v -0.04723108 0.00238656 -0.02009801
+v -0.04663446 0.00487906 -0.01993520
+v -0.04663446 0.00238656 -0.01844189
+v -0.04723108 0.00490322 -0.01958922
+v -0.04723108 0.00238656 0.00533145
+v -0.04663446 0.00490322 -0.01993011
+v -0.04663446 0.00487755 0.00479467
+v -0.04663861 0.00238656 0.00556295
+v -0.04689125 0.00752859 -0.01911350
+v -0.04663446 0.00752859 -0.01926359
+v -0.04723108 0.00752859 -0.01891253
+v -0.04691391 0.00238656 0.00547137
+v -0.04723108 0.00463041 0.00471072
+v -0.04663446 0.00495657 0.00476414
+v -0.04663446 0.00752859 0.00349471
+v -0.04723108 0.00752859 0.00326829
+v -0.04723108 0.00546997 0.00436220
+v -0.04663446 0.00612279 0.00424009
+v -0.04723108 0.00594209 0.00415359
+v -0.04723108 0.00554597 0.00432913
+v -0.04671581 0.00752859 0.00346927
+v -0.04723108 0.00652294 0.00384577
+v -0.04675395 0.00752859 0.00345655
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 19
+f 1 19 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 18
+f 2 18 21
+f 2 21 20
+f 2 20 23
+f 2 23 17
+f 2 17 12
+f 2 12 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 5 12 10
+f 6 13 14
+f 8 15 14
+f 8 14 9
+f 9 14 13
+f 10 12 17
+f 10 17 24
+f 10 24 22
+f 10 22 16
+f 10 16 11
+f 14 15 18
+f 15 19 20
+f 15 20 21
+f 15 21 18
+f 16 22 23
+f 16 23 19
+f 17 23 24
+f 19 23 20
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_58.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1e790d5afdae6dda2619d22c687689b3d1ffbc
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02749908 0.01059316 0.02970668
+v 0.02739704 0.00785628 -0.01484912
+v 0.02749803 0.01059316 -0.01484912
+v 0.02749803 0.01059316 0.03244184
+v 0.02739704 0.00785628 0.03244768
+v 0.02735076 0.00662101 -0.01483746
+v 0.02699100 0.00662101 -0.01780007
+v 0.02672801 0.01059316 -0.01780590
+v 0.02749382 0.01059316 0.03266346
+v 0.02734655 0.00785628 0.03539862
+v 0.02730132 0.00662101 0.03539279
+v 0.02735076 0.00662101 0.03243601
+v 0.02606004 0.00662101 -0.01974793
+v 0.02572237 0.01059316 -0.01942134
+v 0.02732551 0.01059316 0.03539862
+v 0.02734655 0.00785978 0.03539862
+v 0.02639350 0.00785628 0.03794717
+v 0.02689948 0.00662101 0.03658250
+v 0.02401087 0.00662101 -0.02004535
+v 0.02415498 0.01059316 -0.01972460
+v 0.02725398 0.01059316 0.03559108
+v 0.02639350 0.00785978 0.03794717
+v 0.02631566 0.00662101 0.03813962
+v 0.01675253 0.00662101 -0.02036611
+v 0.01675253 0.01059316 -0.02051191
+v 0.02127794 0.01059316 -0.02007451
+v 0.02631986 0.01059316 0.03770806
+v 0.02531106 0.00662101 0.03857118
+v 0.01675253 0.00662101 0.03821544
+v 0.01675253 0.01059316 0.03808713
+v 0.02614209 0.01059316 0.03777804
+v 0.02401087 0.00662101 0.03906689
+v 0.01809795 0.00662101 0.03858868
+v 0.01675253 0.00785978 0.03819211
+v 0.01809795 0.01059316 0.03826792
+v 0.02400982 0.01059316 0.03844871
+v 0.02279483 0.00662101 0.03903190
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 26
+f 1 26 25
+f 1 25 30
+f 1 30 35
+f 1 35 36
+f 1 36 31
+f 1 31 27
+f 1 27 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 12
+f 2 12 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 12 11
+f 6 11 18
+f 6 18 23
+f 6 23 28
+f 6 28 32
+f 6 32 37
+f 6 37 33
+f 6 33 29
+f 6 29 24
+f 6 24 19
+f 6 19 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 22
+f 10 22 17
+f 10 17 18
+f 10 18 11
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 16 21 22
+f 17 22 23
+f 17 23 18
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 24 29 34
+f 24 34 30
+f 24 30 25
+f 27 31 28
+f 28 31 32
+f 29 33 34
+f 30 34 33
+f 30 33 35
+f 31 36 32
+f 32 36 37
+f 33 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_59.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b421b33cc95aca77d171fabe427daf73c653490
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.04241746 0.01823228 -0.01048111
+v -0.04142888 0.01938332 -0.01093321
+v -0.04348827 0.01776431 -0.01048111
+v -0.04241746 -0.01021233 -0.01048111
+v -0.04142888 0.01948215 -0.01203905
+v -0.04241746 0.01881943 -0.01197098
+v -0.04348827 0.01809567 -0.01189520
+v -0.04142888 -0.01020943 -0.01093321
+v -0.04348827 -0.01021233 -0.01048111
+v -0.04241746 -0.01021233 -0.02200317
+v -0.04142888 0.01911591 -0.01485824
+v -0.04348827 0.01805207 -0.01485824
+v -0.04142888 -0.01020943 -0.02233711
+v -0.04348827 -0.01021233 -0.02184134
+v -0.04142888 0.01854039 -0.01681690
+v -0.04241746 0.01829332 -0.01647397
+v -0.04262065 0.01824100 -0.01640461
+v -0.04348827 0.01692138 -0.01740129
+v -0.04142888 -0.00961647 -0.02265692
+v -0.04348827 -0.00885202 -0.02239747
+v -0.04142888 0.01766839 -0.01792402
+v -0.04142888 0.01735738 -0.01830420
+v -0.04348827 0.01670338 -0.01766458
+v -0.04241746 0.01704346 -0.01799723
+v -0.04142888 -0.00693652 -0.02320663
+v -0.04348827 -0.00873866 -0.02244371
+v -0.04241746 -0.00919210 -0.02255545
+v -0.04142888 0.01587788 -0.01980177
+v -0.04241746 0.01556687 -0.01952691
+v -0.04274362 0.01546514 -0.01943444
+v -0.04348827 0.01641852 -0.01796384
+v -0.04241746 -0.00698303 -0.02300498
+v -0.04142888 -0.00396010 -0.02360221
+v -0.04348827 -0.00702663 -0.02278535
+v -0.04142888 0.01419783 -0.02069440
+v -0.04241746 0.01372405 -0.02025772
+v -0.04320585 0.01376765 -0.01975682
+v -0.04348827 0.01376765 -0.01957315
+v -0.04142888 -0.00100693 -0.02349689
+v -0.04348827 -0.00395138 -0.02297929
+v -0.04142888 0.01366591 -0.02088449
+v -0.04142888 0.01126210 -0.02160502
+v -0.04241746 0.01236954 -0.02066358
+v -0.04348827 0.01279682 -0.01984800
+v -0.04241746 -0.00100693 -0.02314369
+v -0.04142888 0.00494301 -0.02279563
+v -0.04348827 -0.00100984 -0.02276095
+v -0.04142888 0.01081157 -0.02173217
+v -0.04154056 0.01081157 -0.02167052
+v -0.04348827 0.01068658 -0.02043881
+v -0.04142888 0.00516973 -0.02276737
+v -0.04348827 -0.00077149 -0.02272627
+v -0.04243620 0.00611149 -0.02220739
+v -0.04241746 0.00609696 -0.02221766
+v -0.04142888 0.01077087 -0.02174116
+v -0.04209492 0.00785549 -0.02201987
+v -0.04241746 0.00785840 -0.02181822
+v -0.04348827 0.00785840 -0.02114393
+v -0.04142888 0.00785549 -0.02234867
+v -0.04348827 0.00528309 -0.02170520
+v -0.04348827 0.00729160 -0.02127365
+v -0.04241746 0.00620741 -0.02219711
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diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_6.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2495519f8b56861ee2b7ac76611970947cfff5c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_60.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..557fffd7f6664f46e5532c981cec0763ba646e9f
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_60.obj
@@ -0,0 +1,573 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_61.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe43dfe1a33c360aeb8487aa878e8b3919160ee
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_61.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01982325 0.04906378 0.01800707
+v 0.01982325 0.05025460 0.01655045
+v 0.01833685 0.04906378 0.01766065
+v 0.01982325 0.04906378 -0.02463140
+v 0.01982325 0.05026820 0.01653376
+v 0.01807074 0.04906378 0.01758970
+v 0.01809572 0.05035045 0.01597865
+v 0.01809805 0.04906378 -0.02433924
+v 0.01982325 0.04925234 -0.02462722
+v 0.01982325 0.05035045 0.01642941
+v 0.01746959 0.04906378 0.01741858
+v 0.01790522 0.05035045 0.01592440
+v 0.01785093 0.04906378 -0.02429333
+v 0.01809805 0.04925234 -0.02431419
+v 0.01982325 0.05035045 -0.02420568
+v 0.01642115 0.04906378 0.01711390
+v 0.01642115 0.04944443 0.01663392
+v 0.01703296 0.05035045 0.01566563
+v 0.01642115 0.04906378 -0.02402203
+v 0.01642115 0.04925234 -0.02400117
+v 0.01806841 0.05035045 -0.02388430
+v 0.01642115 0.05028281 0.01556963
+v 0.01651307 0.05035045 0.01550285
+v 0.01642115 0.05035045 -0.02343772
+v 0.01642115 0.05035045 0.01547364
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+f 1 8 4
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_62.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e95bd60b1a9fb783eae65897f7722721cb66b7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_62.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02844256 0.03615149 0.02357938
+v 0.02844084 0.03615149 0.02362301
+v 0.02837989 0.03447558 0.02357938
+v 0.02844256 0.03615149 0.02352485
+v 0.02773856 0.03615149 0.02651850
+v 0.02823994 0.03447558 0.02653486
+v 0.02824252 0.03447558 0.02652395
+v 0.02837989 0.03447558 -0.01782454
+v 0.02843999 0.03609981 -0.02076911
+v 0.02844170 0.03615149 -0.02076911
+v 0.02721914 0.03615149 0.02745095
+v 0.02679760 0.03447558 0.02910863
+v 0.02835585 0.03447558 -0.02076911
+v 0.02764068 0.03615149 -0.02269944
+v 0.02712556 0.03615149 0.02761453
+v 0.02575533 0.03615149 0.02897231
+v 0.02426147 0.03447558 0.03019376
+v 0.02642671 0.03615149 0.02868330
+v 0.02691093 0.03447558 -0.02337015
+v 0.02711955 0.03615149 -0.02363734
+v 0.02401936 0.03615149 0.02929403
+v 0.02403396 0.03447558 0.03023738
+v 0.02690234 0.03447558 -0.02337560
+v 0.02485558 0.03615149 -0.02512053
+v 0.02146865 0.03447558 0.03008470
+v 0.02311275 0.03615149 0.02923950
+v 0.02410522 0.03447558 -0.02466794
+v 0.02481609 0.03615149 -0.02513689
+v 0.02120422 0.03447558 0.03005744
+v 0.02109861 0.03615149 0.02906501
+v 0.02391892 0.03447558 -0.02473883
+v 0.02105483 0.03447558 -0.02516415
+v 0.01967258 0.03447558 -0.02534955
+v 0.01967258 0.03479764 -0.02542044
+v 0.02309472 0.03615149 -0.02528957
+v 0.01967258 0.03458681 0.02961030
+v 0.01967258 0.03447558 0.02967028
+v 0.01967258 0.03615149 0.02872147
+v 0.01967258 0.03608718 -0.02543680
+v 0.02105483 0.03615149 -0.02546952
+v 0.01967258 0.03615149 -0.02543680
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_63.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446b265d549d48eb4e2c95797b048d607c436745
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.02630128 -0.02181522 0.03244995
+v 0.02629991 -0.02181522 0.02962949
+v 0.02629991 -0.02181522 0.03540589
+v 0.02622183 -0.02395230 0.03244995
+v 0.02622183 -0.02395230 0.02962949
+v 0.02629991 -0.02181543 -0.01780717
+v 0.02629443 -0.02181543 -0.02075695
+v 0.02588896 -0.02181543 -0.02274605
+v 0.02400953 -0.02181543 -0.02344808
+v 0.02105341 -0.02181543 -0.02381142
+v 0.02029178 -0.02181543 -0.02388532
+v 0.01820688 -0.02181543 -0.02407006
+v 0.01809866 -0.02181543 -0.02407622
+v 0.01230971 -0.02181522 0.02962949
+v 0.02628758 -0.02181522 0.03547363
+v 0.02595060 -0.02395230 0.03692696
+v 0.02621909 -0.02395230 0.03540589
+v 0.01230971 -0.02395230 0.02962949
+v 0.01809866 -0.02395209 -0.02429176
+v 0.02029178 -0.02395209 -0.02421170
+v 0.02105341 -0.02395209 -0.02414396
