diff --git a/.gitattributes b/.gitattributes
index 2b303fe7d0d6b7f53077ce5772348368def38bfc..ff45b22b95b62c7802602637c6fc4e946850cfe5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -154,3 +154,4 @@ new_bottle_of_shampoo/new_bottle_of_shampoo_3/visual/stjjjm__base_link__ior.exr
new_bottle_of_shampoo/new_bottle_of_shampoo_2/visual/lvvkhx__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
new_bottle_of_cologne/new_bottle_of_cologne_0/visual/lyipur__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
new_gingerbread/new_gingerbread_0/visual/hxkcxs__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+coffee_cup/coffee_cup_13/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/coffee_cup/coffee_cup_1/model.xml b/coffee_cup/coffee_cup_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..225f91e2e33ee0efeff07e79127f74d570c8a0c9
--- /dev/null
+++ b/coffee_cup/coffee_cup_1/model.xml
@@ -0,0 +1,81 @@
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diff --git a/coffee_cup/coffee_cup_10/model.xml b/coffee_cup/coffee_cup_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0e547e6a1ce6ceb296d3d34f4644137664371f6
--- /dev/null
+++ b/coffee_cup/coffee_cup_10/model.xml
@@ -0,0 +1,81 @@
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diff --git a/coffee_cup/coffee_cup_11/model.xml b/coffee_cup/coffee_cup_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7350bc96c757341fef17b0b52ebf173675146ad7
--- /dev/null
+++ b/coffee_cup/coffee_cup_11/model.xml
@@ -0,0 +1,81 @@
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diff --git a/coffee_cup/coffee_cup_12/model.xml b/coffee_cup/coffee_cup_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6479f647964608706d3c8a45adc8b705797ee66b
--- /dev/null
+++ b/coffee_cup/coffee_cup_12/model.xml
@@ -0,0 +1,89 @@
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diff --git a/coffee_cup/coffee_cup_13/model.xml b/coffee_cup/coffee_cup_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..265d7de369183e3a2f7f834dac80660410613dac
--- /dev/null
+++ b/coffee_cup/coffee_cup_13/model.xml
@@ -0,0 +1,85 @@
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diff --git a/coffee_cup/coffee_cup_13/visual/image0.png b/coffee_cup/coffee_cup_13/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb8f8d07fc946644077d1b15baf9f7a82a9a2e3b
--- /dev/null
+++ b/coffee_cup/coffee_cup_13/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b6bb3e837f846489438b47ae42f3960b820a17095ea66df3c5fa00fcd60665
+size 1097
diff --git a/coffee_cup/coffee_cup_13/visual/material.mtl b/coffee_cup/coffee_cup_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..306d6826b424aba9ea2db56ecd6d1f2617c76f26
--- /dev/null
+++ b/coffee_cup/coffee_cup_13/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 422.50000800
+map_Kd material_0.png
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_13/visual/material_0.png b/coffee_cup/coffee_cup_13/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb8f8d07fc946644077d1b15baf9f7a82a9a2e3b
--- /dev/null
+++ b/coffee_cup/coffee_cup_13/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b6bb3e837f846489438b47ae42f3960b820a17095ea66df3c5fa00fcd60665
+size 1097
diff --git a/coffee_cup/coffee_cup_13/visual/model_normalized_1.obj b/coffee_cup/coffee_cup_13/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25fd2237902d50a37205d91c3d708e44696ffae
--- /dev/null
+++ b/coffee_cup/coffee_cup_13/visual/model_normalized_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54ee81acf9d7cbf196ea61d2aef948d2f9d8ff540eaaf8104729523aa31ab352
+size 17632640
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_0.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc58f700b9b3dd07b516429ceb0f61bec6dcc721
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_0.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_1.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880d79e270a83c8e38dd6fad8059e438a816c637
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.24957503 -0.11591365 0.05377196
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\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_10.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151e16745616dfc9cbac7c0385d11e1d5b73f650
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.22808180 -0.16333322 0.49999995
+v -0.24704016 -0.16645741 0.34055713
+v -0.22946832 -0.05841049 0.49999995
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\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_11.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b54766327ed6b20c613d0aae01ad97b8dbd2535
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.06253705 -0.31439688 0.40232290
+v -0.09131801 -0.26464189 0.19008585
+v -0.05938339 -0.28956623 0.44394299
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+v -0.06018064 -0.29219442 0.39529399
+v -0.12030892 -0.26473431 0.17838061
+v -0.15262864 -0.23820421 0.49183423
+v -0.21687959 -0.18172583 0.21932429
+v -0.06156152 -0.30949264 0.41740208
+v -0.16012269 -0.28448419 0.37200616
+v -0.06727944 -0.28529304 0.45093461
+v -0.25942475 -0.18205519 0.41648216
+v -0.24803103 -0.15819579 0.31210256
+v -0.19352097 -0.20304803 0.19039412
+v -0.25998855 -0.19766934 0.37200609
+v -0.11819536 -0.29880343 0.40479662
+v -0.13036412 -0.25324324 0.48106582
+v -0.16234612 -0.23228871 0.48978415
+v -0.23805133 -0.17151499 0.44982366
+v -0.19280694 -0.21732951 0.17838055
+v -0.28154319 -0.15991108 0.37014708
+v -0.27761961 -0.17296539 0.37200609
+v -0.22715855 -0.22589856 0.40851976
+v -0.10309712 -0.29897905 0.41648223
+v -0.17453341 -0.26794661 0.40941317
+v -0.09547437 -0.26319199 0.18847628
+v -0.17632304 -0.23085752 0.17838055
+v -0.20244667 -0.25606784 0.37200613
+v -0.25894565 -0.19681349 0.38036617
+v -0.27093095 -0.16939020 0.40883769
+v -0.11769565 -0.29715610 0.40956948
+v -0.18510689 -0.26855299 0.38036623
+v -0.15948676 -0.28329436 0.38036624
+v -0.18683251 -0.25550416 0.41648222
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 11 7 3
+f 11 1 7
+f 12 8 1
+f 12 5 8
+f 13 3 6
+f 13 6 9
+f 13 11 3
+f 15 6 2
+f 15 2 10
+f 15 4 6
+f 16 10 2
+f 18 12 1
+f 19 13 9
+f 19 11 13
+f 20 9 6
+f 21 6 4
+f 21 4 14
+f 21 20 6
+f 21 14 20
+f 22 10 16
+f 23 15 10
+f 23 10 22
+f 23 4 15
+f 24 4 23
+f 24 23 22
+f 24 22 17
+f 25 20 14
+f 26 18 1
+f 26 1 11
+f 26 11 19
+f 28 22 16
+f 28 16 2
+f 28 2 8
+f 28 8 22
+f 29 22 8
+f 29 8 5
+f 30 17 22
+f 30 25 17
+f 30 29 5
+f 30 22 29
+f 31 24 17
+f 31 25 14
+f 31 17 25
+f 32 14 4
+f 32 4 24
+f 32 31 14
+f 32 24 31
+f 33 26 19
+f 33 19 9
+f 33 18 26
+f 33 27 18
+f 33 9 27
+f 34 5 12
+f 34 27 25
+f 34 30 5
+f 34 25 30
+f 35 12 18
+f 35 18 27
+f 35 34 12
+f 35 27 34
+f 36 27 9
+f 36 9 20
+f 36 20 25
+f 36 25 27
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_12.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3996003fe9d9e53eeb16ec1a9f90b913b2b1806
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.17962622 0.01645462 0.47613502
+v -0.15786434 0.23452946 0.49410709
+v 0.16456253 0.22957973 0.49246131
+v -0.01734711 0.25977133 0.49999990
+v -0.24461983 0.04765011 0.49999995
+v -0.16767319 0.12475497 0.48302912
+v -0.20497023 0.19149473 0.49999995
+v 0.18093508 0.10895771 0.49999995
+v 0.06857080 0.19733621 0.48859461
+v -0.15371435 0.01645420 0.47614166
+v -0.15371074 0.22946830 0.49999995
+v -0.20696144 0.19312888 0.48997852
+v -0.20539619 0.04954025 0.49999995
+v 0.17962260 0.15371072 0.49999995
+v 0.16590606 0.12690404 0.48316603
+v -0.09310469 0.24461985 0.49999994
+v -0.24461983 0.12340769 0.49999995
+v -0.20522439 0.04483285 0.47811278
+v -0.07256356 0.19654976 0.48906286
+v 0.17962655 0.04663606 0.47805649
+v 0.16333325 0.22808185 0.49999995
+v 0.12245594 0.16916650 0.48585864
+v -0.19680574 0.07247592 0.47969838
+v 0.10386502 0.24461981 0.49999995
+v 0.01295592 0.25977137 0.49999989
+f 3 2 4
+f 8 7 5
+f 9 2 3
+f 10 1 5
+f 11 2 7
+f 11 7 8
+f 12 7 2
+f 13 8 5
+f 13 5 1
+f 13 1 8
+f 14 11 8
+f 16 4 2
+f 16 2 11
+f 17 5 7
+f 17 7 12
+f 18 10 5
+f 18 17 12
+f 18 5 17
+f 19 6 12
+f 19 12 2
+f 19 2 9
+f 20 14 8
+f 20 8 1
+f 20 3 14
+f 20 15 3
+f 20 1 15
+f 21 14 3
+f 21 11 14
+f 22 9 3
+f 22 3 15
+f 22 15 6
+f 22 19 9
+f 22 6 19
+f 23 18 12
+f 23 12 6
+f 23 10 18
+f 23 1 10
+f 23 15 1
+f 23 6 15
+f 24 21 3
+f 24 4 16
+f 24 16 11
+f 24 11 21
+f 25 24 3
+f 25 3 4
+f 25 4 24
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_13.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10ea6aef5d96dcbe1eee4715b0ce794bc4a80ac
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.20721534 0.07579894 -0.35525713
+v -0.03122532 0.21654030 -0.36980563
+v -0.16886225 0.07795314 -0.41430088
+v -0.03217890 0.22622216 -0.27994987
+v -0.15564464 0.16790810 -0.27804721
+v -0.06280165 0.16886224 -0.41430088
+v -0.21036314 0.09099139 -0.27981765
+v -0.08783619 0.21210051 -0.27833799
+v -0.11426135 0.17078311 -0.50000000
+v -0.05723298 0.21111093 -0.36913513
+v -0.19791109 0.11463865 -0.27828896
+v -0.19094212 0.07545868 -0.49999993
+v -0.06153774 0.19499875 -0.50000000
+v -0.12490864 0.18253205 -0.35373090
+v -0.03363973 0.22590273 -0.28156351
+v -0.19945721 0.07344554 -0.43013694
+v -0.17102190 0.11402254 -0.49999993
+v -0.18035284 0.08409497 -0.49999993
+v -0.03414698 0.21590143 -0.37303292
+v -0.08600656 0.18588565 -0.50000000
+v -0.11317563 0.18002242 -0.42946808
+v -0.18597204 0.08605274 -0.49999993
+v -0.16793332 0.15566541 -0.27805075
+v -0.06824904 0.18681986 -0.50000000
+v -0.05856898 0.20036362 -0.46054252
+v -0.08330235 0.19597791 -0.42956678
+v -0.19606328 0.08334794 -0.42957727
+v -0.18255722 0.12492934 -0.35373443
+v -0.15152719 0.13948423 -0.48999628
+v -0.07245853 0.19620350 -0.46007183
+v -0.15319993 0.15296120 -0.39908701
+v -0.13946348 0.15150191 -0.48999274
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 11 7 4
+f 11 4 8
+f 12 1 7
+f 13 2 6
+f 13 8 10
+f 14 5 8
+f 15 10 8
+f 15 8 4
+f 15 4 2
+f 16 12 3
+f 16 3 1
+f 16 1 12
+f 17 7 11
+f 18 6 3
+f 18 3 12
+f 19 2 13
+f 19 15 2
+f 19 10 15
+f 20 13 9
+f 21 14 8
+f 21 9 14
+f 21 20 9
+f 22 7 17
+f 22 17 9
+f 22 9 12
+f 23 11 8
+f 23 8 5
+f 24 13 6
+f 24 6 18
+f 24 18 12
+f 24 12 9
+f 24 9 13
+f 25 19 13
+f 25 13 10
+f 25 10 19
+f 26 21 8
+f 26 20 21
+f 27 22 12
+f 27 12 7
+f 27 7 22
+f 28 23 17
+f 28 17 11
+f 28 11 23
+f 29 9 17
+f 29 17 23
+f 30 26 8
+f 30 8 13
+f 30 13 20
+f 30 20 26
+f 31 29 23
+f 31 23 5
+f 32 9 29
+f 32 29 31
+f 32 14 9
+f 32 31 5
+f 32 5 14
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_14.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18765bc28b452925c60acc82b644dd5ad251cd5
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22764975 -0.16658237 0.49327968
+v 0.28676234 -0.06929321 0.44318988
+v 0.26608364 0.08715919 0.49999995
+v 0.17962260 0.15371072 0.49999995
+v 0.17584569 -0.11734305 0.46760485
+v 0.25606392 0.14597754 0.44275313
+v 0.17962260 -0.16447110 0.49999995
+v 0.26730345 -0.08313812 0.49999995
+v 0.27336236 -0.11322992 0.44345782
+v 0.28561818 0.07333726 0.44288256
+v 0.22507715 0.15371072 0.49999995
+v 0.17332121 0.11788693 0.48259154
+v 0.28289999 0.01558067 0.48779209
+v 0.22507715 -0.16447110 0.49999995
+v 0.26959355 -0.11851511 0.44669629
+v 0.27197842 0.11608234 0.44297549
+v 0.25196672 0.15188619 0.44597487
+v 0.28191543 -0.02624412 0.48753783
+v 0.28257458 0.05726250 0.47236807
+v 0.26658374 -0.11042213 0.47186584
+v 0.27526038 0.09913524 0.45230952
+v 0.25568501 0.11547199 0.49999995
+v 0.28281770 -0.05625544 0.47260017
+v 0.26875667 0.11436028 0.45718803
+v 0.25230732 0.12881810 0.48711282
+f 7 3 4
+f 8 3 7
+f 9 2 8
+f 9 6 2
+f 9 5 6
+f 10 2 6
+f 11 4 3
+f 12 6 5
+f 12 7 4
+f 12 5 7
+f 13 3 8
+f 13 2 10
+f 14 8 7
+f 14 7 1
+f 14 1 8
+f 15 7 5
+f 15 5 9
+f 15 1 7
+f 16 10 6
+f 17 4 11
+f 17 12 4
+f 17 6 12
+f 18 13 8
+f 18 2 13
+f 19 13 10
+f 19 10 3
+f 19 3 13
+f 20 15 9
+f 20 9 8
+f 20 8 1
+f 20 1 15
+f 21 3 10
+f 21 10 16
+f 22 11 3
+f 23 18 8
+f 23 8 2
+f 23 2 18
+f 24 21 16
+f 24 3 21
+f 24 22 3
+f 25 17 11
+f 25 11 22
+f 25 22 24
+f 25 24 16
+f 25 16 6
+f 25 6 17
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_15.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27420af40829422780c6414e9eb711a26db2255
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.16333325 0.22808185 0.49999995
+v 0.16624730 0.24678414 0.34059436
+v 0.11473288 0.30625605 0.37200602
+v -0.07250846 0.31758013 0.38059873
+v -0.15371074 0.22946830 0.49999995
+v -0.07264220 0.28771805 0.34296581
+v 0.06804352 0.27188238 0.49999988
+v 0.15991110 0.28154321 0.37014701
+v 0.06862239 0.28894228 0.34282199
+v -0.15743702 0.25159119 0.34002049
+v 0.12643765 0.29076333 0.41648209
+v 0.02631186 0.31729796 0.41005952
+v -0.07206464 0.27066259 0.49999988
+v 0.17151503 0.23805139 0.44982367
+v 0.14309714 0.29358451 0.37200602
+v 0.11411082 0.27512690 0.34268109
+v -0.07292085 0.31893958 0.37200602
+v 0.11023107 0.25848639 0.49999988
+v 0.15630590 0.27479840 0.41648209
+v 0.05650982 0.31623113 0.40479649
+v -0.12985304 0.28893779 0.41648209
+v -0.01564298 0.31822677 0.41039614
+v 0.15488177 0.28728550 0.37200602
+v 0.11295442 0.30039324 0.40479649
+v 0.06889970 0.32015938 0.37200602
+v -0.11875403 0.30503625 0.37200602
+v 0.15627160 0.23387720 0.49999995
+v -0.08800256 0.30355799 0.41648209
+v -0.11364645 0.25666077 0.49999989
+v -0.14651253 0.29175898 0.37200602
+v 0.13947192 0.28680223 0.40913212
+v 0.08398142 0.30477778 0.41648209
+v 0.06845537 0.31869464 0.38095678
+v -0.11512252 0.27457385 0.34288489
+v -0.10259449 0.30171328 0.40963223
+v -0.14351473 0.24069588 0.49999993
+v -0.16249934 0.24017726 0.46568208
+v -0.14362445 0.28635575 0.40479649
+v 0.15424580 0.28609569 0.38036610
+v -0.11830896 0.30356906 0.38096503
+f 5 2 1
+f 10 2 5
+f 10 9 2
+f 10 6 9
+f 14 1 2
+f 14 2 8
+f 16 2 9
+f 16 15 2
+f 16 3 15
+f 17 9 6
+f 19 14 8
+f 19 1 14
+f 20 12 7
+f 22 17 4
+f 22 13 7
+f 22 7 12
+f 23 8 2
+f 23 2 15
+f 24 15 3
+f 25 16 9
+f 25 3 16
+f 25 9 17
+f 25 12 20
+f 25 22 12
+f 25 17 22
+f 26 17 6
+f 26 4 17
+f 27 1 19
+f 27 18 7
+f 27 5 1
+f 27 7 13
+f 27 19 11
+f 27 11 18
+f 28 22 4
+f 28 13 22
+f 29 13 28
+f 30 26 10
+f 31 11 19
+f 31 24 11
+f 31 15 24
+f 32 24 20
+f 32 20 7
+f 32 7 18
+f 32 18 11
+f 32 11 24
+f 33 24 3
+f 33 3 25
+f 33 25 20
+f 33 20 24
+f 34 26 6
+f 34 6 10
+f 34 10 26
+f 35 29 28
+f 35 21 29
+f 35 28 4
+f 36 29 21
+f 36 13 29
+f 36 27 13
+f 36 5 27
+f 37 30 10
+f 37 10 5
+f 37 5 36
+f 38 30 37
+f 38 37 36
+f 38 36 21
+f 39 23 15
+f 39 15 31
+f 39 31 19
+f 39 19 8
+f 39 8 23
+f 40 21 35
+f 40 38 21
+f 40 26 30
+f 40 30 38
+f 40 35 4
+f 40 4 26
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_16.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b265945f2bea6b3c88232b0109b823b76c88a14
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.17776915 -0.23797025 0.34123754
+v 0.22744324 -0.08483513 -0.23334310
+v 0.25254314 -0.13970452 0.17654053
+v 0.28352633 -0.05775621 0.26540490
+v 0.12674444 -0.18572846 -0.32449061
+v 0.26635506 -0.09800190 0.13106362
+v 0.26950309 -0.12551963 0.34297151
+v 0.13951233 -0.21992407 0.00637333
+v 0.25677259 -0.06342903 0.05123599
+v 0.17787581 -0.16575459 -0.23238544
+v 0.23602996 -0.09799523 -0.12650954
+v 0.27063289 -0.05429566 0.05479241
+v 0.21085726 -0.21109539 0.34316167
+v 0.28419868 -0.07311168 0.31078047
+v 0.27765524 -0.10602594 0.34007228
+v 0.16330412 -0.23880672 0.26535831
+v 0.18832736 -0.11557071 -0.35526916
+v 0.25132969 -0.12390442 0.10093805
+v 0.20807850 -0.12508212 -0.23267681
+v 0.18689897 -0.23063278 0.34230458
+v 0.25896125 -0.14418083 0.33852135
+v 0.20820183 -0.19607647 0.14639910
+v 0.27910513 -0.10186960 0.34168185
+v 0.15076113 -0.22352308 -0.00514078
+v 0.21150111 -0.09765425 -0.23698026
+v 0.13203128 -0.17701895 -0.35569593
+v 0.22403319 -0.09520841 -0.23277939
+v 0.18339396 -0.12103238 -0.37167511
+v 0.22305326 -0.18067868 0.16159437
+v 0.18078514 -0.22318310 0.16157543
+v 0.13181093 -0.23581882 0.00813916
+v 0.13031713 -0.20272107 -0.25717832
+v 0.19272723 -0.15035679 -0.21719017
+v 0.15599076 -0.15479449 -0.37214650