+v 0.02400953 -0.02395209 -0.02365746
+v 0.02585197 -0.02395209 -0.02274605
+v 0.02621909 -0.02395209 -0.02075695
+v 0.02622046 -0.02395209 -0.01780717
+v 0.02029178 -0.02392761 -0.02421170
+v 0.01580555 -0.02245379 -0.02413164
+v 0.01514117 -0.02181543 -0.02406390
+v 0.01230834 -0.02181543 -0.02392842
+v 0.01230971 -0.02181522 0.03195729
+v 0.02589443 -0.02181522 0.03760436
+v 0.02585197 -0.02395230 0.03745657
+v 0.01230834 -0.02395209 -0.02405159
+v 0.01460009 -0.02395209 -0.02420554
+v 0.01580555 -0.02395209 -0.02424865
+v 0.01736443 -0.02395209 -0.02428560
+v 0.01230971 -0.02395230 0.03137226
+v 0.01230834 -0.02181543 0.02962949
+v 0.01280011 -0.02395230 0.03238221
+v 0.01270011 -0.02181522 0.03269012
+v 0.01230834 -0.02395209 0.02962949
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+v 0.02400953 -0.02395230 0.03826945
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+v 0.02105204 -0.02395230 0.03793075
+v 0.01406722 -0.02395230 0.03405724
+v 0.01517679 -0.02395230 0.03501176
+v 0.01489460 -0.02181522 0.03497481
+v 0.01861646 -0.02181522 0.03727798
+v 0.01787538 -0.02395230 0.03669295
+v 0.01957261 -0.02395230 0.03736420
+v 0.01572883 -0.02395230 0.03540589
+v 0.01710690 -0.02181522 0.03654515
+v 0.01719320 -0.02181522 0.03660058
+v 0.01752059 -0.02395230 0.03652668
+f 1 2 14
+f 1 14 30
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+f 1 40 46
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+f 1 51 56
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+f 1 47 42
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+f 1 31 15
+f 1 15 3
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+f 18 35 36
+f 18 36 19
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+f 18 41 33
+f 19 26 20
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+f 20 26 21
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+f 27 35 28
+f 28 35 34
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+f 29 34 33
+f 29 33 41
+f 29 41 38
+f 30 37 39
+f 30 39 40
+f 30 38 41
+f 30 41 37
+f 31 42 32
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+f 39 44 40
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+f 40 45 46
+f 42 47 43
+f 43 47 48
+f 44 49 45
+f 45 49 46
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+f 46 49 50
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+f 47 54 48
+f 50 55 51
+f 51 55 56
+f 52 57 58
+f 52 58 53
+f 55 58 57
+f 55 57 56
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_65.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e72889380f3ce644337819ffc25ef2493443071
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_65.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.04482287 -0.02626180 -0.01098476
+v -0.04547745 -0.02614487 -0.01039948
+v -0.04547745 -0.02614487 -0.01044303
+v -0.04508995 -0.02602045 -0.01241395
+v -0.04482287 -0.02611789 -0.01220705
+v -0.04482287 -0.02620784 -0.00993669
+v -0.04663446 -0.02563368 -0.01159455
+v -0.04482287 -0.02600995 -0.00876340
+v -0.04663446 -0.02472073 -0.00600576
+v -0.04663446 -0.02544329 -0.00924796
+v -0.04663446 -0.02563068 -0.01162994
+v -0.04482287 -0.02595748 -0.01307273
+v -0.04482287 -0.02603694 -0.01274606
+v -0.04482287 -0.02606392 -0.01263445
+v -0.04482287 -0.02594549 -0.00848573
+v -0.04482287 -0.02536984 -0.00610104
+v -0.04663446 -0.02377030 -0.00355573
+v -0.04482287 -0.02545829 -0.01499736
+v -0.04663446 -0.02470274 -0.01510081
+v -0.04482287 -0.02407012 -0.00300311
+v -0.04663446 -0.02288733 -0.00208027
+v -0.04482287 -0.02523792 -0.01545198
+v -0.04663446 -0.02396219 -0.01662800
+v -0.04482287 -0.02349447 -0.00206666
+v -0.04521817 -0.02309870 -0.00165015
+v -0.04663446 -0.02141372 -0.00043603
+v -0.04482287 -0.02513748 -0.01565887
+v -0.04663446 -0.02372533 -0.01705539
+v -0.04643033 -0.02379129 -0.01714250
+v -0.04482287 -0.02261300 -0.00102403
+v -0.04482287 -0.02171953 -0.00012297
+v -0.04663446 -0.01964178 0.00118099
+v -0.04482287 -0.02411060 -0.01772506
+v -0.04663446 -0.02212579 -0.01832396
+v -0.04510113 -0.02270144 -0.01911341
+v -0.04482287 -0.02281238 -0.01917603
+v -0.04482287 -0.01902715 0.00228895
+v -0.04482287 -0.01858492 0.00264284
+v -0.04663446 -0.01831808 0.00223995
+v -0.04663446 -0.01994460 -0.01927403
+v -0.04584225 -0.02073013 -0.01944281
+v -0.04482287 -0.02129379 -0.01969870
+v -0.04482287 -0.02243460 -0.01932030
+v -0.04482287 -0.01685196 0.00387603
+v -0.04663446 -0.01805873 0.00242234
+v -0.04663446 -0.01874982 -0.01956531
+v -0.04482287 -0.01874982 -0.02038471
+v -0.04482287 -0.01683247 0.00388964
+v -0.04482287 -0.01576511 0.00457565
+v -0.04663446 -0.01576511 0.00388964
+v -0.04663446 -0.01094701 -0.02117688
+v -0.04482287 -0.01496310 -0.02102716
+v -0.04482287 -0.01533487 0.00483154
+v -0.04663446 -0.01527491 0.00418092
+v -0.04588145 -0.01094701 -0.02137016
+v -0.04663446 -0.01094701 0.00557471
+v -0.04482287 -0.01094701 -0.02151716
+v -0.04482287 -0.01357043 0.00564005
+v -0.04617194 -0.01476072 0.00466004
+v -0.04663446 -0.01375482 0.00483426
+v -0.04663446 -0.01280439 0.00517454
+v -0.04482287 -0.01282688 0.00590955
+v -0.04482287 -0.01094701 0.00629339
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 18
+f 1 18 22
+f 1 22 27
+f 1 27 33
+f 1 33 36
+f 1 36 43
+f 1 43 42
+f 1 42 47
+f 1 47 52
+f 1 52 57
+f 1 57 63
+f 1 63 62
+f 1 62 58
+f 1 58 53
+f 1 53 49
+f 1 49 48
+f 1 48 44
+f 1 44 38
+f 1 38 37
+f 1 37 31
+f 1 31 30
+f 1 30 24
+f 1 24 20
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+f 1 15 8
+f 1 8 6
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+f 2 10 7
+f 3 7 11
+f 3 11 4
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+f 4 13 14
+f 4 14 5
+f 4 11 12
+f 7 10 9
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+f 7 26 32
+f 7 32 39
+f 7 39 45
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+f 7 28 23
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+f 7 19 11
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+f 9 15 16
+f 9 16 17
+f 11 18 12
+f 11 19 18
+f 16 20 17
+f 17 20 21
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 23 27
+f 23 28 29
+f 23 29 27
+f 24 30 25
+f 25 30 26
+f 26 31 32
+f 26 30 31
+f 27 29 33
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 29 36 33
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 38 44 39
+f 39 44 45
+f 40 46 41
+f 41 46 47
+f 41 47 42
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 46 51 47
+f 47 51 52
+f 49 53 50
+f 50 53 54
+f 51 55 52
+f 51 56 63
+f 51 63 57
+f 51 57 55
+f 52 55 57
+f 53 58 59
+f 53 59 54
+f 54 59 60
+f 56 61 62
+f 56 62 63
+f 58 62 59
+f 59 62 60
+f 60 62 61
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_66.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1657f67319c85acafa30e779e29ede9bfacbf698
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_66.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00857447 -0.00528639 -0.02368703
+v -0.01017674 -0.00528639 -0.02366802
+v -0.01146496 0.00347512 -0.02392945
+v -0.01004320 0.00347769 -0.02388192
+v -0.00857447 -0.00100987 -0.02375358
+v -0.00857447 -0.00528639 0.02390269
+v -0.01146496 -0.00528639 -0.02363000
+v -0.01146496 0.00347769 -0.01775496
+v -0.00857447 0.00347769 -0.02377259
+v -0.00857447 -0.00382114 0.02412134
+v -0.01087333 -0.00396698 0.02273338
+v -0.01070838 -0.00528639 0.02261931
+v -0.01146496 -0.00528639 0.02198712
+v -0.01146496 0.00347769 0.02259554
+v -0.00857447 0.00347769 0.02461568
+v -0.00857447 -0.00100987 0.02443981
+v -0.01103263 -0.00100987 0.02282845
+v -0.01146496 -0.00100987 0.02251473
+v -0.01146496 -0.00396698 0.02226756
+v -0.00857447 -0.00051316 0.02448734
+v -0.01146496 0.00309765 0.02260029
+v -0.00857447 0.00194552 0.02462994
+v -0.01146496 0.00194552 0.02260029
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 22
+f 1 22 20
+f 1 20 16
+f 1 16 10
+f 1 10 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 19
+f 3 19 18
+f 3 18 23
+f 3 23 21
+f 3 21 14
+f 3 14 8
+f 3 8 4
+f 4 8 14
+f 4 14 15
+f 4 15 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 11 16 20
+f 11 20 17
+f 12 19 13
+f 14 21 15
+f 15 21 22
+f 17 20 22
+f 17 22 23
+f 17 23 18
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_67.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d51f8cb95bc298c54a292948bbbec98650088a
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_67.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00489212 0.00347769 -0.02218092
+v 0.00489212 0.01059253 -0.02245797
+v 0.00489225 0.01549973 -0.02313294
+v 0.00547768 0.00347769 -0.02218092
+v 0.00489212 0.00347769 0.02756596
+v 0.00489212 0.01059253 0.02726876
+v 0.00602956 0.01549973 -0.02296168
+v 0.00622089 0.00347769 -0.02217085
+v 0.00489225 0.01549973 0.02723854
+v 0.00489225 0.01303201 0.02741988
+v 0.00489225 0.01377221 0.02738966
+v 0.00622089 0.00347769 0.02831649
+v 0.00602956 0.01377221 0.02806463
+v 0.00622089 0.01059253 -0.02229678
+v 0.00622089 0.00359184 -0.02217589
+v 0.00602956 0.01549973 0.02786819
+v 0.00602956 0.01482661 0.02794878
+v 0.00622089 0.01059253 0.02802434
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 16
+f 3 16 7
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 10
+f 6 11 9
+f 7 14 15
+f 7 15 8
+f 7 16 18
+f 7 18 14
+f 8 15 14
+f 8 14 18
+f 8 18 12
+f 9 11 13
+f 9 13 17
+f 9 17 16
+f 10 13 11
+f 12 18 13
+f 13 18 17
+f 16 17 18
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_69.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf188f2d8b0b03d4201fa0d08be3aebf7ab32a44
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.02874114 0.04426501 0.01673210
+v 0.02870151 0.04318301 0.01781887
+v 0.02874114 0.04426501 -0.02076157
+v 0.02871378 0.04426501 0.01968771
+v 0.02870151 0.04333912 0.02061706
+v 0.02870151 0.04318301 -0.02076664
+v 0.02861848 0.04094292 0.02005843
+v 0.02851376 0.04094292 -0.02354960
+v 0.02857697 0.04333912 -0.02372226
+v 0.02858263 0.04426501 -0.02376289
+v 0.02866472 0.04426501 0.02053580
+v 0.02859112 0.04094292 0.02175461
+v 0.02861660 0.04094292 0.02061706
+v 0.02855433 0.04426501 0.02243004
+v 0.02856943 0.04333912 0.02262809
+v 0.02856754 0.04318301 0.02267888
+v 0.02853451 0.04094292 0.02340001
+v 0.02856188 0.04094292 0.02297342
+v 0.02861848 0.04094292 0.01706727
+v 0.02861754 0.04094292 -0.02076664
+v 0.02849300 0.04094292 -0.02391016
+v 0.02844583 0.04185320 -0.02520007
+v 0.02844583 0.04333912 -0.02520007
+v 0.02844488 0.04426501 -0.02520007
+v 0.02793351 0.04426501 0.02298358
+v 0.02815146 0.04123399 0.02460358
+v 0.02826845 0.04094292 0.02429380
+v 0.02733346 0.04094292 -0.02540320
+v 0.02696833 0.04318301 -0.02547430
+v 0.02696550 0.04333912 -0.02546922
+v 0.02701739 0.04422013 -0.02540320
+v 0.02694380 0.04426501 -0.02540828
+v 0.02702777 0.04426501 0.02328320
+v 0.02701739 0.04426306 0.02328828
+v 0.02618146 0.04210069 0.02522314
+v 0.02782030 0.04094292 0.02495399
+v 0.02699852 0.04094292 -0.02546415
+v 0.02399824 0.04094292 -0.02579932
+v 0.02415297 0.04426501 -0.02546922
+v 0.02513231 0.04426501 0.02350157
+v 0.02400956 0.04358368 0.02407543
+v 0.02475208 0.04210362 0.02523838
+v 0.02475208 0.04096992 0.02605600
+v 0.02676359 0.04094292 0.02554816
+v 0.02094324 0.04094292 -0.02553524
+v 0.02117250 0.04147628 -0.02548954
+v 0.01910344 0.04426501 -0.02483442
+v 0.02400956 0.04426501 0.02351681
+v 0.01981577 0.04182816 0.02503016
+v 0.02400956 0.04210492 0.02523838
+v 0.02400956 0.04094292 0.02608139
+v 0.02471812 0.04094292 0.02607123
+v 0.02475303 0.04094292 0.02606615
+v 0.02049414 0.04094292 -0.02546415
+v 0.01910344 0.04426501 0.02270935
+v 0.01910344 0.04094292 -0.02521022
+v 0.02248395 0.04426501 0.02331875
+v 0.01910344 0.04166002 0.02491336
+v 0.01910344 0.04121253 0.02521807
+v 0.01910344 0.04104699 0.02532979
+v 0.01958273 0.04094292 0.02549738
+v 0.02063849 0.04094292 0.02572590
+v 0.02214241 0.04426501 0.02326797
+v 0.02099041 0.04426501 0.02307499
+v 0.01910344 0.04094292 0.02539073
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 24
+f 1 24 32
+f 1 32 39
+f 1 39 47
+f 1 47 55
+f 1 55 64
+f 1 64 63
+f 1 63 57
+f 1 57 48
+f 1 48 40
+f 1 40 33
+f 1 33 25
+f 1 25 14
+f 1 14 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 19
+f 2 19 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 12 13
+f 5 13 7
+f 5 11 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 12
+f 6 19 20
+f 6 20 8
+f 7 13 12
+f 7 12 18
+f 7 18 17
+f 7 17 27
+f 7 27 36
+f 7 36 44
+f 7 44 53
+f 7 53 52
+f 7 52 51
+f 7 51 62
+f 7 62 61
+f 7 61 65
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+f 7 45 38
+f 7 38 37
+f 7 37 28
+f 7 28 21
+f 7 21 8
+f 7 8 20
+f 7 20 19
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 14 25 26
+f 14 26 27
+f 14 27 17
+f 14 17 16
+f 14 16 15
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 32
+f 30 32 31
+f 32 38 39
+f 33 40 34
+f 34 40 35
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 35 40 41
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 40 48 41
+f 41 49 50
+f 41 50 42
+f 41 48 49
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 45 54 47
+f 45 47 46
+f 47 54 56
+f 47 56 65
+f 47 65 60
+f 47 60 59
+f 47 59 58
+f 47 58 55
+f 48 57 49
+f 49 58 59
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 51
+f 49 51 50
+f 49 57 63
+f 49 63 64
+f 49 64 55
+f 49 55 58
+f 60 65 61
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_7.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec8c6c6e946bc257d0184da8ab78ae4a7cd9bd8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02686810 -0.00649929 0.03540272
+v 0.02616807 -0.00649929 0.03802441
+v 0.02611627 -0.00987986 0.03793317
+v 0.02606159 -0.01283786 0.03787234
+v 0.02663356 -0.01283786 0.03540272
+v 0.02663356 -0.01283786 -0.01780962
+v 0.02685227 -0.00692434 -0.01780962
+v 0.02686738 -0.00649929 -0.01780962
+v 0.02400970 -0.00649929 0.03949645
+v 0.02401042 -0.00987986 0.03919231
+v 0.02401042 -0.01283786 0.03882126
+v 0.02606159 -0.01283786 -0.02030356
+v 0.02617814 -0.00649929 -0.02017582
+v 0.02254561 -0.00649929 0.03986142
+v 0.02204919 -0.00792772 0.03978842
+v 0.02007788 -0.00860718 0.03988575
+v 0.01951814 -0.00860718 0.03988575
+v 0.02105490 -0.01283786 0.03879692
+v 0.02401042 -0.01283786 -0.02154445
+v 0.02401042 -0.01283662 -0.02154445
+v 0.02401042 -0.00649929 -0.02120990
+v 0.02105922 -0.00649929 0.04010473
+v 0.01951814 -0.00649929 0.04012906
+v 0.01951814 -0.01283724 0.03858403
+v 0.01951814 -0.01283786 0.03739788
+v 0.01951814 -0.01283786 -0.02201283
+v 0.01951814 -0.00692434 -0.02139847
+v 0.01951814 -0.00649929 -0.02133764
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 21
+f 1 21 28
+f 1 28 23
+f 1 23 22
+f 1 22 14
+f 1 14 9
+f 1 9 2
+f 2 4 3
+f 2 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 18
+f 4 18 25
+f 4 25 26
+f 4 26 19
+f 4 19 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 22 15
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 28
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 17 25 24
+f 17 24 18
+f 18 24 25
+f 19 26 20
+f 20 26 21
+f 21 26 27
+f 21 27 28
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_70.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ffe200ec987fd621dd809b7c122e0adc39c0e4
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00728914 -0.03454939 -0.02527514
+v 0.00728914 -0.03367570 -0.02528049
+v 0.00876702 -0.03454939 -0.02527514
+v 0.00728914 -0.03454939 0.01881977
+v 0.00728899 -0.01284625 -0.02304953
+v 0.00876702 -0.03407713 -0.02527514
+v 0.00728899 -0.01283838 -0.02304953
+v 0.00728899 -0.01108575 -0.02293182
+v 0.00728914 -0.03122780 -0.02510929
+v 0.00876717 -0.01284625 -0.02315653
+v 0.00876702 -0.03454939 0.01984697
+v 0.00728914 -0.03417420 0.01943502
+v 0.00728899 -0.01284625 0.02741726
+v 0.00876702 -0.03374916 -0.02524839
+v 0.00876717 -0.01237661 -0.02311908
+v 0.00728899 -0.01089947 -0.02291578
+v 0.00728914 -0.03111236 -0.02509859
+v 0.00876702 -0.03234024 -0.02512533
+v 0.00876717 -0.01284625 0.02804321
+v 0.00876702 -0.03391446 0.02050503
+v 0.00876702 -0.03370456 0.02063878
+v 0.00728914 -0.03321131 0.02003958
+v 0.00728914 -0.03057450 0.02124868
+v 0.00728928 -0.02746543 0.02301954
+v 0.00728957 -0.02115284 0.02575875
+v 0.00728942 -0.01770532 0.02661476
+v 0.00728957 -0.01875479 0.02647031
+v 0.00728942 -0.01579527 0.02702136
+v 0.00728899 -0.01277016 0.02742796
+v 0.00728899 -0.00774580 -0.02259478
+v 0.00876717 -0.00942496 -0.02279272
+v 0.00728899 -0.00815247 -0.02263757
+v 0.00876717 -0.00774580 0.02937537
+v 0.00876659 -0.02161986 0.02634726
+v 0.00876688 -0.02563410 0.02449615
+v 0.00876702 -0.02951191 0.02273599
+v 0.00876688 -0.02781176 0.02368294
+v 0.00728928 -0.02831551 0.02259689
+v 0.00728899 -0.00774580 0.02788271
+v 0.00876717 -0.00774580 -0.02259478
+f 1 2 3
+f 1 3 11
+f 1 11 4
+f 1 4 13
+f 1 13 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 6 10
+f 3 10 19
+f 3 19 11
+f 4 11 12
+f 4 12 13
+f 5 13 29
+f 5 29 39
+f 5 39 30
+f 5 30 32
+f 5 32 16
+f 5 16 8
+f 5 8 7
+f 6 14 15
+f 6 15 10
+f 6 9 14
+f 8 16 9
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_71.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e5d2b2f2c980871cb492b176e714ae91092bc7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_72.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9147db4a41cdc616350440408be2ce60ebff74af
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_72.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_73.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907cc7816e4c3fed71623e7e9b3fc1723fadf055
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_73.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_74.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3515302d4385eb08af5d3fbb13520c04436e52fd
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_74.obj
@@ -0,0 +1,351 @@
+# https://github.com/mikedh/trimesh
+v -0.01984957 -0.03638937 -0.00893905
+v -0.02033866 -0.03620319 -0.00893905
+v -0.01984957 -0.03628732 -0.01189319
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_75.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4279fb202c5aa2e1d6a9ed73fe77ae478cc40b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.03685951 -0.00986164 -0.02376376
+v -0.03802415 -0.00986164 -0.02349739
+v -0.03802415 -0.00403959 -0.02416333
+v -0.03685951 -0.00518420 -0.02424870
+v -0.03685951 -0.00986164 0.00901067
+v -0.03802415 -0.00986164 0.00854622
+v -0.03802415 -0.00396664 -0.02417016
+v -0.03685951 -0.00396664 -0.02434433
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+v -0.03802415 -0.00108340 -0.02432383
+v -0.03685951 -0.00223670 -0.02443653
+v -0.03685951 -0.00477950 0.00987469
+v -0.03802415 -0.00682730 0.00925656
+v -0.03802415 -0.00101045 -0.02432725
+v -0.03685951 -0.00101045 -0.02449800
+v -0.03685951 -0.00220370 0.01005227
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+v -0.03802415 -0.00388848 0.00942048
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+v -0.03685951 0.00475949 0.01039036
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+v -0.03802415 0.00785810 -0.02391744
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+f 36 38 37
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_76.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bd3cf35cf62979992f8990985d55c9aaa6f31b
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_76.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01521062 -0.03502674 0.01499674
+v 0.01521062 -0.03502674 0.02056412
+v 0.01521062 -0.03365268 0.01499674
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+v 0.01521062 -0.03365268 0.02056412
+v 0.02224541 -0.03502674 0.02056412
+v 0.02224541 -0.03365268 0.01499674
+v 0.02224541 -0.03365268 0.02056412
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_77.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573d15e6d8c52223de84159e13848c2812afb5eb
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_77.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.02576731 -0.03631340 0.02055954
+v 0.02566455 -0.03908336 0.02055954
+v 0.02576731 -0.03631340 0.02039014
+v 0.01230800 -0.03631340 0.02055954
+v 0.01230800 -0.03908336 0.02055954
+v 0.02566455 -0.03908336 -0.02076988
+v 0.02576072 -0.03649018 0.00583533
+v 0.02576599 -0.03631340 -0.02076988
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+v 0.02557628 -0.03908336 -0.02322850
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+v 0.01472556 -0.03908336 -0.02599844
+v 0.02532596 -0.03908336 -0.02470733
+v 0.02532727 -0.03649018 -0.02493167
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_78.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96b5056a0b3ccdfab55a7a03b1557feaf11c636
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_78.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.02902356 -0.03092776 -0.00860240
+v -0.02902356 -0.03090327 -0.00598792
+v -0.03022885 -0.03006962 -0.00894277
+v -0.02902356 -0.03092726 -0.00894277
+v -0.02902356 -0.03084613 -0.00571660
+v -0.03022885 -0.02955279 -0.00373601
+v -0.02920843 -0.03076450 -0.00598792
+v -0.03022885 -0.03005635 -0.00753194
+v -0.03022885 -0.02986809 -0.01069891