+v 0.23686170 -0.15457280 0.11600224
+v 0.19618291 -0.20833164 0.14638019
+v 0.12783765 -0.22838533 -0.06666874
+v 0.13966448 -0.22216527 -0.06587408
+v 0.17688166 -0.12920165 -0.37295037
+v 0.13855262 -0.19680610 -0.25717833
+v 0.20652572 -0.13890651 -0.18699258
+v 0.19369593 -0.19492223 0.04037921
+v 0.12770045 -0.21297714 -0.18784807
+v 0.13767779 -0.20774860 -0.18703042
+v 0.16333486 -0.14567012 -0.37317514
+v 0.16586106 -0.17800563 -0.23240436
+v 0.22339326 -0.15065465 -0.00512187
+f 8 4 5
+f 9 5 4
+f 12 9 4
+f 12 2 9
+f 12 11 2
+f 12 6 11
+f 14 4 1
+f 14 12 4
+f 14 6 12
+f 15 7 3
+f 15 3 6
+f 16 1 4
+f 16 4 8
+f 18 11 6
+f 18 6 3
+f 20 13 7
+f 21 3 7
+f 21 7 13
+f 23 15 6
+f 23 6 14
+f 23 14 1
+f 23 7 15
+f 23 20 7
+f 23 1 20
+f 25 17 9
+f 25 9 2
+f 25 2 17
+f 26 5 9
+f 26 9 17
+f 27 2 11
+f 27 11 18
+f 28 27 19
+f 28 17 2
+f 28 2 27
+f 28 26 17
+f 29 21 13
+f 29 3 21
+f 29 13 22
+f 30 13 20
+f 30 20 1
+f 31 16 8
+f 31 24 30
+f 31 30 1
+f 31 1 16
+f 32 5 26
+f 33 28 19
+f 33 10 28
+f 35 3 29
+f 35 18 3
+f 35 27 18
+f 36 22 13
+f 36 13 30
+f 37 31 8
+f 37 8 5
+f 37 32 31
+f 38 24 31
+f 39 28 10
+f 39 26 28
+f 40 32 26
+f 40 26 34
+f 41 33 19
+f 41 19 27
+f 41 27 35
+f 41 10 33
+f 42 10 22
+f 42 22 36
+f 43 37 5
+f 43 5 32
+f 43 32 37
+f 44 24 38
+f 44 32 40
+f 44 40 30
+f 44 30 24
+f 44 38 31
+f 44 31 32
+f 45 34 26
+f 45 26 39
+f 45 39 10
+f 45 10 34
+f 46 40 34
+f 46 34 10
+f 46 10 42
+f 46 42 36
+f 46 36 30
+f 46 30 40
+f 47 41 35
+f 47 35 29
+f 47 10 41
+f 47 29 22
+f 47 22 10
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_17.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad4f31fdd28597eadc25059a8c64b53838eaa39
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.24461983 0.04765011 0.49999995
+v -0.15121661 0.25510515 0.34150388
+v -0.15371074 0.19916527 0.49999995
+v -0.14793668 0.27927187 0.41648209
+v -0.30118203 0.12218100 0.37014708
+v -0.14981373 0.23732899 0.49999994
+v -0.27114506 0.12138843 0.34139064
+v -0.21677717 0.24430716 0.37200606
+v -0.25666064 0.11364639 0.49999995
+v -0.28663455 0.04731133 0.46123280
+v -0.15154186 0.28601667 0.37014701
+v -0.27579403 0.17638074 0.37200609
+v -0.24352142 0.17067780 0.34327224
+v -0.20116305 0.24374339 0.41648213
+v -0.29386344 0.11996091 0.41648216
+v -0.27671799 0.04633465 0.49999995
+v -0.17638078 0.27579405 0.37200602
+v -0.25789678 0.14565587 0.33921676
+v -0.15743702 0.25159119 0.34002049
+v -0.24430714 0.21677718 0.37200609
+v -0.17349271 0.27039083 0.40479649
+v -0.24374340 0.20116303 0.41648216
+v -0.29175896 0.14651249 0.37200609
+v -0.27066246 0.07206457 0.49999995
+v -0.26763113 0.12760882 0.33990726
+v -0.15852697 0.23202628 0.49999995
+v -0.15972129 0.27297285 0.41648209
+v -0.21592126 0.24326425 0.38036615
+v -0.27039081 0.17349263 0.40479655
+v -0.19889607 0.19889611 0.49999995
+v -0.22754479 0.22754473 0.40479655
+v -0.27297281 0.15972128 0.41648216
+v -0.28635577 0.14362440 0.40479655
+v -0.24326425 0.21592124 0.38036617
+v -0.24069581 0.14351470 0.49999995
+v -0.28893769 0.12985300 0.41648216
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 9 1 3
+f 10 7 1
+f 10 5 7
+f 11 4 2
+f 15 5 10
+f 16 10 1
+f 16 1 9
+f 16 15 10
+f 17 4 11
+f 19 18 13
+f 19 8 17
+f 19 17 11
+f 19 11 2
+f 20 19 13
+f 20 8 19
+f 20 18 12
+f 20 13 18
+f 21 4 17
+f 23 5 15
+f 23 12 18
+f 24 16 9
+f 24 9 15
+f 24 15 16
+f 25 7 5
+f 25 23 18
+f 25 5 23
+f 25 18 19
+f 25 19 2
+f 25 2 7
+f 26 21 14
+f 26 9 3
+f 26 3 6
+f 27 6 4
+f 27 4 21
+f 27 26 6
+f 27 21 26
+f 28 21 17
+f 28 17 8
+f 30 26 14
+f 30 9 26
+f 31 14 21
+f 31 21 28
+f 31 30 14
+f 31 22 30
+f 31 29 22
+f 31 28 8
+f 31 8 20
+f 33 23 15
+f 33 32 29
+f 33 29 12
+f 33 12 23
+f 34 20 12
+f 34 12 29
+f 34 31 20
+f 34 29 31
+f 35 9 30
+f 35 29 32
+f 35 30 22
+f 35 22 29
+f 36 15 9
+f 36 35 32
+f 36 9 35
+f 36 33 15
+f 36 32 33
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_18.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365c9b84268f2a552356663b5af1722e1b5182b5
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.28956620 0.05938337 0.44394299
+v 0.31439672 0.06253750 0.40232294
+v 0.22282885 0.16973408 0.49999995
+v 0.15721803 0.27650487 0.41111726
+v 0.15963139 0.25071691 0.34206323
+v 0.26959585 0.18596272 0.37200609
+v 0.25538018 0.10825618 0.49999995
+v 0.27775015 0.10584971 0.34184103
+v 0.16447109 0.15371072 0.49999995
+v 0.22589867 0.22715860 0.40851960
+v 0.17296541 0.27761961 0.37200602
+v 0.30949249 0.06156199 0.41740198
+v 0.26794651 0.17453326 0.40941325
+v 0.29200142 0.06012208 0.39515512
+v 0.31050646 0.09144238 0.37014708
+v 0.25152047 0.15870053 0.34333238
+v 0.15627160 0.23387720 0.49999995
+v 0.22507715 0.10825618 0.49999995
+v 0.17358477 0.24057335 0.33929416
+v 0.15991110 0.28154321 0.37014701
+v 0.19766934 0.25998854 0.37200604
+v 0.23972012 0.14534026 0.49999995
+v 0.25550416 0.18683250 0.41648216
+v 0.26855294 0.18510683 0.38036617
+v 0.29715599 0.11769559 0.40956944
+v 0.30044909 0.13025441 0.37200609
+v 0.18205519 0.25942472 0.41648210
+v 0.16495678 0.22674945 0.49999995
+v 0.25606786 0.20244664 0.37200609
+v 0.27288813 0.11761435 0.33867744
+v 0.29897896 0.10309707 0.41648216
+v 0.28448414 0.16012265 0.37200609
+v 0.29921763 0.12959616 0.38051982
+v 0.16939022 0.27093094 0.40883773
+v 0.19681347 0.25894564 0.38036612
+f 9 7 3
+f 9 5 8
+f 12 7 1
+f 14 9 8
+f 14 1 9
+f 14 12 1
+f 14 2 12
+f 15 14 8
+f 15 2 14
+f 17 9 3
+f 17 4 5
+f 17 5 9
+f 18 9 1
+f 18 1 7
+f 18 7 9
+f 19 5 11
+f 20 11 5
+f 20 5 4
+f 20 4 11
+f 21 19 11
+f 22 13 3
+f 22 3 7
+f 23 13 10
+f 23 10 3
+f 23 3 13
+f 24 10 13
+f 25 22 7
+f 25 13 22
+f 26 2 15
+f 28 17 3
+f 28 3 10
+f 28 27 17
+f 28 10 27
+f 29 6 16
+f 29 16 19
+f 29 19 21
+f 29 21 10
+f 29 24 6
+f 29 10 24
+f 30 19 16
+f 30 8 5
+f 30 5 19
+f 30 16 6
+f 30 26 15
+f 30 15 8
+f 31 25 7
+f 31 7 12
+f 31 12 2
+f 31 2 25
+f 32 6 24
+f 32 24 13
+f 32 30 6
+f 32 26 30
+f 33 13 25
+f 33 25 2
+f 33 2 26
+f 33 32 13
+f 33 26 32
+f 34 4 17
+f 34 17 27
+f 34 11 4
+f 35 27 10
+f 35 10 21
+f 35 34 27
+f 35 21 11
+f 35 11 34
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_19.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb29a9f4bf0f741afdebc1446e948fe9e25585f0
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06929320 -0.28676249 0.44318989
+v 0.10509706 -0.27459316 0.44806062
+v -0.08715919 -0.26608360 0.49999997
+v -0.22946832 -0.10386504 0.49999995
+v -0.24895785 -0.15869115 0.44381813
+v 0.10386502 -0.22507716 0.49999995
+v 0.08313801 -0.26730342 0.49999998
+v 0.10114901 -0.27672977 0.44456481
+v -0.11608233 -0.27197839 0.44297545
+v -0.22674940 -0.16495675 0.49999995
+v -0.10825442 -0.10330552 0.46851338
+v -0.01558070 -0.28290006 0.48779213
+v 0.10122165 -0.26181778 0.49999996
+v -0.24439935 -0.16700717 0.44185835
+v -0.23387690 -0.15627186 0.49999995
+v -0.16973408 -0.22282880 0.49999995
+v 0.05840944 -0.17875425 0.46369643
+v -0.18036950 -0.11001577 0.49999995
+v -0.18310758 -0.10378409 0.46846873
+v 0.02624403 -0.28191550 0.48753784
+v -0.07333729 -0.28561820 0.44288255
+v -0.24573609 -0.15696908 0.45803067
+v -0.12881807 -0.25230724 0.48711277
+v -0.17176052 -0.24044958 0.44200511
+v -0.19992822 -0.20754457 0.47144301
+v 0.06061372 -0.20203721 0.49999995
+v 0.05625628 -0.28281758 0.47260017
+v -0.05726251 -0.28257460 0.47236807
+v -0.11436027 -0.26875662 0.45718799
+v -0.16944300 -0.23762568 0.45621765
+v -0.21149439 -0.19517478 0.47129625
+v -0.23139247 -0.17848471 0.45264756
+f 7 4 3
+f 8 2 1
+f 12 7 3
+f 13 7 2
+f 13 2 6
+f 13 6 7
+f 14 8 1
+f 14 5 11
+f 15 5 14
+f 15 10 3
+f 15 3 4
+f 16 3 10
+f 17 6 2
+f 17 2 8
+f 17 14 11
+f 17 8 14
+f 18 11 4
+f 18 4 7
+f 19 11 5
+f 19 5 4
+f 19 4 11
+f 20 12 1
+f 20 7 12
+f 21 1 12
+f 21 3 9
+f 22 15 4
+f 22 4 5
+f 22 5 15
+f 23 3 16
+f 24 9 23
+f 24 21 9
+f 24 14 1
+f 24 1 21
+f 25 16 10
+f 25 24 16
+f 25 14 24
+f 26 17 11
+f 26 6 17
+f 26 11 18
+f 26 18 7
+f 26 7 6
+f 27 20 1
+f 27 7 20
+f 27 1 2
+f 27 2 7
+f 28 21 12
+f 28 12 3
+f 28 3 21
+f 29 23 9
+f 29 9 3
+f 29 3 23