+v -0.03022885 -0.02971299 -0.01190010
+v -0.02902356 -0.03058899 -0.01155725
+v -0.02902356 -0.03026196 -0.00310212
+v -0.02931993 -0.03003696 -0.00311445
+v -0.03022885 -0.02901096 -0.00231531
+v -0.03022885 -0.02999717 -0.00598792
+v -0.02902356 -0.03054206 -0.01190010
+v -0.03022885 -0.02924616 -0.01457377
+v -0.02902356 -0.03015074 -0.00280614
+v -0.02902356 -0.02990431 -0.00220185
+v -0.02902356 -0.02900382 -0.00007574
+v -0.03022885 -0.02870586 -0.00162469
+v -0.02902356 -0.02996349 -0.01460090
+v -0.02902356 -0.02924361 -0.01654696
+v -0.02902356 -0.02975278 -0.01519039
+v -0.03022885 -0.02757935 -0.01799479
+v -0.02902356 -0.02738089 0.00259547
+v -0.03022885 -0.02672886 0.00203065
+v -0.02980990 -0.02833189 -0.00007574
+v -0.03022885 -0.02820791 -0.00063070
+v -0.03022885 -0.02730691 -0.01844616
+v -0.02902356 -0.02812526 -0.01838450
+v -0.02902356 -0.02733497 0.00265960
+v -0.03006533 -0.02571663 0.00365113
+v -0.03022885 -0.02576918 0.00337735
+v -0.03022885 -0.02792884 -0.00007574
+v -0.03022885 -0.02571663 -0.01949935
+v -0.02902356 -0.02571663 -0.02059201
+v -0.02902356 -0.02677784 -0.01972627
+v -0.02902356 -0.02571663 0.00460320
+v -0.03016880 -0.02571663 0.00352287
+v -0.03022885 -0.02571663 0.00344395
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 22
+f 1 22 24
+f 1 24 23
+f 1 23 31
+f 1 31 38
+f 1 38 37
+f 1 37 39
+f 1 39 32
+f 1 32 26
+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
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+f 2 7 8
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+f 3 8 15
+f 3 15 6
+f 3 6 14
+f 3 14 21
+f 3 21 29
+f 3 29 35
+f 3 35 27
+f 3 27 34
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+f 3 36 30
+f 3 30 25
+f 3 25 17
+f 3 17 10
+f 3 10 9
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+f 4 9 10
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+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 15 7
+f 7 15 8
+f 10 16 11
+f 10 17 16
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 16 17 22
+f 17 23 24
+f 17 24 22
+f 17 25 23
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 23 25 30
+f 23 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 35 28
+f 28 35 29
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 40 34
+f 33 39 37
+f 33 37 36
+f 33 36 41
+f 33 41 40
+f 34 40 41
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_79.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127005fcc12d0aa74d4d8994dacccd2ec5892451
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_79.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01552795 -0.00604908 -0.02409978
+v -0.01552795 -0.00582087 -0.02410844
+v -0.01375636 -0.00604908 -0.02384415
+v -0.01552795 -0.00604908 0.01815676
+v -0.01552795 -0.00386408 -0.02414310
+v -0.01375636 -0.00463619 -0.02386148
+v -0.01375636 -0.00604908 0.01223833
+v -0.01376070 -0.00604908 0.01966452
+v -0.01375636 -0.00411689 0.02007180
+v -0.01375636 -0.00396717 0.02010212
+v -0.01375636 -0.00386408 0.02011945
+v -0.01552795 -0.00435387 0.01836472
+v -0.01375636 -0.00386408 -0.02385282
+v -0.01552795 -0.00386408 0.01839505
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 12
+f 1 12 14
+f 1 14 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 13
+f 3 13 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 5 14 11
+f 5 11 13
+f 7 9 8
+f 11 14 12
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_8.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579e3c12eb4a81095b7d7305aad0959b17f7bd95
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.04016002 -0.01604826 -0.02236875
+v -0.04131685 -0.01604826 -0.02215753
+v -0.04016002 -0.01536084 -0.02255282
+v -0.04016002 -0.01604826 0.00577181
+v -0.04132840 -0.01604826 -0.02215452
+v -0.04053822 -0.01522028 -0.02249247
+v -0.04016002 -0.01283708 -0.02278818
+v -0.04016002 -0.01579332 0.00590759
+v -0.04103479 -0.01604826 0.00561490
+v -0.04142876 -0.01604826 -0.02211831
+v -0.04142876 -0.01603176 -0.02212133
+v -0.04062417 -0.01283708 -0.02264636
+v -0.04088388 -0.01023536 -0.02271274
+v -0.04058728 -0.01023536 -0.02280326
+v -0.04016002 -0.01067809 -0.02290586
+v -0.04016002 -0.01520492 0.00616106
+v -0.04103479 -0.01579332 0.00575069
+v -0.04130133 -0.01604826 0.00554248
+v -0.04142876 -0.01604826 0.00550326
+v -0.04142876 -0.01283708 -0.02227522
+v -0.04095008 -0.01023536 -0.02269162
+v -0.04016002 -0.01023536 -0.02291793
+v -0.04016002 -0.01315575 0.00701499
+v -0.04116383 -0.01284391 0.00695464
+v -0.04142876 -0.01284334 0.00688826
+v -0.04142876 -0.01578934 0.00563904
+v -0.04142876 -0.01586445 0.00559981
+v -0.04142876 -0.01023536 -0.02233556
+v -0.04016002 -0.01023536 0.00790513
+v -0.04016002 -0.01188448 0.00750683
+v -0.04026447 -0.01186229 0.00750080
+v -0.04142876 -0.01232209 0.00702706
+v -0.04142876 -0.01023536 0.00757623
+v -0.04097467 -0.01023536 0.00769995
+v -0.04016002 -0.01176783 0.00754908
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 29
+f 1 29 35
+f 1 35 30
+f 1 30 23
+f 1 23 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 17
+f 4 17 9
+f 5 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 12 13
+f 8 16 17
+f 9 17 18
+f 10 19 27
+f 10 27 26
+f 10 26 25
+f 10 25 32
+f 10 32 33
+f 10 33 28
+f 10 28 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 28
+f 13 28 33
+f 13 33 34
+f 13 34 29
+f 13 29 22
+f 13 22 14
+f 14 22 15
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 20 28 21
+f 23 30 31
+f 23 31 24
+f 24 31 25
+f 25 31 32
+f 29 34 35
+f 30 35 31
+f 31 35 34
+f 31 34 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_80.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb65e780a43ff5fb4dd550bbcbe4fc6ca6deb346
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.02645565 -0.03275256 -0.00828355
+v -0.02645565 -0.03270269 -0.00598895
+v -0.02760646 -0.03196573 -0.00598895
+v -0.02760489 -0.03196019 -0.00893966
+v -0.02645565 -0.03274979 -0.00893966
+v -0.02645565 -0.03215690 -0.00303465
+v -0.02719152 -0.03165266 -0.00303465
+v -0.02768866 -0.03190478 -0.00598895
+v -0.02768866 -0.03190617 -0.00614312
+v -0.02768866 -0.03190617 -0.00616104
+v -0.02645565 -0.03256832 -0.01087572
+v -0.02768866 -0.03189924 -0.00893966
+v -0.02645565 -0.03133544 -0.00066476
+v -0.02645565 -0.03113596 -0.00013055
+v -0.02768866 -0.03066220 -0.00141409
+v -0.02768866 -0.03127449 -0.00305258
+v -0.02768866 -0.03144903 -0.00383418
+v -0.02768866 -0.03149336 -0.01189754
+v -0.02645565 -0.03242287 -0.01189754
+v -0.02768866 -0.03187707 -0.00911534
+v -0.02645565 -0.03104038 0.00009891
+v -0.02768866 -0.03009009 -0.00001582
+v -0.02768866 -0.03090740 -0.01475861
+v -0.02645565 -0.03214166 -0.01326354
+v -0.02768866 -0.02925340 0.00165134
+v -0.02645565 -0.02966067 0.00242577
+v -0.02768866 -0.03038792 -0.01621066
+v -0.02645565 -0.03165405 -0.01532151
+v -0.02645565 -0.03181058 -0.01485183
+v -0.02692092 -0.02844718 0.00351571
+v -0.02768866 -0.02906639 0.00189156
+v -0.02645565 -0.02917444 0.00305679
+v -0.02768866 -0.02990309 -0.01747986
+v -0.02645565 -0.03059433 -0.01795312
+v -0.02645565 -0.02792078 0.00460205
+v -0.02768866 -0.02667544 0.00493190
+v -0.02768866 -0.02805792 0.00317869
+v -0.02768866 -0.02903176 -0.01921874
+v -0.02767429 -0.02904146 -0.01922232
+v -0.02645565 -0.03053199 -0.01807502
+v -0.02645565 -0.02723093 0.00543743
+v -0.02768866 -0.02607562 0.00559160
+v -0.02768866 -0.02900682 -0.01924025
+v -0.02651406 -0.02787784 -0.02094327
+v -0.02645565 -0.02801221 -0.02087515
+v -0.02645565 -0.02948197 -0.01967765
+v -0.02645565 -0.02665882 0.00606486
+v -0.02709158 -0.02553676 0.00672097
+v -0.02768866 -0.02526663 0.00645566
+v -0.02768866 -0.02659371 -0.02098988
+v -0.02645565 -0.02781827 -0.02102573
+v -0.02645565 -0.02789585 -0.02096837
+v -0.02645565 -0.02488569 0.00780373
+v -0.02768866 -0.02374701 0.00785751
+v -0.02768866 -0.02534144 -0.02177865
+v -0.02645565 -0.02601744 -0.02222322
+v -0.02645565 -0.02422353 0.00839172
+v -0.02645565 -0.02165389 0.01022382
+v -0.02704174 -0.02170791 0.00976490
+v -0.02768866 -0.02278426 0.00853872
+v -0.02768866 -0.02332451 -0.02289009
+v -0.02645565 -0.02442163 -0.02290085
+v -0.02645565 -0.01897064 0.01191250
+v -0.02768866 -0.01860078 0.01132809
+v -0.02768866 -0.02178133 0.00924503
+v -0.02768866 -0.02027002 -0.02394776
+v -0.02645565 -0.02150428 -0.02380076
+v -0.02645565 -0.01860078 0.01211686
+v -0.02656053 -0.01860078 0.01205591
+v -0.02669474 -0.01860078 0.01196986
+v -0.02768866 -0.01860078 -0.02435648
+v -0.02768866 -0.01884043 -0.02430270
+v -0.02645565 -0.01875177 -0.02447838
+v -0.02645565 -0.01860078 -0.02451065
+v -0.02768866 -0.01875177 -0.02432421
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 24
+f 1 24 29
+f 1 29 28
+f 1 28 34
+f 1 34 40
+f 1 40 46
+f 1 46 45
+f 1 45 52
+f 1 52 51
+f 1 51 56
+f 1 56 62
+f 1 62 67
+f 1 67 73
+f 1 73 74
+f 1 74 68
+f 1 68 63
+f 1 63 58
+f 1 58 57
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+f 1 41 35
+f 1 35 32
+f 1 32 26
+f 1 26 21
+f 1 21 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 11
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 16
+f 8 16 15
+f 8 15 22
+f 8 22 25
+f 8 25 31
+f 8 31 37
+f 8 37 36
+f 8 36 42
+f 8 42 49
+f 8 49 54
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+f 8 60 65
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+f 8 64 71
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+f 8 61 55
+f 8 55 50
+f 8 50 43
+f 8 43 38
+f 8 38 33
+f 8 33 27
+f 8 27 23
+f 8 23 18
+f 8 18 20
+f 8 20 12
+f 8 12 10
+f 8 10 9
+f 11 18 19
+f 11 12 20
+f 11 20 18
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+f 14 22 15
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 21 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 26 30
+f 25 30 31
+f 26 32 30
+f 27 33 28
+f 28 33 34
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 30 32 35
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 35 41 36
+f 36 41 42
+f 38 43 39
+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 41 47 42
+f 42 47 48
+f 42 48 49
+f 43 50 44
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 47 53 48
+f 48 53 54
+f 48 54 49
+f 50 55 56
+f 50 56 51
+f 53 57 54
+f 54 57 58
+f 54 58 59
+f 54 59 60
+f 55 61 56
+f 56 61 62
+f 58 63 64
+f 58 64 59
+f 59 65 60
+f 59 64 65
+f 61 66 62
+f 62 66 67
+f 63 68 69
+f 63 69 70
+f 63 70 64
+f 64 70 69
+f 64 69 68
+f 64 68 74
+f 64 74 71
+f 66 72 67
+f 67 72 73
+f 71 74 73
+f 71 73 75
+f 72 75 73
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_81.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1dc68cf9dfa953da39a1c602d3819e0ff2a473e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_81.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00549528 0.01367866 -0.01550659
+v -0.00549528 0.01368172 -0.02396928
+v -0.00377960 0.01367866 -0.01550659
+v -0.00549528 0.01367866 0.00880701
+v -0.00549528 0.02264607 -0.02494063
+v -0.00377691 0.01368172 -0.02386948
+v -0.00377691 0.01367866 -0.01107233
+v -0.00377691 0.01367866 0.00880701
+v -0.00549528 0.04027124 0.00880701
+v -0.00549528 0.02535622 -0.02513357
+v -0.00377691 0.02264607 -0.02482087
+v -0.00377691 0.04101010 0.00880701
+v -0.00547862 0.04028351 0.00880701
+v -0.00549528 0.04028351 0.00879703
+v -0.00549528 0.02855689 -0.02517016
+v -0.00377691 0.02549111 -0.02493730
+v -0.00377691 0.02374362 -0.02489738
+v -0.00377691 0.04209845 0.00762609
+v -0.00438149 0.04197582 0.00746975
+v -0.00549528 0.04172749 0.00699738
+v -0.00549528 0.02910260 -0.02511361
+v -0.00377691 0.02855689 -0.02483750
+v -0.00377691 0.02713744 -0.02492732
+v -0.00377691 0.04252459 0.00691089
+v -0.00377691 0.04312855 0.00567342
+v -0.00549528 0.04231306 0.00577654
+v -0.00549528 0.03130996 -0.02468449
+v -0.00377691 0.03142647 -0.02443167
+v -0.00377691 0.04396551 0.00351118
+v -0.00549528 0.04234985 0.00569005
+v -0.00549528 0.03446772 -0.02357675
+v -0.00377691 0.03446772 -0.02364661
+v -0.00377691 0.04418318 0.00287914
+v -0.00549528 0.04330637 0.00287914
+v -0.00549528 0.03656778 -0.02260873
+v -0.00377691 0.03684983 -0.02272183
+v -0.00377691 0.04475648 -0.00007482
+v -0.00549528 0.04332476 0.00277601
+v -0.00549528 0.03804549 -0.02160079
+v -0.00377691 0.03832754 -0.02181036
+v -0.00377691 0.04495576 -0.00303211
+v -0.00549528 0.04402989 -0.00303211
+v -0.00549528 0.04375704 -0.00007482
+v -0.00549528 0.03967648 -0.02012049
+v -0.00377691 0.04011182 -0.02030012
+v -0.00377691 0.04009650 -0.02031343
+v -0.00377691 0.04499868 -0.00598606
+v -0.00549528 0.04418318 -0.00598606
+v -0.00549528 0.04409427 -0.00424629
+v -0.00549528 0.04115112 -0.01820441
+v -0.00377691 0.04262883 -0.01713992
+v -0.00377691 0.04478714 -0.00869386
+v -0.00549528 0.04405748 -0.00894002
+v -0.00549528 0.04418318 -0.00609584
+v -0.00549528 0.04208619 -0.01673075
+v -0.00377691 0.04350564 -0.01485459
+v -0.00377691 0.04476568 -0.00894002
+v -0.00549528 0.04357616 -0.01189731
+v -0.00549528 0.04275759 -0.01485459
+v -0.00549528 0.04356083 -0.01196384
+v -0.00377691 0.04376623 -0.01390986
+v -0.00377691 0.04425369 -0.01189731
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 43
+f 1 43 42
+f 1 42 49
+f 1 49 48
+f 1 48 54
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+f 39 46 40
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_82.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec5d38be581d814ad7a06befd58b1d2e1542545
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_82.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00328622 0.00194165 0.02756818
+v -0.00328622 -0.00050712 0.02754305
+v -0.00328622 0.00335366 0.02741238
+v -0.00555567 0.00347769 0.02635192
+v -0.00750521 0.00347769 0.02539197
+v -0.00555567 0.00194594 0.02643736
+v -0.00751194 0.00194594 0.02540202
+v -0.00332349 -0.00050712 0.02752295
+v -0.00328622 -0.00050712 -0.02335416
+v -0.00328622 0.00347769 0.02739730
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+v -0.00857367 0.00194594 0.02462804
+v -0.00857160 -0.00050712 0.02449234
+v -0.00839301 -0.00050712 0.02460793
+v -0.00734473 -0.00050712 0.02527135
+v -0.00555567 -0.00050712 -0.02359038
+v -0.00328622 -0.00032341 -0.02335919
+v -0.00328622 0.00347769 -0.02342452
+v -0.00857367 0.00347769 -0.02377634
+v -0.00857367 -0.00050712 0.02439685
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+v -0.00708642 0.00347769 -0.02371602
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+f 18 22 24
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+f 21 25 22
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_83.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218c945b9bd7763295f90e99e7ef4d295f027bae
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_83.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.03351503 0.01936947 -0.00223146
+v -0.03351503 0.02563269 -0.00223371
+v -0.03500662 0.01936947 -0.00223146
+v -0.03351503 0.01224868 -0.00223146
+v -0.03351503 0.02597224 -0.00303307
+v -0.03429893 0.02483956 -0.00223371
+v -0.03500662 0.02411583 -0.00223371
+v -0.03500662 0.01224868 -0.00223146
+v -0.03351503 0.00110277 -0.00223371
+v -0.03351503 0.02642333 -0.00598955
+v -0.03483448 0.02522621 -0.00598955
+v -0.03500662 0.02506758 -0.00598955
+v -0.03500662 0.02467598 -0.00390673
+v -0.03445720 0.02501801 -0.00303307
+v -0.03500662 0.02445539 -0.00303307
+v -0.03500662 0.00110277 -0.00223371
+v -0.03351503 0.00110277 -0.02500069
+v -0.03351503 0.02630684 -0.00894604
+v -0.03500662 0.02514690 -0.00894604
+v -0.03500662 0.02510476 -0.00629804
+v -0.03500662 0.00110277 -0.02485207
+v -0.03496296 0.00110277 -0.02486333
+v -0.03351503 0.00280799 -0.02519659
+v -0.03351503 0.02597720 -0.01190478
+v -0.03500662 0.02487674 -0.01190478
+v -0.03500662 0.00214127 -0.02489261
+v -0.03374148 0.00326652 -0.02522361
+v -0.03351503 0.00312524 -0.02522586
+v -0.03351503 0.02504776 -0.01486352
+v -0.03424389 0.02453222 -0.01485451
+v -0.03500662 0.02397951 -0.01485451
+v -0.03500662 0.00480072 -0.02493989
+v -0.03488470 0.00479577 -0.02497142
+v -0.03374148 0.00373992 -0.02522361
+v -0.03351503 0.00390102 -0.02523486
+v -0.03351503 0.02426702 -0.01653428
+v -0.03375419 0.02418771 -0.01643971
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+v -0.03500662 0.00637211 -0.02488135
+v -0.03500662 0.00785922 -0.02481830
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+v -0.03351503 0.02170175 -0.01986455
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+v -0.03500662 0.01953800 -0.02108047
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+v -0.03351503 0.01666540 -0.02337496
+v -0.03500662 0.01659600 -0.02287733
+v -0.03500662 0.01687607 -0.02278276
+v -0.03351503 0.01875231 -0.02258011
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+f 50 55 51
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_84.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379a13ea21cf0b7bd00626534ddf9146a5df63df
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_84.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v -0.04348827 -0.02652899 -0.01166918
+v -0.04348827 -0.02635997 -0.01308578
+v -0.04348827 -0.02636802 -0.00919286
+v -0.04482256 -0.02620704 -0.00993657
+v -0.04482256 -0.02626070 -0.01098540
+v -0.04405935 -0.02639753 -0.01161742
+v -0.04348827 -0.02627680 -0.01373142
+v -0.04381914 -0.02630363 -0.00922555
+v -0.04348827 -0.02626741 -0.00863167
+v -0.04468959 -0.02598302 -0.00843008
+v -0.04482256 -0.02600985 -0.00876243
+v -0.04482256 -0.02611850 -0.01220858
+v -0.04482256 -0.02606350 -0.01263356
+v -0.04482256 -0.02603668 -0.01274525
+v -0.04405935 -0.02577643 -0.01495460
+v -0.04348827 -0.02611582 -0.01439613
+v -0.04348827 -0.02586631 -0.00648226
+v -0.04482256 -0.02594546 -0.00848456
+v -0.04381914 -0.02573082 -0.00615263
+v -0.04482256 -0.02536997 -0.00610087
+v -0.04482256 -0.02595753 -0.01307216
+v -0.04348827 -0.02596155 -0.01495460
+v -0.04482256 -0.02545850 -0.01499819
+v -0.04348827 -0.02585692 -0.01528968
+v -0.04348827 -0.02577106 -0.00602186
+v -0.04413615 -0.02418411 -0.00279366
+v -0.04482256 -0.02407008 -0.00300342
+v -0.04482256 -0.02523850 -0.01545041
+v -0.04482256 -0.02513655 -0.01565745
+v -0.04348827 -0.02482935 -0.01736009
+v -0.04348827 -0.02439070 -0.00289445
+v -0.04348827 -0.02407411 -0.00239592
+v -0.04348827 -0.02361667 -0.00168217
+v -0.04482256 -0.02349459 -0.00206901
+v -0.04482256 -0.02411033 -0.01772513
+v -0.04348827 -0.02450874 -0.01797304
+v -0.04348827 -0.02299691 -0.00094391
+v -0.04482256 -0.02261325 -0.00102563
+v -0.04348827 -0.02378838 -0.01895921
+v -0.04406601 -0.02426057 -0.01800028
+v -0.04482256 -0.02281313 -0.01917442
+v -0.04348827 -0.02334972 -0.01947409
+v -0.04348827 -0.02163935 0.00045907
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+v -0.04348827 -0.02281179 -0.01968113
+v -0.04348827 -0.02097666 0.00112378
+v -0.04482256 -0.01902885 0.00228975
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+v -0.04406601 -0.02171179 -0.01988545
+v -0.04348827 -0.02171045 -0.02009794
+v -0.04348827 -0.01973178 0.00220530
+v -0.04348827 -0.01825349 0.00340396
+v -0.04482256 -0.01858483 0.00264390
+v -0.04482256 -0.01875117 -0.02038670
+v -0.04399156 -0.01875117 -0.02076265
+v -0.04348827 -0.01925422 -0.02080079
+v -0.04348827 -0.01623592 0.00480693
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+v -0.04482256 -0.01496287 -0.02102690
+v -0.04399156 -0.01579458 -0.02123121
+v -0.04348827 -0.01584153 -0.02140556
+v -0.04348827 -0.01875117 -0.02092610
+v -0.04380960 -0.01576507 0.00495676
+v -0.04482256 -0.01533446 0.00483145
+v -0.04482256 -0.01576507 0.00457537
+v -0.04482256 -0.01683153 0.00388887
+v -0.04348827 -0.01576909 0.00504939
+v -0.04482256 -0.01282591 -0.02105414
+v -0.04348827 -0.01282591 -0.02145460
+v -0.04399156 -0.01283799 0.00624532
+v -0.04482256 -0.01357043 0.00564054
+v -0.04348827 -0.01283933 0.00637064
+v -0.04482256 -0.01282591 0.00591024
+v -0.04348827 -0.01282591 0.00637609
+v -0.04398228 -0.01282591 0.00625077
+v -0.04399639 -0.01282591 0.00624532
+v -0.04482256 -0.01282725 0.00591024
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+f 1 17 9
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+f 2 6 7
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+f 42 45 46
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+f 56 63 57
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+f 58 65 66
+f 58 66 67
+f 58 67 59
+f 58 68 64
+f 60 69 70
+f 60 70 62
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+f 64 71 65
+f 65 71 72
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+f 69 74 77
+f 69 77 76
+f 69 76 75
+f 69 75 70
+f 71 73 75
+f 71 75 76
+f 71 76 77
+f 71 77 78
+f 71 78 72
+f 74 78 77
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_85.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363161bcc3352656faa097a584d6b569871c5475
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_85.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.00876731 -0.05225654 -0.00894062
+v 0.00876731 -0.05215255 -0.00590957
+v 0.00728899 -0.05177470 -0.00595376
+v 0.00728899 -0.05171577 -0.00894062
+v 0.00876731 -0.05200522 -0.01200703
+v 0.00876731 -0.05177123 -0.00302874