+f 30 24 23
+f 30 23 16
+f 30 16 24
+f 31 25 10
+f 32 14 25
+f 32 25 31
+f 32 31 10
+f 32 15 14
+f 32 10 15
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_2.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f0dbc6d1dcbb450827996be79dbee5f12da652
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.25422692 0.15309429 0.34105611
+v 0.21609303 0.16148919 0.00888527
+v 0.16803965 0.24565746 0.34296161
+v 0.07277875 0.28749238 0.34121242
+v 0.05603762 0.22164606 -0.27941800
+v 0.24176367 0.17283901 0.34288928
+v 0.13698095 0.17228975 -0.35654067
+v 0.05649907 0.28358507 0.26591259
+v 0.10948945 0.25709896 0.08561048
+v 0.11411082 0.27512690 0.34268109
+v 0.25071297 0.15931470 0.33957272
+v 0.19578085 0.19708133 0.07069403
+v 0.24680998 0.14912986 0.26624393
+v 0.11017984 0.21293600 -0.25717843
+v 0.05423031 0.27629417 0.10010737
+v 0.15436861 0.24087096 0.14635407
+v 0.20793449 0.18509670 0.08583201
+v 0.20816621 0.20043840 0.26761079
+v 0.19260146 0.18494774 -0.02020214
+v 0.08480617 0.20437910 -0.35489906
+v 0.09834938 0.27189176 0.17638341
+v 0.05398228 0.26032501 -0.03616000
+v 0.15102802 0.22718005 0.02521457
+v 0.12408324 0.21060095 -0.21728651
+v 0.12315627 0.18398817 -0.35402211
+v 0.12449491 0.25682571 0.14625145
+v 0.05517114 0.23394116 -0.25717843
+v 0.18038309 0.21193277 0.08588928
+v 0.09616519 0.19795486 -0.35777210
+v 0.12785661 0.17963385 -0.35756932
+v 0.05422359 0.24596900 -0.15746579
+v 0.08322513 0.22652709 -0.24786972
+v 0.06904591 0.22973230 -0.25717843
+v 0.09420953 0.22655568 -0.21738913
+v 0.09810135 0.25592253 0.04011593
+f 6 4 1
+f 8 1 4
+f 10 6 3
+f 10 4 6
+f 11 6 1
+f 11 1 2
+f 13 7 2
+f 13 2 1
+f 13 5 7
+f 13 8 5
+f 13 1 8
+f 15 8 4
+f 16 10 3
+f 16 3 12
+f 17 11 2
+f 17 6 11
+f 17 12 6
+f 18 12 3
+f 18 3 6
+f 18 6 12
+f 19 2 7
+f 19 17 2
+f 19 12 17
+f 20 7 5
+f 21 15 4
+f 21 4 10
+f 22 5 8
+f 22 8 15
+f 22 15 21
+f 23 14 9
+f 24 19 7
+f 24 14 23
+f 24 23 12
+f 24 12 19
+f 25 14 24
+f 26 9 21
+f 26 23 9
+f 26 16 23
+f 26 21 10
+f 26 10 16
+f 27 20 5
+f 28 23 16
+f 28 16 12
+f 28 12 23
+f 29 20 14
+f 29 14 25
+f 29 7 20
+f 30 25 24
+f 30 24 7
+f 30 29 25
+f 30 7 29
+f 31 27 5
+f 31 5 22
+f 31 22 21
+f 32 14 20
+f 33 32 20
+f 33 20 27
+f 33 21 32
+f 33 31 21
+f 33 27 31
+f 34 9 14
+f 34 14 32
+f 35 34 32
+f 35 32 21
+f 35 21 9
+f 35 9 34
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_20.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d16e0b310c90fdd14a89b1855d4c5d9940f903a
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.06784232 -0.31228252 0.40956005
+v 0.10509498 -0.27458632 0.31012977
+v 0.10509706 -0.27459316 0.44806062
+v -0.15152216 -0.28158867 0.40383250
+v -0.04821103 -0.27622661 0.18875067
+v -0.06333141 -0.28742963 0.44743880
+v 0.10129604 -0.30751747 0.37014715
+v -0.08801545 -0.31436071 0.37200616
+v -0.07840384 -0.27201738 0.21952246
+v 0.06323541 -0.28643731 0.45124197
+v 0.09907598 -0.30019890 0.41648223
+v 0.05951682 -0.27417883 0.18896551
+v -0.06109016 -0.31376061 0.41036883
+v 0.08399426 -0.31558058 0.37200616
+v -0.09375931 -0.27268974 0.26489802
+v -0.14833807 -0.29078320 0.37200616
+v -0.11819536 -0.29880343 0.40479662
+v 0.01150717 -0.31642846 0.41648223
+v 0.08355482 -0.31413202 0.38090176
+v 0.01125736 -0.28358898 0.22164503
+v -0.15336743 -0.28504095 0.37014715
+v -0.13025444 -0.30044912 0.37200616
+v -0.14545000 -0.28537995 0.40479662
+v -0.08760796 -0.31301749 0.38054366
+v -0.01585619 -0.31600009 0.41648223
+v 0.05536048 -0.27562872 0.19057508
+v -0.12959625 -0.29921765 0.38051963
+f 6 3 4
+f 7 2 3
+f 9 3 2
+f 10 3 6
+f 11 7 3
+f 11 10 1
+f 11 3 10
+f 12 2 7
+f 12 9 2
+f 12 5 9
+f 14 7 11
+f 14 12 7
+f 15 4 3
+f 15 3 9
+f 17 13 6
+f 18 1 10
+f 18 14 1
+f 18 8 14
+f 19 14 11
+f 19 11 1
+f 19 1 14
+f 20 14 8
+f 20 8 5
+f 21 15 9
+f 21 4 15
+f 21 16 4
+f 21 9 16
+f 22 16 9
+f 22 9 5
+f 22 5 8
+f 23 17 6
+f 23 6 4
+f 23 4 16
+f 24 17 8
+f 24 8 13
+f 24 13 17
+f 25 18 10
+f 25 10 6
+f 25 6 13
+f 25 13 8
+f 25 8 18
+f 26 20 5
+f 26 5 12
+f 26 12 14
+f 26 14 20
+f 27 17 23
+f 27 22 8
+f 27 8 17
+f 27 23 16
+f 27 16 22
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_21.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be2651e59b20e8eaa866174adef393b42e5eb0e
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.17383292 -0.27485153 0.38258876
+v 0.31978920 -0.07011950 0.37200609
+v 0.22498214 -0.16711017 0.49999995
+v 0.24022866 -0.07356201 0.49999995
+v 0.28564858 -0.06895534 0.31239003
+v 0.27023556 -0.07347218 0.49999995
+v 0.17962260 -0.16447110 0.49999995
+v 0.27069704 -0.18247537 0.38040508
+v 0.29004931 -0.05734825 0.44418408
+v 0.17454033 -0.21888442 0.49999995
+v 0.17776915 -0.23797025 0.34123754
+v 0.29687131 -0.12395098 0.40479655
+v 0.30227457 -0.12683906 0.37200609
+v 0.29239594 -0.05757935 0.39567266
+v 0.30946073 -0.05776780 0.41758801
+v 0.23880415 -0.21147361 0.40893264
+v 0.18333884 -0.27174932 0.37200615
+v 0.24268203 -0.16648452 0.31024930
+v 0.25121153 -0.12384125 0.49999995
+v 0.25765747 -0.18420856 0.41648216
+v 0.28274879 -0.07726803 0.30917090
+v 0.31413182 -0.08355490 0.38090180
+v 0.31472713 -0.05828649 0.40214666
+v 0.30019884 -0.09907598 0.41648216
+v 0.18359402 -0.21145422 0.49999995
+v 0.17621507 -0.26415671 0.41648223
+v 0.17454946 -0.27619207 0.37165262
+v 0.27174921 -0.18333882 0.37200609
+v 0.28090646 -0.15381928 0.40479655
+v 0.31558037 -0.08399430 0.37200609
+v 0.24977408 -0.15442171 0.30938936
+v 0.31797739 -0.06956991 0.38213689
+v 0.21147352 -0.23880419 0.40893265
+v 0.18247539 -0.27069721 0.38040504
+v 0.18420855 -0.25765762 0.41648222
+v 0.28348842 -0.14004785 0.41648216
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 9 4 6
+f 10 3 7
+f 11 7 5
+f 11 10 7
+f 11 1 10
+f 14 5 4
+f 14 4 9
+f 15 9 6
+f 15 14 9
+f 19 12 6
+f 19 6 3
+f 20 16 8
+f 20 3 16
+f 20 19 3
+f 21 5 2
+f 21 18 11
+f 21 11 5
+f 22 12 13
+f 23 2 5
+f 23 5 14
+f 23 14 15
+f 24 15 6
+f 24 6 12
+f 24 23 15
+f 25 16 3
+f 25 3 10
+f 26 10 1
+f 27 17 1
+f 27 1 11
+f 27 18 17
+f 27 11 18
+f 28 8 16
+f 28 16 17
+f 28 17 18
+f 28 13 8
+f 29 20 8
+f 29 13 12
+f 29 8 13
+f 30 21 2
+f 30 13 21
+f 30 22 13
+f 30 2 22
+f 31 21 13
+f 31 18 21
+f 31 28 18
+f 31 13 28
+f 32 22 2
+f 32 2 23
+f 32 23 24
+f 32 24 12
+f 32 12 22
+f 33 17 16
+f 33 16 25
+f 34 26 1
+f 34 1 17
+f 34 33 26
+f 34 17 33
+f 35 25 10
+f 35 10 26
+f 35 33 25
+f 35 26 33
+f 36 29 12
+f 36 12 19
+f 36 19 20
+f 36 20 29
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_22.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8497a423c4618f21b6caf74dd035acf78d015fcc
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.26860781 0.10634052 0.26589338
+v -0.10200511 0.20262183 -0.29401879
+v -0.13542552 0.25390859 0.26589883
+v -0.19798990 0.14031162 -0.24762023
+v -0.15990823 0.24301956 0.17838041
+v -0.20413712 0.10281502 -0.27905331
+v -0.10348045 0.22053352 -0.23370699
+v -0.24346363 0.16014560 0.17838041
+v -0.14268278 0.17388679 -0.31130981
+v -0.26085255 0.10398800 0.08499001
+v -0.13217651 0.24783015 0.10001044
+v -0.15600443 0.18349803 -0.25717841
+v -0.23080965 0.17268004 0.26715986
+v -0.21234626 0.11425578 -0.25717838
+v -0.10746679 0.19768840 -0.31042475
+v -0.23192014 0.10146806 -0.15746842
+v -0.25624331 0.12857480 0.14632586
+v -0.14020513 0.19786017 -0.24760134
+v -0.19924033 0.19801364 0.08584550
+v -0.18362942 0.15611231 -0.25717838
+v -0.25750771 0.12925068 0.26737136
+v -0.17265937 0.23078445 0.26716354
+v -0.19713024 0.11526708 -0.28191328
+v -0.21270567 0.14121460 -0.14157540
+v -0.11369282 0.19418496 -0.31185474
+v -0.10223381 0.21820122 -0.25717843
+v -0.21864526 0.10247114 -0.25717839
+v -0.25651654 0.11356933 0.08568489
+v -0.15498038 0.22770469 0.04034430
+v -0.18231695 0.17018672 -0.18693816
+v -0.14725216 0.24768818 0.26669172
+v -0.22783443 0.15508685 0.04032539
+v -0.13355844 0.18123089 -0.31233845
+v -0.11401844 0.21190221 -0.25717843
+v -0.18485547 0.21203173 0.10102637
+v -0.17008019 0.18218717 -0.18691924
+v -0.14244381 0.21148252 -0.14153757
+v -0.12799457 0.18629224 -0.30880302
+f 1 2 3
+f 6 2 1
+f 7 3 2
+f 11 5 3
+f 11 3 7
+f 15 2 6
+f 16 6 1
+f 16 1 10
+f 17 10 1
+f 17 1 8
+f 19 8 5
+f 20 12 9
+f 20 14 4
+f 20 9 14
+f 21 13 8
+f 21 8 1
+f 21 1 3
+f 22 5 8
+f 22 8 13
+f 22 13 21
+f 23 14 9
+f 23 9 6
+f 24 4 14
+f 24 19 4
+f 24 16 8
+f 24 14 16
+f 25 15 6
+f 25 6 9
+f 26 7 2
+f 26 2 15
+f 26 15 25
+f 26 11 7
+f 27 16 14
+f 27 6 16
+f 27 23 6
+f 27 14 23
+f 28 16 10
+f 28 10 17
+f 28 17 8
+f 28 8 16
+f 30 12 20
+f 30 20 4
+f 30 4 19
+f 31 3 5
+f 31 5 22
+f 31 22 21
+f 31 21 3
+f 32 24 8
+f 32 8 19
+f 32 19 24
+f 33 25 9
+f 33 9 12
+f 33 12 18
+f 34 26 25
+f 34 11 26
+f 35 19 5
+f 35 5 29
+f 35 29 18
+f 35 18 19
+f 36 30 19
+f 36 12 30
+f 36 19 18
+f 36 18 12
+f 37 34 18
+f 37 18 29
+f 37 29 5
+f 37 5 11
+f 37 11 34
+f 38 33 18
+f 38 18 34
+f 38 34 25
+f 38 25 33
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_23.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..047715d9ff8a90656ef35b711c56ff767b7d5b5a
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.29200142 0.06012208 0.39515512
+v 0.26598993 0.04720279 0.00808997
+v 0.30367046 0.09396487 0.40003605
+v 0.21663038 0.18951617 0.26417649
+v 0.19477866 0.18401748 0.08333273
+v 0.27615884 0.10996315 0.39615990
+v 0.28467282 0.04755060 0.26526566
+v 0.20391859 0.19151841 0.18806412
+v 0.22360741 0.15522158 0.02514995
+v 0.29006219 0.06412998 0.39615990
+v 0.25071297 0.15931470 0.33957272
+v 0.26967887 0.04607384 0.03969076
+v 0.25511268 0.05216513 0.00596147
+v 0.27294695 0.04938028 0.17154966
+v 0.25225730 0.10271269 0.02487894
+v 0.21527153 0.17596652 0.08476258
+v 0.21609303 0.16148919 0.00888527
+v 0.23648181 0.15837395 0.13122664
+v 0.26778944 0.05737362 0.03998565
+v 0.21076571 0.15168311 0.00541084
+v 0.25480024 0.08833258 0.00942802
+v 0.23686705 0.12866375 0.00994096
+v 0.19606632 0.16992271 0.00740083
+v 0.25254850 0.11379549 0.07047931
+v 0.25227527 0.12880097 0.13112029
+f 7 3 1
+f 10 1 3
+f 10 3 6
+f 10 6 4
+f 10 4 8
+f 10 8 5
+f 11 6 3
+f 11 4 6
+f 12 2 3
+f 12 3 7
+f 13 2 12
+f 14 7 1
+f 14 5 13
+f 14 13 12
+f 14 12 7
+f 14 10 5
+f 14 1 10
+f 16 8 4
+f 16 5 8
+f 18 17 16
+f 18 9 17
+f 18 11 3
+f 18 16 4
+f 18 4 11
+f 19 3 2
+f 21 2 13
+f 21 13 20
+f 21 19 2
+f 21 15 3
+f 21 3 19
+f 22 17 9
+f 22 15 21
+f 22 21 20
+f 22 20 17
+f 22 9 18
+f 23 5 16
+f 23 16 17
+f 23 17 20
+f 23 20 13
+f 23 13 5
+f 24 22 18
+f 24 3 15
+f 24 15 22
+f 25 24 18
+f 25 18 3
+f 25 3 24
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_24.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d354ae05139bb215b7caf5d242a5e2b3a0e014e
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.21000586 -0.20638776 0.31123299
+v -0.17597842 -0.21528608 0.06960895
+v -0.18652524 -0.21298589 0.21925195
+v -0.28777327 -0.07286397 0.34117942
+v -0.24082973 -0.15434663 0.13120782
+v -0.24308810 -0.09284505 0.00603480
+v -0.18375324 -0.22475971 0.17838055
+v -0.25099780 -0.15978156 0.34202743
+v -0.18266180 -0.19316875 0.05326415
+v -0.27588009 -0.08440774 0.16076220
+v -0.22698054 -0.15130138 0.01006464
+v -0.20186064 -0.20989932 0.17838055
+v -0.24704016 -0.16645741 0.34055713
+v -0.27972541 -0.07042268 0.26636725
+v -0.27536171 -0.11434734 0.34264636
+v -0.25684712 -0.08782647 0.00792007
+v -0.19431229 -0.19079139 0.00828313
+v -0.21242884 -0.19594175 0.16157453
+v -0.26073214 -0.14173451 0.34271793
+v -0.27172398 -0.09829850 0.16125152
+v -0.25991096 -0.08415972 0.02449481
+v -0.19709583 -0.19579280 0.05554039
+v -0.21503311 -0.14719043 0.00535328
+v -0.25678441 -0.12447290 0.13110520
+v -0.18224604 -0.20777167 0.05334427
+v -0.25705767 -0.10946743 0.07046423
+v -0.25575486 -0.09805049 0.02498415
+v -0.24137623 -0.12433570 0.00992587
+f 1 3 4
+f 7 2 3
+f 7 3 1
+f 9 3 2
+f 12 7 1
+f 13 1 4
+f 13 4 8
+f 13 12 1
+f 13 8 5
+f 14 9 6
+f 14 4 3
+f 14 3 9
+f 14 10 4
+f 17 9 2
+f 18 5 11
+f 18 13 5
+f 18 12 13
+f 19 8 4
+f 19 4 15
+f 19 15 5
+f 19 5 8
+f 20 15 4
+f 20 4 10
+f 21 14 6
+f 21 6 16
+f 21 16 10
+f 21 10 14
+f 22 12 18
+f 22 18 11
+f 22 11 17
+f 23 6 9
+f 23 9 17
+f 23 16 6
+f 23 17 11
+f 23 11 16
+f 24 5 15
+f 24 15 20
+f 25 22 17
+f 25 17 2
+f 25 12 22
+f 25 2 7
+f 25 7 12
+f 26 24 20
+f 26 5 24
+f 27 26 20
+f 27 20 10
+f 27 10 16
+f 28 27 16
+f 28 16 11
+f 28 26 27
+f 28 11 5
+f 28 5 26
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_25.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf27a55589a1bd4952397679cbdbd8762c624cac
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17190282 -0.27124059 0.40479662
+v 0.16753751 -0.19851057 0.00706679
+v 0.17454946 -0.27619207 0.37165262
+v 0.18503385 -0.23167078 0.39615997
+v 0.05780176 -0.28367655 0.26538726
+v 0.17977140 -0.22525848 0.26512516
+v 0.10182549 -0.27895978 0.39616004
+v 0.06215950 -0.25258757 0.00619502
+v 0.17254267 -0.20460937 0.08199360
+v 0.09847759 -0.25277176 0.00966685
+v 0.15841694 -0.20585929 0.00606576
+v 0.05411722 -0.27153026 0.05469671
+v 0.15183056 -0.22482618 0.00982079
+v 0.05680528 -0.26524010 0.00819881
+f 1 3 4
+f 6 4 3
+f 7 1 4
+f 7 4 5
+f 7 5 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 9 6 3
+f 9 3 2
+f 9 2 4
+f 9 4 6
+f 11 10 8
+f 11 8 2
+f 12 3 5
+f 12 5 8
+f 13 11 2
+f 13 2 3
+f 13 3 10
+f 13 10 11
+f 14 10 3
+f 14 3 12
+f 14 12 8
+f 14 8 10
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_26.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1706ea0767b89ca202829a199a4d8403ade221
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.09376090 0.20860827 -0.28146231
+v 0.07389982 0.18512742 -0.50000000
+v 0.01123317 0.21197683 -0.42991521
+v -0.03217890 0.22622216 -0.27994987
+v -0.06280165 0.18401375 -0.41430088
+v 0.07824740 0.21461093 -0.28205058
+v 0.07356199 0.18401375 -0.41430088
+v -0.05732885 0.19627551 -0.50000000
+v 0.05274283 0.21078463 -0.38424972
+v 0.08381674 0.21332585 -0.27847663
+v 0.08993916 0.20145830 -0.35634211
+v 0.05331374 0.19751519 -0.50000000
+v -0.06404017 0.18809661 -0.50000000
+v -0.00057433 0.21300737 -0.43002733
+v 0.08480617 0.20437910 -0.35489906
+v 0.07139738 0.19202955 -0.50000000
+v -0.06555321 0.20823590 -0.37223839
+v -0.04240206 0.21216778 -0.39955773
+v -0.03363973 0.22590273 -0.28156351
+v -0.03074853 0.21169936 -0.41473351
+v -0.04334343 0.21527104 -0.36960581
+f 5 1 4
+f 7 5 2
+f 7 1 5
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 10 4 1
+f 11 7 2
+f 11 1 7
+f 12 2 8
+f 12 3 9
+f 13 8 2
+f 13 2 5
+f 14 4 3
+f 14 12 8
+f 14 3 12
+f 15 10 1
+f 15 1 11
+f 15 6 10
+f 15 12 9
+f 15 9 6
+f 16 11 2
+f 16 2 12
+f 16 15 11
+f 16 12 15
+f 17 13 5
+f 17 8 13
+f 18 8 17
+f 19 17 5
+f 19 5 4
+f 19 4 14
+f 20 14 8
+f 20 8 18
+f 20 19 14
+f 20 18 19
+f 21 19 18
+f 21 18 17
+f 21 17 19
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_27.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cdd4ebf23faf59dfcfb4a2c582942e7909ca174
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.27114506 0.12138843 0.34139064
+v -0.09240430 0.27261402 0.26542275
+v -0.26372809 0.11742400 0.26657848
+v -0.09068925 0.28211179 0.34184449
+v -0.20039056 0.21249913 0.29792230
+v -0.08873621 0.27567349 0.28199476
+v -0.17065716 0.24349627 0.34327591
+v -0.15907879 0.24146778 0.26748461
+v -0.24155301 0.15912435 0.26747373
+v -0.24352142 0.17067780 0.34327224
+v -0.16959011 0.24219607 0.32831347
+v -0.11512252 0.27457385 0.34288489
+v -0.25670025 0.12986476 0.26361169
+v -0.21252435 0.20041128 0.29791863
+v -0.25870428 0.14504172 0.34297641
+v -0.14341044 0.25565232 0.31306241
+v -0.10262691 0.27151714 0.28248302
+v -0.09656065 0.27116412 0.26381318
+v -0.24222122 0.16961075 0.32830980
+v -0.09900196 0.27921198 0.33862535
+v -0.12920513 0.25742254 0.26738222
+v -0.11432963 0.27309046 0.32792246
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 11 8 5
+f 11 5 7
+f 11 7 8
+f 12 7 10
+f 13 9 8
+f 13 3 1
+f 13 1 9
+f 14 10 7
+f 14 7 5
+f 14 5 8
+f 14 8 9
+f 15 10 9
+f 15 9 1
+f 15 12 10
+f 15 1 4
+f 15 4 12
+f 16 8 7
+f 16 7 12
+f 18 13 8
+f 18 2 3
+f 18 3 13
+f 18 17 4
+f 18 4 2
+f 19 14 9
+f 19 9 10