+v 0.00728899 -0.05150605 -0.00302874
+v 0.00728899 -0.05140899 -0.01194075
+v 0.00728899 -0.05134833 -0.01216609
+v 0.00728899 -0.05062557 -0.01484809
+v 0.00876731 -0.05185616 -0.01255933
+v 0.00876731 -0.05112821 -0.00053674
+v 0.00728899 -0.05124433 -0.00201692
+v 0.00876731 -0.05123567 -0.01485251
+v 0.00728899 -0.04989415 -0.01660663
+v 0.00876731 -0.05104675 -0.01530761
+v 0.00876731 -0.05028933 0.00213642
+v 0.00728899 -0.05030839 0.00078879
+v 0.00728899 -0.04937418 -0.01770682
+v 0.00876731 -0.05001028 -0.01770682
+v 0.00876731 -0.05017320 -0.01735335
+v 0.00876731 -0.04853183 0.00564025
+v 0.00728899 -0.04884035 0.00371822
+v 0.00728899 -0.04918352 -0.01808681
+v 0.00861217 -0.04948337 -0.01862144
+v 0.00876731 -0.04963416 -0.01845354
+v 0.00876731 -0.04835678 0.00598489
+v 0.00728899 -0.04784721 0.00568885
+v 0.00728899 -0.04833251 -0.01933281
+v 0.00876731 -0.04951111 -0.01867888
+v 0.00876731 -0.04672061 0.00879502
+v 0.00728899 -0.04559054 0.00966987
+v 0.00728899 -0.04609665 0.00879502
+v 0.00728899 -0.04769641 -0.02010604
+v 0.00876731 -0.04805693 -0.02044184
+v 0.00728899 -0.04482966 0.01095564
+v 0.00876731 -0.04502378 0.01144609
+v 0.00728899 -0.04470660 0.01116331
+v 0.00728899 -0.04676394 -0.02098531
+v 0.00728899 -0.04661315 -0.02112670
+v 0.00876731 -0.04768428 -0.02079090
+v 0.00876731 -0.04236847 0.01399553
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+v 0.00728899 -0.04607931 -0.02159506
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_86.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d50fa66a560a6014bbac2ae467ab6cec1eff2f8
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_86.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.01236780 0.03183580 0.02961477
+v 0.01236780 0.03334934 0.02874682
+v 0.01235711 0.03183238 0.02961477
+v 0.01236780 0.02172388 0.02961477
+v 0.01236780 0.03368149 0.02855451
+v 0.01218431 0.03364383 0.02853113
+v 0.01177082 0.03351371 0.02842198
+v 0.01233239 0.03180498 0.02961477
+v 0.01177082 0.02172388 0.02961477
+v 0.01236780 0.02172388 0.00322005
+v 0.01236780 0.03884874 0.02501252
+v 0.01177082 0.03874944 0.02493976
+v 0.01177082 0.03819128 0.02531657
+v 0.01177082 0.03132558 0.02951862
+v 0.01193333 0.03134271 0.02961477
+v 0.01177082 0.02172388 0.00341495
+v 0.01177082 0.03110643 0.02961477
+v 0.01236488 0.02172388 0.00306672
+v 0.01236780 0.02173073 0.00306672
+v 0.01177082 0.03933842 0.02449539
+v 0.01236780 0.04228673 0.02241125
+v 0.01177094 0.02172388 0.00306672
+v 0.01177082 0.03105164 0.00306672
+v 0.01236780 0.05670298 0.00306672
+v 0.01218431 0.04225591 0.02238007
+v 0.01177082 0.04216688 0.02232290
+v 0.01236780 0.04237918 0.02233589
+v 0.01177082 0.05648040 0.00306672
+v 0.01218437 0.05666189 0.00306672
+v 0.01236780 0.05642219 0.00380735
+v 0.01218431 0.04373178 0.02113790
+v 0.01177082 0.04325923 0.02140037
+v 0.01236780 0.04376260 0.02116908
+v 0.01177082 0.05627837 0.00360205
+v 0.01218437 0.05640165 0.00375277
+v 0.01218437 0.05546681 0.00584471
+v 0.01236780 0.05558324 0.00567319
+v 0.01218431 0.04683418 0.01834173
+v 0.01177082 0.04834087 0.01678252
+v 0.01236780 0.04686500 0.01836252
+v 0.01177082 0.05610715 0.00401524
+v 0.01177082 0.05513808 0.00625270
+v 0.01236780 0.05550448 0.00583951
+v 0.01218437 0.05422380 0.00817312
+v 0.01236780 0.05434707 0.00801720
+v 0.01218431 0.04840593 0.01686308
+v 0.01177082 0.04979962 0.01483092
+v 0.01236780 0.04842305 0.01688127
+v 0.01177082 0.05416558 0.00807437
+v 0.01236780 0.05423407 0.00821989
+v 0.01177082 0.05080636 0.01334708
+v 0.01236780 0.05088169 0.01346402
+v 0.01236780 0.04851209 0.01676953
+v 0.01236780 0.05004274 0.01470358
+v 0.01197190 0.05002904 0.01460483
+v 0.01177082 0.05014889 0.01435016
+v 0.01236780 0.05045365 0.01411109
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_87.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1ad9a6f8932811f6362e1c29f206ad4c36c9b2
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_87.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.01146531 -0.04011474 -0.00893897
+v -0.01505246 -0.03810497 -0.00893519
+v -0.01505246 -0.03800405 -0.01189463
+v -0.01146531 -0.04009744 -0.00913576
+v -0.01146531 -0.03981054 -0.00597953
+v -0.01505246 -0.03768110 -0.00602872
+v -0.01505246 -0.03733797 -0.01477082
+v -0.01146531 -0.03984226 -0.01177353
+v -0.01146531 -0.03929728 -0.00356883
+v -0.01505246 -0.03767533 -0.00599088
+v -0.01146531 -0.03978603 -0.01195897
+v -0.01146531 -0.03981630 -0.01186057
+v -0.01505246 -0.03709576 -0.01538012
+v -0.01146531 -0.03808911 -0.00007577
+v -0.01505246 -0.03695303 -0.00323201
+v -0.01146531 -0.03861102 -0.01474433
+v -0.01505246 -0.03577946 -0.01837741
+v -0.01146531 -0.03659980 0.00299721
+v -0.01505246 -0.03556464 0.00057137
+v -0.01505246 -0.03578234 0.00007182
+v -0.01505246 -0.03516816 -0.01947112
+v -0.01146531 -0.03783969 -0.01600455
+v -0.01146531 -0.03658106 0.00303127
+v -0.01505246 -0.03436512 0.00288367
+v -0.01146531 -0.03535559 -0.01965277
+v -0.01146531 -0.03679299 -0.01771134
+v -0.01505246 -0.03307189 -0.02148066
+v -0.01442493 -0.03368462 -0.02097355
+v -0.01375631 -0.03372788 -0.02101139
+v -0.01146531 -0.03387205 -0.02113249
+v -0.01146531 -0.03441846 0.00588096
+v -0.01505246 -0.03278210 0.00512029
+v -0.01505246 -0.03216937 -0.02233595
+v -0.01261432 -0.03322615 -0.02161312
+v -0.01261432 -0.03305891 -0.02176828
+v -0.01261432 -0.03232363 -0.02244949
+v -0.01146531 -0.03239860 -0.02249111
+v -0.01146531 -0.03352171 0.00692169
+v -0.01505246 -0.03139660 0.00659622
+v -0.01442493 -0.03221117 -0.02236623
+v -0.01375631 -0.03258458 -0.02208996
+v -0.01505246 -0.03060941 -0.02325558
+v -0.01442493 -0.03057770 -0.02334262
+v -0.01261467 -0.03169215 -0.02282793
+v -0.01146531 -0.03058202 -0.02356212
+v -0.01505246 -0.02991882 0.00805324
+v -0.01146531 -0.03167053 0.00873444
+v -0.01375631 -0.03098859 -0.02315339
+v -0.01505246 -0.02995054 -0.02356969
+v -0.01375631 -0.03057914 -0.02339560
+v -0.01146531 -0.03053877 -0.02358104
+v -0.01146531 -0.03061806 0.00971083
+v -0.01146531 -0.02791914 0.01188311
+v -0.01505246 -0.02790328 0.00953296
+v -0.01505246 -0.02762215 -0.02452715
+v -0.01375631 -0.02829111 -0.02433414
+v -0.01375631 -0.02756159 -0.02461420
+v -0.01146531 -0.02743616 -0.02476936
+v -0.01146531 -0.02783985 0.01193988
+v -0.01505246 -0.02607084 0.01080076
+v -0.01505246 -0.02698634 -0.02464825
+v -0.01146531 -0.02735398 -0.02479585
+v -0.01261432 -0.02745779 -0.02470502
+v -0.01146531 -0.02538746 0.01361639
+v -0.01375631 -0.02551289 0.01167875
+v -0.01505246 -0.02607084 -0.02478071
+v -0.01146531 -0.02709015 -0.02483369
+v -0.01261432 -0.02538746 0.01235995
+v -0.01146531 -0.02538746 -0.02504562
+v -0.01375631 -0.02551289 -0.02490181
+v -0.01338934 -0.02551289 -0.02492830
+v -0.01261432 -0.02538746 -0.02497372
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+f 53 59 54
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+f 55 63 57
+f 55 57 56
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+f 60 64 65
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+f 64 68 65
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+f 65 68 72
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+f 66 70 71
+f 66 71 69
+f 66 69 67
+f 69 71 72
+f 70 72 71
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_88.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201faed829be702743ae796c194346819391e207
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_88.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00004367 0.00347931 -0.02306336
+v 0.00004367 0.00363089 -0.02307372
+v 0.00035819 0.00347931 -0.02303231
+v 0.00004367 0.00347931 0.02838409
+v 0.00004367 0.01999894 -0.02418134
+v 0.00135715 0.00347931 -0.02284081
+v 0.00135715 0.01968135 -0.02402606
+v 0.00021842 0.00347931 0.02840996
+v 0.00004367 0.00481464 0.02816153
+v 0.00004367 0.02264073 -0.02432108
+v 0.00135715 0.02164224 -0.02413475
+v 0.00126804 0.01994841 -0.02405194
+v 0.00135715 0.00347931 0.02820293
+v 0.00135715 0.01994601 -0.02404159
+v 0.00135715 0.01181612 0.02695556
+v 0.00135715 0.01477310 0.02643799
+v 0.00034661 0.01080319 0.02708496
+v 0.00004367 0.01080319 0.02703320
+v 0.00004367 0.02295592 -0.02433144
+v 0.00135715 0.02805665 -0.02438837
+v 0.00135715 0.02265517 0.02453847
+v 0.00004367 0.01379626 0.02638105
+v 0.00004367 0.01347145 0.02645869
+v 0.00004367 0.02805665 -0.02446601
+v 0.00135715 0.02805665 0.02131912
+v 0.00135715 0.02364163 0.02416581
+v 0.00035819 0.02264073 0.02431591
+v 0.00004367 0.02264795 0.02417098
+v 0.00004367 0.02805665 0.02063074
+v 0.00037747 0.02805665 0.02081707
+v 0.00135715 0.02637245 0.02289256
+v 0.00135715 0.02565546 0.02326004
+v 0.00058244 0.02567711 0.02301678
+v 0.00004367 0.02547501 0.02293914
+v 0.00004367 0.02734688 0.02128806
+v 0.00004367 0.02634598 0.02217313
+f 1 2 3
+f 1 3 6
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+f 1 8 4
+f 1 4 9
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+f 1 23 22
+f 1 22 28
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+f 27 34 28
+f 29 35 30
+f 30 35 31
+f 31 35 36
+f 31 36 34
+f 31 34 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_89.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51064f0b5ad7f778c926e0147b5b82d0c9c2ffd
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_89.obj
@@ -0,0 +1,225 @@
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\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_9.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c70bd2716eccab542e5f4343379e550b7b79d0e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,441 @@
+# https://github.com/mikedh/trimesh
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+f 144 148 145
+f 145 148 146
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_90.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8d9151988d6c26da1fbf042347e145959e7de7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.01230800 -0.05449288 -0.00900194
+v 0.01082670 -0.05330560 -0.00895113
+v 0.01082670 -0.05331050 -0.01207791
+v 0.01230800 -0.05441765 -0.01204273
+v 0.01230800 -0.05413637 -0.00591034
+v 0.01082670 -0.05318948 -0.00799746
+v 0.01082670 -0.05239306 -0.01484902
+v 0.01230800 -0.05394503 -0.01484902
+v 0.01230800 -0.05398264 -0.01469659
+v 0.01230800 -0.05440457 -0.01221080
+v 0.01230800 -0.05404151 -0.00539833
+v 0.01082670 -0.05210033 -0.00104428
+v 0.01082670 -0.05245030 -0.00303761
+v 0.01082670 -0.05277901 -0.00491367
+v 0.01082670 -0.05302104 -0.00662950
+v 0.01082670 -0.05133824 -0.01777256