+f 19 10 14
+f 20 12 4
+f 20 4 17
+f 21 8 16
+f 21 18 8
+f 21 17 18
+f 22 17 21
+f 22 20 17
+f 22 12 20
+f 22 21 16
+f 22 16 12
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_28.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cddd20fafa39cecad808c42e64bfc06b70844b3
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08803604 -0.20865819 -0.31045046
+v 0.17743978 -0.10269830 -0.49999990
+v 0.18339396 -0.12103238 -0.37167511
+v 0.13416805 -0.10386504 -0.41430081
+v 0.08466082 -0.18719210 -0.49999985
+v 0.18676000 -0.10768004 -0.40239138
+v 0.14246129 -0.17457641 -0.31202143
+v 0.08871350 -0.13416808 -0.41430081
+v 0.12777308 -0.18698185 -0.30951465
+v 0.12211964 -0.16494161 -0.49999985
+v 0.08192128 -0.19721829 -0.43025815
+v 0.09448771 -0.17527391 -0.49999985
+v 0.11168331 -0.19620614 -0.30892177
+v 0.14860872 -0.14884723 -0.45969902
+v 0.10873720 -0.17554286 -0.49006322
+v 0.16303665 -0.11512235 -0.49999989
+v 0.16491601 -0.12209868 -0.49999988
+v 0.16839615 -0.14010629 -0.36963972
+v 0.12057263 -0.17820811 -0.41434638
+v 0.09644544 -0.18089309 -0.49999985
+v 0.17688166 -0.12920165 -0.37295037
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 8 4 2
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 2 5
+f 12 5 8
+f 13 9 7
+f 13 7 1
+f 13 1 5
+f 14 7 9
+f 16 12 8
+f 16 8 2
+f 16 2 12
+f 17 14 10
+f 17 10 2
+f 17 2 3
+f 18 3 7
+f 18 7 14
+f 19 15 10
+f 19 9 13
+f 19 13 15
+f 19 14 9
+f 19 10 14
+f 20 10 15
+f 20 5 2
+f 20 2 10
+f 20 15 13
+f 20 13 5
+f 21 17 3
+f 21 3 18
+f 21 18 14
+f 21 14 17
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_29.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cacf9b97010669e4f2557cd9b143670aabcc64
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18036950 -0.11001577 0.49999995
+v -0.15371201 -0.10426883 0.46844268
+v -0.15370722 0.04855623 0.47818509
+v -0.27492286 0.04765011 0.49999995
+v -0.27656910 -0.05890988 0.49286644
+v -0.20539619 0.04954025 0.49999995
+v -0.22946832 -0.10386504 0.49999995
+v -0.20547405 0.04395818 0.47788154
+v -0.27828803 0.04798155 0.49329340
+v -0.18647452 -0.09749779 0.46886923
+v -0.27481440 -0.05837759 0.49999995
+v -0.19863267 -0.06933890 0.47066326
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 11 7 4
+f 11 5 7
+f 11 9 5
+f 11 4 9
+f 12 9 8
+f 12 8 10
+f 12 10 5
+f 12 5 9
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_3.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c33e252c879706672b34460c3c14cf0319fd9ec
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.07571227 -0.27829598 0.26601933
+v -0.04650645 -0.20615545 -0.44654313
+v -0.18401377 -0.05841049 -0.41430084
+v -0.25684712 -0.08782647 0.00792007
+v -0.17632304 -0.23085752 0.17838055
+v -0.04708124 -0.27990722 0.22034943
+v -0.10396846 -0.27154847 0.17838062
+v -0.19172862 -0.20417472 0.18802688
+v -0.15311247 -0.13639411 -0.49999986
+v -0.24308810 -0.09284505 0.00603480
+v -0.04765013 -0.17962262 -0.41430076
+v -0.12836736 -0.20600954 -0.24756399
+v -0.09375931 -0.27268974 0.26489802
+v -0.05813528 -0.28545182 0.17838062
+v -0.24759627 -0.11250886 0.00913122
+v -0.19231438 -0.07148381 -0.49999993
+v -0.04328771 -0.21069621 -0.41503958
+v -0.16196182 -0.24247040 0.17838055
+v -0.05731609 -0.23729678 -0.23271929
+v -0.09984492 -0.17903777 -0.49999985
+v -0.17033343 -0.17810458 -0.21726727
+v -0.08960296 -0.27413964 0.26650759
+v -0.04625895 -0.28670995 0.17838062
+v -0.20652525 -0.05604697 -0.41578512
+v -0.22651453 -0.09418758 -0.23253540
+v -0.09906568 -0.23714072 -0.12648185
+v -0.04614829 -0.24013182 -0.23312210
+v -0.12471476 -0.16275312 -0.49999985
+v -0.08806031 -0.18533679 -0.49999985
+v -0.21407192 -0.16698712 0.00981990
+v -0.13959202 -0.20776314 -0.18687599
+v -0.04606603 -0.28475120 0.16091180
+v -0.21273176 -0.05792968 -0.35588127
+v -0.24139889 -0.09829183 -0.09632164
+v -0.22958585 -0.08415304 -0.23307835
+v -0.19957988 -0.13722533 -0.25717833
+v -0.11377351 -0.25250739 0.05533305
+v -0.09928831 -0.22345095 -0.23270503
+v -0.04895825 -0.19908643 -0.44745107
+v -0.18240656 -0.08080155 -0.49999992
+v -0.18495961 -0.19261600 -0.03535577
+v -0.15864777 -0.23628203 0.11607670
+v -0.24555499 -0.08440105 -0.09681098
+v -0.18172675 -0.09454395 -0.49999991
+v -0.18210283 -0.16561987 -0.21720999
+v -0.22569479 -0.13920397 -0.05061248
+v -0.12877896 -0.25223413 0.11597402
+v -0.09788720 -0.17341857 -0.49999985
+v -0.16746842 -0.12058966 -0.49010691
+v -0.21028659 -0.13906677 -0.17179181
+v -0.21228724 -0.15037101 -0.09598058
+v -0.21055983 -0.12406130 -0.23243279
+f 10 6 3
+f 10 3 4
+f 10 4 1
+f 10 1 6
+f 11 3 6
+f 13 8 5
+f 15 8 4
+f 15 5 8
+f 16 3 11
+f 17 11 6
+f 17 2 11
+f 18 13 5
+f 18 7 13
+f 19 14 7
+f 22 13 7
+f 22 1 4
+f 22 4 8
+f 22 8 13
+f 22 14 1
+f 22 7 14
+f 23 6 1
+f 23 1 14
+f 24 3 16
+f 26 19 7
+f 27 19 2
+f 27 2 17
+f 27 23 14
+f 27 14 19
+f 28 20 12
+f 28 21 9
+f 28 12 21
+f 29 2 19
+f 29 12 20
+f 30 5 15
+f 31 21 12
+f 32 17 6
+f 32 6 23
+f 32 27 17
+f 32 23 27
+f 33 24 4
+f 33 4 3
+f 33 3 24
+f 34 25 15
+f 34 15 4
+f 35 24 16
+f 35 16 25
+f 35 25 34
+f 37 26 7
+f 38 29 19
+f 38 19 26
+f 38 12 29
+f 38 26 37
+f 39 11 2
+f 39 2 29
+f 40 16 11
+f 41 21 5
+f 41 5 30
+f 42 18 5
+f 42 5 21
+f 42 21 31
+f 42 31 12
+f 42 12 18
+f 43 4 24
+f 43 24 35
+f 43 35 34
+f 43 34 4
+f 44 36 25
+f 44 25 16
+f 44 28 9
+f 44 16 40
+f 44 20 28
+f 44 40 29
+f 44 29 20
+f 45 36 9
+f 45 9 21
+f 45 41 30
+f 45 21 41
+f 46 30 15
+f 46 15 25
+f 47 37 7
+f 47 7 18
+f 47 18 12
+f 47 38 37
+f 47 12 38
+f 48 40 11
+f 48 29 40
+f 48 39 29
+f 48 11 39
+f 49 44 9
+f 49 9 36
+f 49 36 44
+f 51 50 36
+f 51 30 46
+f 51 46 50
+f 51 45 30
+f 51 36 45
+f 52 25 36
+f 52 36 50
+f 52 50 46
+f 52 46 25
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_30.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aeb90cbf000c8871e56cd099a7f6ead9410990
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.08967600 -0.19657483 -0.40173621
+v 0.20212750 -0.07579262 -0.40234712
+v -0.17373575 0.12740726 -0.40219774
+v -0.06280165 0.18401375 -0.41430088
+v 0.08891166 -0.19514484 -0.41671218
+v 0.12477068 0.17587365 -0.40249719
+v 0.18676000 -0.10768004 -0.40239138
+v -0.17613020 -0.12498118 -0.40253312
+v -0.14385504 0.16016368 -0.40241897
+v 0.16338293 0.13766618 -0.41651426
+v 0.16463633 0.13869482 -0.40153829
+v 0.19490158 -0.07360067 -0.41668089
+v -0.04765013 -0.19477413 -0.41430076
+v -0.13890538 -0.16489290 -0.40157423
+v -0.17029353 -0.12019117 -0.41686445
+v -0.13906481 0.15432678 -0.41675180
+v 0.11998059 0.17003693 -0.41682900
+v 0.19477412 0.03249860 -0.41430084
+v 0.18010063 -0.10412055 -0.41672456
+v -0.18401377 0.07795314 -0.41430088
+v -0.13787675 -0.16363951 -0.41655019
+v -0.10825619 0.16886224 -0.41430088
+v 0.07356199 0.18401375 -0.41430088
+v 0.17962260 0.09310466 -0.41430088
+v -0.18401377 -0.07356201 -0.41430084
+v -0.16789837 0.12261665 -0.41653346
+f 7 2 1
+f 7 1 5
+f 9 6 4
+f 11 1 2
+f 11 10 6
+f 11 9 3
+f 11 6 9
+f 12 2 7
+f 13 5 1
+f 14 3 8
+f 14 11 3
+f 14 1 11
+f 14 13 1
+f 16 3 9
+f 17 6 10
+f 17 16 4
+f 17 10 12
+f 17 15 16
+f 18 11 2
+f 18 12 10
+f 18 2 12
+f 19 12 7
+f 19 7 5
+f 19 17 12
+f 19 5 15
+f 19 15 17
+f 20 8 3
+f 21 15 5
+f 21 5 13
+f 21 13 14
+f 21 14 8
+f 21 8 15
+f 22 16 9
+f 22 9 4
+f 22 4 16
+f 23 17 4
+f 23 4 6
+f 23 6 17
+f 24 18 10
+f 24 10 11
+f 24 11 18
+f 25 20 15
+f 25 15 8
+f 25 8 20
+f 26 16 15
+f 26 15 20
+f 26 20 3
+f 26 3 16
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_31.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092f783289e33f8e12db9bc96668ab3f04f8ff1d
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.10535686 -0.18241980 0.47732249
+v 0.18226275 -0.10527873 0.47728432
+v -0.09068008 -0.19023802 0.47719211
+v -0.15371046 0.01741522 0.47620286
+v -0.09077424 -0.19045792 0.46294666
+v 0.10386502 -0.17971879 0.46363085
+v -0.15371201 -0.10426883 0.46844268
+v 0.14931955 -0.14953826 0.46555371
+v -0.11427938 -0.17765669 0.47692934
+v 0.14953972 -0.14950064 0.47727549
+v 0.17962232 0.01741564 0.47619622