+v 0.01230800 -0.05325327 -0.01685016
+v 0.01230800 -0.05353946 -0.00303761
+v 0.01082670 -0.05151323 0.00139070
+v 0.01082670 -0.04957204 -0.02057885
+v 0.01230800 -0.05236362 -0.01866369
+v 0.01230800 -0.05284442 -0.01780774
+v 0.01230800 -0.05336610 -0.00236144
+v 0.01230800 -0.05190572 0.00275476
+v 0.01082670 -0.05109130 0.00272740
+v 0.01230800 -0.05109130 -0.02054758
+v 0.01082670 -0.04657931 -0.02314672
+v 0.01230800 -0.04974375 -0.02211097
+v 0.01230800 -0.05188773 0.00280557
+v 0.01230800 -0.05072498 0.00608087
+v 0.01082670 -0.05049439 0.00434160
+v 0.01082670 -0.04418348 -0.02413165
+v 0.01230800 -0.04574199 -0.02442870
+v 0.01230800 -0.04784018 -0.02352975
+v 0.01082670 -0.05019511 0.00506857
+v 0.01230800 -0.04913376 0.00931709
+v 0.01082670 -0.04365198 -0.02427236
+v 0.01230800 -0.04381552 -0.02507751
+v 0.01082670 -0.04970614 0.00605351
+v 0.01230800 -0.04788270 0.01163481
+v 0.01082670 -0.04882467 0.00775761
+v 0.01082670 -0.04151619 -0.02483127
+v 0.01230800 -0.04365362 -0.02510877
+v 0.01082670 -0.04763085 0.00991899
+v 0.01230800 -0.04783200 0.01171298
+v 0.01082670 -0.03943763 -0.02513613
+v 0.01230800 -0.04161758 -0.02549571
+v 0.01082670 -0.04714024 0.01064988
+v 0.01230800 -0.04590226 0.01439420
+v 0.01082670 -0.03803284 -0.02522212
+v 0.01230800 -0.03939674 -0.02553480
+v 0.01082670 -0.04517452 0.01320211
+v 0.01178485 -0.04516307 0.01439420
+v 0.01230800 -0.03778917 0.01439420
+v 0.01082670 -0.03800994 -0.02522212
+v 0.01230800 -0.03778917 -0.02544490
+v 0.01082670 -0.04361928 0.01439420
+v 0.01082670 -0.03778917 0.01439420
+v 0.01082670 -0.03778917 -0.02520648
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 8
+f 1 8 17
+f 1 17 22
+f 1 22 21
+f 1 21 26
+f 1 26 28
+f 1 28 34
+f 1 34 33
+f 1 33 38
+f 1 38 43
+f 1 43 47
+f 1 47 51
+f 1 51 56
+f 1 56 54
+f 1 54 49
+f 1 49 45
+f 1 45 40
+f 1 40 36
+f 1 36 30
+f 1 30 29
+f 1 29 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 6 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 19
+f 2 19 25
+f 2 25 31
+f 2 31 35
+f 2 35 39
+f 2 39 41
+f 2 41 44
+f 2 44 48
+f 2 48 52
+f 2 52 57
+f 2 57 58
+f 2 58 59
+f 2 59 55
+f 2 55 50
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+f 2 7 3
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+f 3 10 4
+f 5 11 12
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+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 17
+f 7 17 8
+f 11 18 12
+f 12 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 24 25
+f 19 23 24
+f 20 26 21
+f 20 27 28
+f 20 28 26
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 30 35 31
+f 30 36 35
+f 32 37 38
+f 32 38 33
+f 35 36 39
+f 36 40 41
+f 36 41 39
+f 37 42 38
+f 38 42 43
+f 40 44 41
+f 40 45 44
+f 42 46 47
+f 42 47 43
+f 44 45 48
+f 45 49 48
+f 46 50 47
+f 47 50 51
+f 48 49 52
+f 49 53 52
+f 49 54 58
+f 49 58 57
+f 49 57 53
+f 50 55 51
+f 51 55 56
+f 52 53 57
+f 54 56 59
+f 54 59 58
+f 55 59 56
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_91.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b5c314c66e3b3677d1e2baa44fbba5329045f7
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_91.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01082685 -0.02887523 -0.02448703
+v 0.01082685 -0.01852707 -0.02369306
+v 0.01230771 -0.02183266 -0.02393296
+v 0.01218418 -0.02887523 -0.02444133
+v 0.01082685 -0.02887523 0.02609295
+v 0.01196105 -0.01852707 -0.02368163
+v 0.01082685 -0.01595142 -0.02348171
+v 0.01230785 -0.01595142 -0.02347600
+v 0.01230771 -0.02887523 -0.02443562
+v 0.01230785 -0.01852707 -0.02367592
+v 0.01226624 -0.02887523 0.02948589
+v 0.01082685 -0.02761903 0.02679553
+v 0.01082685 -0.01595142 0.03132517
+v 0.01230785 -0.01595142 0.03386702
+v 0.01230771 -0.02887523 0.02957158
+v 0.01230785 -0.01852707 0.03312445
+v 0.01230771 -0.02761903 0.03010279
+v 0.01201209 -0.02761903 0.02948589
+v 0.01082685 -0.01852707 0.03064543
+v 0.01082685 -0.01699003 0.03122806
+v 0.01117916 -0.01595142 0.03209058
+v 0.01126557 -0.01595142 0.03227336
+v 0.01127006 -0.01606780 0.03225051
+v 0.01195757 -0.01852707 0.03262180
+v 0.01230785 -0.01749732 0.03343862
+v 0.01230771 -0.01852834 0.03313017
+v 0.01230771 -0.02034243 0.03256468
+v 0.01230771 -0.02466260 0.03119379
+v 0.01183071 -0.01852707 0.03242759
+v 0.01188160 -0.01875225 0.03243901
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 3 6 8
+f 3 8 10
+f 3 10 9
+f 5 11 12
+f 7 13 21
+f 7 21 22
+f 7 22 14
+f 7 14 8
+f 8 14 25
+f 8 25 16
+f 8 16 10
+f 9 10 16
+f 9 16 15
+f 11 15 17
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 16 17
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 20
+f 17 20 19
+f 17 19 18
+f 20 28 29
+f 20 29 23
+f 20 23 22
+f 20 22 21
+f 23 29 24
+f 24 26 25
+f 24 29 30
+f 24 30 27
+f 24 27 26
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_92.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d076c04239638166cd683a23ad895b4458448494
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_92.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01449973 0.03873792 -0.02503026
+v 0.01449973 0.04100882 -0.02507800
+v 0.01451870 0.03873792 -0.02503026
+v 0.01449973 0.03873792 0.02365431
+v 0.01449973 0.04333872 -0.02511141
+v 0.01514234 0.03873792 -0.02502071
+v 0.01514576 0.03873792 0.02365431
+v 0.01449973 0.04140133 0.02365431
+v 0.01449973 0.04411509 -0.02507800
+v 0.01514576 0.04333872 -0.02497298
+v 0.01514576 0.04030639 -0.02497298
+v 0.01514576 0.03873792 -0.02339296
+v 0.01514576 0.03970307 0.02365431
+v 0.01514114 0.04162473 0.02365431
+v 0.01514576 0.04278338 0.02279986
+v 0.01449973 0.04219579 0.02306717
+v 0.01449973 0.04563715 -0.02493002
+v 0.01514576 0.04604225 -0.02478681
+v 0.01514576 0.04350783 -0.02496343
+v 0.01514576 0.04426533 0.02165423
+v 0.01514114 0.04426454 0.02165423
+v 0.01449973 0.04269292 0.02269007
+v 0.01449973 0.04606820 -0.02480113
+v 0.01514576 0.04677299 -0.02455291
+v 0.01514576 0.04587942 0.02017923
+v 0.01449973 0.04382798 0.02181175
+v 0.01449973 0.04541533 0.02038449
+v 0.01449973 0.04414891 0.02153967
+v 0.01449973 0.04609338 -0.02479159
+v 0.01493994 0.04677299 -0.02455291
+v 0.01514576 0.04677299 0.01859921
+v 0.01514576 0.04588886 0.02016968
+v 0.01514114 0.04677299 0.01930091
+v 0.01459340 0.04677299 0.01910997
+v 0.01449973 0.04578975 0.02004080
+v 0.01456880 0.04677299 -0.02452905
+v 0.01449973 0.04677299 -0.02452427
+v 0.01449973 0.04677299 0.01907656
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 22
+f 1 22 26
+f 1 26 28
+f 1 28 27
+f 1 27 35
+f 1 35 38
+f 1 38 37
+f 1 37 29
+f 1 29 23
+f 1 23 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
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+f 4 7 13
+f 4 13 14
+f 4 14 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
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+f 7 12 11
+f 7 11 10
+f 7 10 19
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+f 7 18 24
+f 7 24 31
+f 7 31 32
+f 7 32 25
+f 7 25 20
+f 7 20 15
+f 7 15 13
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
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+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 24
+f 20 25 21
+f 21 26 22
+f 21 25 27
+f 21 27 28
+f 21 28 26
+f 23 29 30
+f 23 30 24
+f 24 30 36
+f 24 36 37
+f 24 37 38
+f 24 38 34
+f 24 34 33
+f 24 33 31
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 27
+f 29 36 30
+f 29 37 36
+f 31 33 32
+f 34 38 35
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_93.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b364127ebc67c63a21eef2ff45fbeccc52168569
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_93.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01230800 -0.00976172 -0.02266966
+v 0.01230800 -0.00740588 -0.02241590
+v 0.01428679 -0.00770880 -0.02237876
+v 0.01469750 -0.00976172 -0.02244066
+v 0.01230800 -0.00976172 0.03519404
+v 0.01230800 -0.00163910 -0.02161129
+v 0.01281399 -0.00163910 -0.02155559
+v 0.01951673 -0.00163910 -0.02068290
+v 0.01951673 -0.00396871 -0.02103569
+v 0.01951673 -0.00692246 -0.02139467
+v 0.01951673 -0.00834408 -0.02153083
+v 0.01951673 -0.00976172 -0.02164843
+v 0.01257264 -0.00976172 0.03554683
+v 0.01230800 -0.00767223 0.03546637
+v 0.01230800 -0.00163910 0.03600484
+v 0.01951673 -0.00163910 0.04048589
+v 0.01951673 -0.00976172 0.03943990
+v 0.01264250 -0.00976172 0.03563348
+v 0.01336020 -0.00396871 0.03724889
+v 0.01230800 -0.00693041 0.03555302
+v 0.01230800 -0.00390908 0.03585011
+v 0.01232917 -0.00390908 0.03588105
+v 0.01329598 -0.00163910 0.03728602
+v 0.01806369 -0.00163910 0.04028164
+v 0.01951673 -0.00254788 0.04056016
+v 0.01951673 -0.00860646 0.03987934
+v 0.01930220 -0.00860646 0.03987934
+v 0.01822671 -0.00976172 0.03936563
+v 0.01362554 -0.00868835 0.03692705
+v 0.01351192 -0.00693041 0.03705083
+v 0.01491345 -0.00976172 0.03774403
+v 0.01230800 -0.00661874 0.03558397
+v 0.01352322 -0.00693041 0.03706321
+v 0.01483229 -0.00396871 0.03873432
+v 0.01484146 -0.00390908 0.03874051
+v 0.01631073 -0.00390908 0.04000313
+v 0.01641235 -0.00205493 0.03994742
+v 0.01595859 -0.00163910 0.03950798
+v 0.01709618 -0.00163910 0.04006502
+v 0.01806440 -0.00396871 0.04046113
+v 0.01809686 -0.00396871 0.04046732
+v 0.01951673 -0.00396871 0.04050446
+v 0.01733118 -0.00791155 0.03970604
+v 0.01823236 -0.00693041 0.04007121
+v 0.01818366 -0.00976172 0.03934706
+v 0.01641094 -0.00593894 0.03994123
+v 0.01492121 -0.00976172 0.03775022
+v 0.01630791 -0.00396871 0.04000313
+v 0.01635308 -0.00390908 0.04001550
+v 0.01655138 -0.00163910 0.03988553
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 17
+f 1 17 28
+f 1 28 45
+f 1 45 47
+f 1 47 31
+f 1 31 18
+f 1 18 13
+f 1 13 5
+f 1 5 14
+f 1 14 20
+f 1 20 32
+f 1 32 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
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+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 14
+f 6 15 23
+f 6 23 38
+f 6 38 50
+f 6 50 39
+f 6 39 24
+f 6 24 16
+f 6 16 8
+f 6 8 7
+f 8 16 25
+f 8 25 42
+f 8 42 26
+f 8 26 17
+f 8 17 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 19
+f 15 19 23
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 18 29 30
+f 18 30 19
+f 18 31 29
+f 19 22 32
+f 19 32 20
+f 19 30 33
+f 19 33 34
+f 19 34 23
+f 21 32 22
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 24 39 37
+f 24 37 40
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 26 42 27
+f 27 43 28
+f 27 42 41
+f 27 41 44
+f 27 44 43
+f 28 43 45
+f 29 33 30
+f 29 31 46
+f 29 46 34
+f 29 34 33
+f 31 47 46
+f 34 46 48
+f 34 48 35
+f 35 48 36
+f 36 49 37
+f 36 48 49
+f 37 49 40
+f 37 39 50