+v -0.11434354 -0.17788542 0.46374768
+v 0.17962265 -0.10426750 0.46843790
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 1 5
+f 8 1 6
+f 9 3 4
+f 9 4 7
+f 10 8 2
+f 10 2 1
+f 10 1 8
+f 11 4 2
+f 11 7 4
+f 12 9 7
+f 12 5 3
+f 12 3 9
+f 12 7 11
+f 13 11 2
+f 13 2 8
+f 13 12 11
+f 13 5 12
+f 13 8 6
+f 13 6 5
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_4.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce8d56605d57b73f23a9ae1fdfaa8d435dedcf8
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04178071 -0.24037134 -0.23314921
+v 0.09448771 -0.17527391 -0.49999985
+v 0.13153654 -0.20500243 -0.23421951
+v -0.11333828 -0.20428205 -0.23603878
+v -0.07257591 -0.19219920 -0.49999985
+v -0.09971913 -0.17684585 -0.46362007
+v -0.09928831 -0.22345095 -0.23270503
+v 0.08466082 -0.18719210 -0.49999985
+v 0.09555412 -0.17726898 -0.47882286
+v -0.09788720 -0.17341857 -0.49999985
+v 0.12531649 -0.20851705 -0.23273283
+v -0.04598306 -0.23845418 -0.24808367
+v 0.13074189 -0.20351574 -0.24918109
+v -0.00057381 -0.20861110 -0.47548136
+v -0.08806031 -0.18533679 -0.49999985
+v -0.11102535 -0.19995486 -0.28093904
+v 0.09544278 -0.22447178 -0.23283544
+v -0.09849366 -0.22196427 -0.24766661
+v -0.04614829 -0.24013182 -0.23312210
+v 0.06856080 -0.19343888 -0.49999985
+v -0.03074801 -0.20730306 -0.46018750
+v 0.02650941 -0.23915494 -0.25717829
+v 0.09414986 -0.22205290 -0.25717829
+v -0.04234634 -0.20759296 -0.44499150
+v -0.03087668 -0.23891239 -0.25717829
+v 0.04161548 -0.23869370 -0.24811079
+v 0.01123264 -0.20758054 -0.47536924
+f 6 4 3
+f 8 5 2
+f 9 6 3
+f 10 2 5
+f 10 4 6
+f 10 9 2
+f 10 6 9
+f 11 3 4
+f 11 4 7
+f 13 8 2
+f 13 3 11
+f 13 9 3
+f 13 2 9
+f 15 10 5
+f 16 7 4
+f 16 4 10
+f 17 11 7
+f 17 7 1
+f 18 12 7
+f 18 5 12
+f 18 15 5
+f 18 7 16
+f 18 16 10
+f 18 10 15
+f 19 1 7
+f 19 7 12
+f 20 14 5
+f 20 5 8
+f 21 5 14
+f 22 1 19
+f 23 8 13
+f 23 13 11
+f 23 11 17
+f 23 20 8
+f 23 17 1
+f 24 21 12
+f 24 12 5
+f 24 5 21
+f 25 14 22
+f 25 21 14
+f 25 12 21
+f 25 22 19
+f 25 19 12
+f 26 1 22
+f 26 23 1
+f 26 20 23
+f 27 26 22
+f 27 22 14
+f 27 14 20
+f 27 20 26
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_5.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7245dbbd1e93887c959e1d42233d57349e734c24
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.30940853 -0.07156669 0.41418757
+v 0.27063289 -0.05429566 0.05479241
+v 0.31978920 -0.07011950 0.37200609
+v 0.30367046 0.09396487 0.40003605
+v 0.28857377 -0.05928734 0.44774612
+v 0.31436069 0.08801538 0.37200609
+v 0.25731314 -0.08929988 0.12857824
+v 0.31600007 0.01585612 0.41648216
+v 0.27135651 0.04623907 0.05465234
+v 0.27051117 -0.08411113 0.13057427
+v 0.25880193 -0.08975150 0.14356829
+v 0.28742961 0.06333139 0.44743880
+v 0.31642844 -0.01150723 0.41648216
+v 0.31376046 0.06109013 0.41036874
+v 0.28347298 -0.01124598 0.13075354
+v 0.30922970 0.09565127 0.37014708
+v 0.25819720 -0.05926503 0.05272478
+v 0.28722542 -0.07402984 0.39615992
+v 0.27212433 -0.08460048 0.14553585
+v 0.26066966 0.04817108 0.05247962
+v 0.31228235 -0.06784231 0.40956016
+v 0.30722108 0.09044577 0.40479655
+v 0.31301747 0.08760792 0.38054367
+f 8 3 6
+f 9 6 3
+f 10 2 3
+f 11 3 1
+f 11 5 7
+f 12 7 5
+f 13 5 1
+f 13 3 8
+f 13 12 5
+f 13 8 12
+f 14 8 6
+f 14 12 8
+f 15 9 3
+f 15 3 2
+f 15 2 9
+f 16 6 9
+f 17 10 7
+f 17 2 10
+f 18 11 1
+f 18 1 5
+f 18 5 11
+f 19 10 3
+f 19 3 11
+f 19 11 7
+f 19 7 10
+f 20 12 4
+f 20 9 2
+f 20 2 17
+f 20 17 7
+f 20 7 12
+f 20 16 9
+f 20 4 16
+f 21 13 1
+f 21 1 3
+f 21 3 13
+f 22 4 12
+f 22 12 14
+f 22 16 4
+f 22 6 16
+f 23 22 14
+f 23 14 6
+f 23 6 22
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_6.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b941c718c32d6e82f57bffcc4e295f2cc0795216
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.05579924 -0.28558272 0.17838062
+v 0.13511718 -0.18077913 -0.31076804
+v 0.13951233 -0.21992407 0.00637333
+v -0.04821103 -0.27622661 0.18875067
+v -0.04614829 -0.24013182 -0.23312210
+v 0.14200514 -0.18917213 -0.20591965
+v 0.05951682 -0.27417883 0.18896551
+v 0.09544278 -0.22447178 -0.23283544
+v -0.04625895 -0.28670995 0.17838062
+v -0.04891736 -0.22934066 -0.23533030
+v 0.12531649 -0.20851705 -0.23273283
+v 0.14311504 -0.20567605 -0.08490215
+v 0.08423170 -0.21030260 -0.30893444
+v 0.05313183 -0.23797887 -0.23279960
+v 0.01129714 -0.25368964 -0.14203258
+v -0.05215279 -0.24022604 -0.13049987
+v 0.12559088 -0.23933345 0.00962586
+v 0.11231173 -0.19542529 -0.31254609
+v 0.09798824 -0.25115860 -0.00529472
+v -0.01572002 -0.28431483 0.13065822
+v 0.05289050 -0.25233483 -0.11149383
+v -0.04919117 -0.27102651 0.14223718
+v 0.09426207 -0.20515476 -0.31188044
+v 0.12777308 -0.18698185 -0.30951465
+v 0.08287076 -0.23611928 -0.17197461
+v 0.10899611 -0.23663331 -0.08093828
+v -0.01566471 -0.25345012 -0.14200546
+v 0.02636022 -0.28309492 0.13079634
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 10 6 2
+f 11 2 6
+f 12 6 4
+f 12 4 3
+f 12 11 6
+f 13 5 10
+f 14 13 8
+f 14 5 13
+f 15 5 14
+f 16 6 10
+f 16 10 5
+f 16 5 9
+f 17 3 1
+f 17 8 11
+f 17 12 3
+f 17 11 12
+f 18 11 8
+f 19 17 1
+f 20 9 5
+f 20 1 9
+f 21 15 14
+f 21 1 15
+f 21 19 1
+f 21 14 19
+f 22 16 9
+f 22 9 4
+f 22 4 6
+f 22 6 16
+f 23 18 8
+f 23 8 13
+f 23 13 10
+f 23 10 2
+f 23 2 18
+f 24 18 2
+f 24 2 11
+f 24 11 18
+f 25 19 14
+f 25 14 8
+f 25 8 19
+f 26 19 8
+f 26 8 17
+f 26 17 19
+f 27 20 5
+f 27 5 15
+f 27 15 20
+f 28 20 15
+f 28 15 1
+f 28 1 20
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_7.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c221b12bf6a200225f239a32eb559696123172f
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.27266927 -0.09262608 0.26363637
+v -0.18541217 -0.07398621 -0.49999993
+v -0.26753289 0.12755632 0.39615990
+v -0.29333104 0.12514841 0.39967197
+v -0.24249039 -0.01125393 -0.24804352
+v -0.28632337 -0.07702033 0.33956985
+v -0.18401377 -0.07356201 -0.41430084
+v -0.22698737 -0.08336478 -0.25717833
+v -0.18035284 0.08409497 -0.49999993
+v -0.29036664 0.06289029 0.39615990
+v -0.28831173 0.01568119 0.16100587
+v -0.19779998 -0.05340018 -0.49999993
+v -0.27104060 -0.08293970 0.11587744
+v -0.21174957 -0.09543993 -0.25154492
+v -0.21207360 0.11515580 -0.16067561
+v -0.22661769 0.08764380 -0.24788039
+v -0.28922317 -0.06870763 0.34278900
+v -0.24257502 -0.05319407 -0.20252072
+v -0.19231438 -0.07148381 -0.49999993
+v -0.19642773 0.05737505 -0.49999993
+v -0.20173965 -0.09008956 -0.35637665
+v -0.18401377 -0.05841049 -0.41430084
+v -0.21864526 0.10247114 -0.25717839
+v -0.24122002 0.05717418 -0.20236117
+v -0.28732810 -0.02634469 0.16111723
+v -0.21223334 -0.01125847 -0.42994312
+v -0.20063368 0.10904105 -0.28048330
+v -0.19094212 0.07545868 -0.49999993
+v -0.22597333 0.09828943 -0.21731473
+v -0.28852996 0.03085422 0.17613274
+v -0.24201458 0.01559820 -0.24798965
+v -0.27256767 -0.05430168 0.05506504
+v -0.27061542 0.07205034 0.08562448
+v -0.21175707 0.01560270 -0.42989130
+f 6 1 3
+f 7 3 1
+f 9 7 2
+f 10 6 3
+f 10 3 4
+f 12 9 2
+f 13 1 6
+f 14 7 1
+f 14 13 8
+f 14 1 13
+f 15 4 3
+f 17 10 4
+f 17 6 10
+f 17 4 11
+f 17 13 6
+f 18 12 8
+f 18 5 12
+f 19 12 2
+f 19 8 12
+f 20 9 12
+f 21 2 7
+f 21 7 14
+f 21 19 2
+f 21 14 8
+f 21 8 19
+f 22 15 3
+f 22 3 7
+f 22 7 9
+f 23 4 15
+f 24 4 16
+f 24 16 20
+f 25 17 11
+f 25 13 17
+f 25 11 5
+f 26 20 12
+f 26 12 5
+f 27 22 9
+f 27 15 22
+f 27 23 15
+f 27 9 23
+f 28 20 16
+f 28 16 23
+f 28 23 9
+f 28 9 20
+f 29 23 16
+f 29 16 4
+f 29 4 23
+f 30 11 4
+f 31 5 11
+f 31 30 24
+f 31 11 30
+f 31 24 20
+f 32 13 25
+f 32 18 8
+f 32 8 13
+f 32 25 5
+f 32 5 18
+f 33 30 4
+f 33 4 24
+f 33 24 30
+f 34 31 20
+f 34 20 26
+f 34 26 5
+f 34 5 31
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_8.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f89d19741c508c1f058951ced867882b7d5553
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.09961014 -0.30195985 0.41138017
+v 0.18330287 -0.25986461 0.39861956
+v 0.16711013 -0.22498224 0.49999995
+v 0.14931781 -0.10330499 0.46850517