+f 37 50 38
+f 40 49 48
+f 40 48 46
+f 40 46 41
+f 41 46 44
+f 43 44 46
+f 43 46 47
+f 43 47 45
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_95.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da62b3c5effe50c033382c594e8739049162b2d
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_95.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01052010 0.04360397 -0.02546417
+v 0.01052010 0.04511082 -0.02530040
+v 0.01137211 0.04360397 -0.02545507
+v 0.01052010 0.04360397 0.02024656
+v 0.01177076 0.04508043 -0.02528675
+v 0.01177076 0.04498576 -0.02530040
+v 0.01052010 0.04634887 -0.02473629
+v 0.01177076 0.04649885 -0.02477269
+v 0.01177076 0.04360397 -0.02545052
+v 0.01081186 0.04360397 0.02042398
+v 0.01052010 0.04496317 0.01927302
+v 0.01052010 0.04758341 -0.02408120
+v 0.01177076 0.04758341 -0.02424497
+v 0.01177076 0.04360397 0.02100173
+v 0.01176023 0.04360397 0.02099718
+v 0.01177076 0.04360708 0.02100173
+v 0.01177076 0.04525846 0.01956417
+v 0.01177076 0.04636912 0.01857244
+v 0.01052010 0.04758341 0.01688922
+v 0.01177076 0.04758341 0.01740328
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 3 6 9
+f 4 10 11
+f 5 8 13
+f 5 13 20
+f 5 20 18
+f 5 18 17
+f 5 17 16
+f 5 16 14
+f 5 14 9
+f 5 9 6
+f 7 12 13
+f 7 13 8
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 12 19 20
+f 12 20 13
+f 14 16 15
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_96.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea9757346374bb121f4956c499c9d17dd02fb3e
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_96.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01748861 -0.00604908 -0.02443252
+v -0.01748861 0.00490176 -0.02504974
+v -0.01745977 -0.00604908 -0.02442820
+v -0.01748861 -0.00604908 0.01745254
+v -0.01748861 0.00521585 -0.02506269
+v -0.01719197 0.00676518 -0.02508859
+v -0.01658776 0.00490176 -0.02489868
+v -0.01738173 -0.00604908 -0.02441525
+v -0.01675089 -0.00604908 0.01772878
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+v -0.01659146 0.01672889 0.01748275
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+f 62 64 63
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_97.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e8ac1f17be75a489ed7b375ce9a262f10aaf54c
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_97.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02449748 -0.04179669 -0.02467159
+v 0.02449748 -0.04068774 -0.02479146
+v 0.02530168 -0.04068774 -0.02428534
+v 0.02527944 -0.04179669 -0.02393904
+v 0.02449748 -0.04179669 0.02056412
+v 0.02449748 -0.04068774 0.02056412
+v 0.02542711 -0.04068774 -0.02363715
+v 0.02528259 -0.04179669 -0.02393017
+v 0.02556479 -0.04179669 0.02056412
+v 0.02560581 -0.04068774 0.02056412
+v 0.02554754 -0.04068774 -0.02290905
+v 0.02552703 -0.04179669 -0.02265154
+v 0.02551705 -0.04179669 -0.02270926
+v 0.02533836 -0.04179669 -0.02364159
+v 0.02556479 -0.04179669 0.00481664
+v 0.02560570 -0.04068774 -0.02076913
+v 0.02556468 -0.04179669 -0.02076913
+f 1 2 3
+f 1 3 4
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+f 1 14 13
+f 1 13 12
+f 1 12 17
+f 1 17 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 15 16
+f 11 16 12
+f 12 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_98.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc15bd3a2075710db4c82c1c78ccf6426e181322
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_98.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03228824 -0.02060897 -0.02324403
+v -0.03350506 -0.02060897 -0.02296383
+v -0.03351503 -0.01878662 -0.02357452
+v -0.03228824 -0.01874992 -0.02386909
+v -0.03228824 -0.02060897 0.00635289
+v -0.03351503 -0.02060897 -0.02296024
+v -0.03351503 -0.01990751 -0.02319733
+v -0.03351503 -0.01874992 -0.02358530
+v -0.03228824 -0.01862620 -0.02389064
+v -0.03351503 -0.01740256 -0.02383317
+v -0.03228824 -0.01857167 0.00797301
+v -0.03351503 -0.01863773 0.00697076
+v -0.03295964 -0.02060897 0.00576375
+v -0.03351503 -0.02060897 0.00527161
+v -0.03228824 -0.01579306 -0.02436482
+v -0.03351503 -0.01584758 -0.02409181
+v -0.03228824 -0.01611706 0.00966857
+v -0.03228824 -0.01603737 0.00972246
+v -0.03233759 -0.01608246 0.00965061
+v -0.03351503 -0.01591888 0.00873458
+v -0.03228824 -0.01567038 -0.02437560
+v -0.03351503 -0.01579306 -0.02409900
+v -0.03351503 -0.01444674 -0.02422832
+v -0.03228824 -0.01302074 0.01122763
+v -0.03343806 -0.01390151 0.01009606
+v -0.03351503 -0.01404830 0.00993440
+v -0.03351503 -0.01283724 -0.02430016
+v -0.03228824 -0.01283724 -0.02450133
+v -0.03228824 -0.01288338 0.01127792
+v -0.03233759 -0.01288443 0.01124559
+v -0.03351503 -0.01214416 0.01064927
+v -0.03351503 -0.01386271 0.01003858
+v -0.03351503 -0.01388892 0.01002421
+v -0.03351503 -0.01148988 -0.02435764
+v -0.03228824 -0.00989716 -0.02458755
+v -0.03228824 -0.01245034 0.01140006
+v -0.03228824 -0.00989716 0.01211133
+v -0.03351503 -0.01204350 0.01067801
+v -0.03351503 -0.00993490 -0.02440075
+v -0.03266711 -0.00989716 -0.02453007
+v -0.03330284 -0.00989716 0.01141084
+v -0.03351503 -0.01153811 0.01081811
+v -0.03351503 -0.00989716 -0.02440075
+v -0.03351503 -0.00989716 0.01126355
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+f 1 24 18
+f 1 18 17
+f 1 17 11
+f 1 11 5
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+f 10 16 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 14 13
+f 15 16 22
+f 15 22 23
+f 15 23 21
+f 18 20 19
+f 18 24 25
+f 18 25 20
+f 20 25 26
+f 21 23 27
+f 21 27 28
+f 24 29 30
+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 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 34 39 35
+f 35 39 40
+f 35 40 43
+f 35 43 44
+f 35 44 41
+f 35 41 37
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 41 44 42
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_99.obj b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21b5fe7088e3ea9f3021d73039258fa2a665860
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/collision/model_normalized_collision_99.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01051998 0.03026461 -0.02430457
+v 0.00939498 0.03026461 -0.02427768
+v 0.01051998 0.03156476 -0.02453045
+v 0.01051998 0.03026461 0.02919250
+v 0.00939498 0.03743092 -0.02546088
+v 0.00939498 0.03026461 0.02790711
+v 0.01051998 0.03333305 -0.02480474
+v 0.01051998 0.03273948 0.02819753
+v 0.01006022 0.03026461 0.02889670
+v 0.00939498 0.03999148 -0.02571904
+v 0.01051998 0.03737380 -0.02539635
+v 0.00939498 0.03154737 0.02736929
+v 0.01051998 0.03324861 0.02793938
+v 0.00939498 0.03430909 0.02604625
+v 0.00939498 0.04021251 -0.02574055
+v 0.01051998 0.03907877 -0.02556307
+v 0.01051998 0.03731420 0.02533632
+v 0.01014810 0.03670821 0.02552994
+v 0.00939498 0.03737256 0.02436287
+v 0.00939498 0.04039009 -0.02575131
+v 0.01051998 0.04045590 -0.02562223
+v 0.01051998 0.04173494 0.02222234
+v 0.00993446 0.04038139 0.02275478
+v 0.00939498 0.03997161 0.02256655
+v 0.00939498 0.04294940 -0.02551467
+v 0.01051998 0.04294940 -0.02547702
+v 0.01051998 0.04186408 0.02212015
+v 0.00939498 0.04105568 0.02173292
+v 0.00939498 0.04038139 0.02226537
+v 0.00939498 0.04294940 0.02009795
+v 0.01051998 0.04294940 0.02090468
+v 0.01051998 0.04200440 0.02199646
+v 0.00956963 0.04294940 0.02025929
+v 0.00957712 0.04294940 0.02026467
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 14
+f 2 14 19
+f 2 19 24
+f 2 24 29
+f 2 29 28
+f 2 28 30
+f 2 30 25
+f 2 25 20
+f 2 20 15
+f 2 15 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 6 9 12
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+f 8 14 9
+f 9 14 12
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 13 18 19
+f 13 19 14
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+f 16 20 21
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+f 18 23 24
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+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 23 29 24
+f 25 30 33
+f 25 33 34
+f 25 34 31
+f 25 31 26
+f 27 32 30
+f 27 30 28
+f 30 32 33
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_croissant/new_half_croissant_1/model.xml b/new_half_croissant/new_half_croissant_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a6de62dc36bf56cb6db72f809f052e6ba989e54
--- /dev/null
+++ b/new_half_croissant/new_half_croissant_1/model.xml
@@ -0,0 +1,700 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_half_croissant_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_285.obj" name="model_normalized_collision_285._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_283.obj" name="model_normalized_collision_283._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_148.obj" name="model_normalized_collision_148._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_233.obj" name="model_normalized_collision_233._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_101.obj" name="model_normalized_collision_101._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_308.obj" name="model_normalized_collision_308._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_230.obj" name="model_normalized_collision_230._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_237.obj" name="model_normalized_collision_237._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_280.obj" name="model_normalized_collision_280._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_239.obj" name="model_normalized_collision_239._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_262.obj" name="model_normalized_collision_262._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_175.obj" name="model_normalized_collision_175._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_249.obj" name="model_normalized_collision_249._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_261.obj" name="model_normalized_collision_261._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_130.obj" name="model_normalized_collision_130._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_259.obj" name="model_normalized_collision_259._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_150.obj" name="model_normalized_collision_150._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_154.obj" name="model_normalized_collision_154._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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diff --git a/new_half_croissant/new_half_croissant_1/visual/model_normalized_0.obj b/new_half_croissant/new_half_croissant_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b97563b92bdc406f2fe494df086c2557c6659a
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