+v 0.11473551 -0.27718345 0.35713271
+v 0.18276064 -0.10554236 0.49999995
+v 0.05841048 -0.22507716 0.49999995
+v 0.17100561 -0.26956202 0.41007379
+v 0.17962265 -0.10426750 0.46843790
+v 0.10122165 -0.26181778 0.49999996
+v 0.10129604 -0.30751747 0.37014715
+v 0.05840944 -0.17875425 0.46369643
+v 0.16173666 -0.28056750 0.37014715
+v 0.12384119 -0.25121154 0.49999995
+v 0.12395096 -0.29687149 0.40479662
+v 0.05637387 -0.20319915 0.46213491
+v 0.06061372 -0.20203721 0.49999995
+v 0.12683906 -0.30227475 0.37200616
+v 0.17190282 -0.27124059 0.40479662
+v 0.11363186 -0.29823544 0.40997646
+v 0.14004782 -0.28348861 0.41648223
+v 0.10550492 -0.30624072 0.37014715
+v 0.15670728 -0.28630977 0.37200616
+f 6 3 2
+f 8 2 3
+f 9 5 4
+f 9 6 2
+f 9 4 6
+f 10 7 1
+f 10 3 6
+f 11 1 7
+f 12 4 5
+f 12 5 11
+f 13 9 2
+f 13 5 9
+f 14 8 3
+f 14 3 10
+f 15 14 10
+f 16 12 11
+f 16 11 7
+f 16 7 12
+f 17 12 7
+f 17 6 4
+f 17 4 12
+f 17 10 6
+f 17 7 10
+f 18 5 13
+f 18 15 1
+f 18 1 11
+f 19 2 8
+f 19 15 18
+f 20 15 10
+f 20 10 1
+f 20 1 15
+f 21 8 14
+f 21 14 15
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diff --git a/coffee_cup/coffee_cup_14/collision/model_normalized_collision_9.obj b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54361df613ad27470e26affc01102096fedf430
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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diff --git a/coffee_cup/coffee_cup_14/model.xml b/coffee_cup/coffee_cup_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f91e05d01e8e0f1787bb9483e26c02bee53295d5
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/model.xml
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diff --git a/coffee_cup/coffee_cup_14/visual/image0.png b/coffee_cup/coffee_cup_14/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62510bbbc3c84ece82c4686a3905fe844336ca92
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa208e5fb2a04441e22cc40212b4a77aeed5e691c742df2838947d5602d1337
+size 605718
diff --git a/coffee_cup/coffee_cup_14/visual/material.mtl b/coffee_cup/coffee_cup_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_14/visual/material_0.jpeg b/coffee_cup/coffee_cup_14/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..11c61c04ae2671334788c6327dde3adb2caa1be9
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7da77c18e22b71e200f5e08af42b2c487e41931fdb412ab379a579dda1cdefa
+size 80512
diff --git a/coffee_cup/coffee_cup_14/visual/model_normalized_0.obj b/coffee_cup/coffee_cup_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65af15946455f7eccba4c7986b34d7cbb37b37c1
--- /dev/null
+++ b/coffee_cup/coffee_cup_14/visual/model_normalized_0.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/coffee_cup/coffee_cup_15/model.xml b/coffee_cup/coffee_cup_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..755a078cf7fb12d34655b02e43c3c553e5a44ef8
--- /dev/null
+++ b/coffee_cup/coffee_cup_15/model.xml
@@ -0,0 +1,81 @@
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diff --git a/coffee_cup/coffee_cup_16/model.xml b/coffee_cup/coffee_cup_16/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da3c079e16926bead4729631307488d12e70a0c7
--- /dev/null
+++ b/coffee_cup/coffee_cup_16/model.xml
@@ -0,0 +1,117 @@
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diff --git a/coffee_cup/coffee_cup_17/model.xml b/coffee_cup/coffee_cup_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68a0b005c995aa8e1aa826b77514c4ecfe6afaa8
--- /dev/null
+++ b/coffee_cup/coffee_cup_17/model.xml
@@ -0,0 +1,87 @@
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diff --git a/coffee_cup/coffee_cup_2/model.xml b/coffee_cup/coffee_cup_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d01bbc8a3a1592fa9ea8d6faf46283311795e8ec
--- /dev/null
+++ b/coffee_cup/coffee_cup_2/model.xml
@@ -0,0 +1,86 @@
+
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diff --git a/coffee_cup/coffee_cup_20/model.xml b/coffee_cup/coffee_cup_20/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0864c9098f810806120dee1193a26219c0385b6a
--- /dev/null
+++ b/coffee_cup/coffee_cup_20/model.xml
@@ -0,0 +1,84 @@
+
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diff --git a/coffee_cup/coffee_cup_21/model.xml b/coffee_cup/coffee_cup_21/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f5b6a23f198490f1dedb749ef43acd29a601e31
--- /dev/null
+++ b/coffee_cup/coffee_cup_21/model.xml
@@ -0,0 +1,86 @@
+
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diff --git a/coffee_cup/coffee_cup_3/model.xml b/coffee_cup/coffee_cup_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..df521cdb29d641927ca8c8bfe13d5aa2daf13a22
--- /dev/null
+++ b/coffee_cup/coffee_cup_3/model.xml
@@ -0,0 +1,89 @@
+
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diff --git a/coffee_cup/coffee_cup_4/model.xml b/coffee_cup/coffee_cup_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88d064810ad260d69580df1e9182aab1715d2d03
--- /dev/null
+++ b/coffee_cup/coffee_cup_4/model.xml
@@ -0,0 +1,84 @@
+
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diff --git a/coffee_cup/coffee_cup_6/model.xml b/coffee_cup/coffee_cup_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c648650bfe0c665f205a9afe62c55ad7a21959a0
--- /dev/null
+++ b/coffee_cup/coffee_cup_6/model.xml
@@ -0,0 +1,81 @@
+
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diff --git a/coffee_cup/coffee_cup_7/model.xml b/coffee_cup/coffee_cup_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75e18ea353f19a68dce9c1bb5f1247a0607c39e2
--- /dev/null
+++ b/coffee_cup/coffee_cup_7/model.xml
@@ -0,0 +1,87 @@
+
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diff --git a/coffee_cup/coffee_cup_8/model.xml b/coffee_cup/coffee_cup_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..71be8aef85830ddb453188034d3764debac46b83
--- /dev/null
+++ b/coffee_cup/coffee_cup_8/model.xml
@@ -0,0 +1,84 @@
+
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diff --git a/coffee_cup/coffee_cup_9/model.xml b/coffee_cup/coffee_cup_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..86b2b69231afd909158fa8619c00be4b7cd3be1b
--- /dev/null
+++ b/coffee_cup/coffee_cup_9/model.xml
@@ -0,0 +1,84 @@
+
+
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diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_0.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2aac002d3b057b97445a88124648bb1a58e2a1f
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02803617 -0.00443758 0.00770984
+v 0.02803617 -0.00462891 0.00770963
+v 0.02803617 -0.00443758 0.00757094
+v 0.02374579 -0.00443758 0.00848884
+v 0.02803617 -0.00466297 0.00770953
+v 0.02803617 -0.00609563 0.00757094
+v 0.01392143 -0.00443758 0.00757094
+v 0.02362143 -0.00443758 0.00850814
+v 0.02772942 -0.00640344 0.00757094
+v 0.01392143 -0.00781886 0.00757094
+v 0.01392143 -0.00443758 0.00820618
+v 0.02334231 -0.00872042 0.00757094
+v 0.02741852 -0.00671378 0.00757094
+v 0.02043508 -0.00443758 0.00861762
+v 0.01926334 -0.00873304 0.00757094
+v 0.01926334 -0.00443758 0.00864821
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 9
+f 3 9 13
+f 3 13 12
+f 3 12 15
+f 3 15 10
+f 3 10 7
+f 4 8 6
+f 4 6 5
+f 6 8 9
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 8 14 12
+f 10 15 16
+f 10 16 11
+f 12 14 16
+f 12 16 15
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_1.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75819a28c0a23362ca18d9121fa990156c2cebcf
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.05668730 0.01980833 0.00756538
+v 0.05189037 0.01980833 0.00823593
+v 0.05902783 0.01882350 0.00756538
+v 0.04123248 0.01980833 0.00756538
+v 0.05420807 0.01421845 0.00908853
+v 0.04781333 0.01980833 0.00863478
+v 0.05917005 0.01477728 0.00756538
+v 0.04124302 0.01731710 0.00756538
+v 0.04909509 0.00757408 0.00921239
+v 0.04907402 0.01165109 0.00919172
+v 0.04373454 0.01980833 0.00797726
+v 0.05189037 0.01464931 0.00914290
+v 0.05189037 0.01165109 0.00933990
+v 0.05424494 0.01165109 0.00910364
+v 0.04942870 0.01444036 0.00907238
+v 0.05909981 0.01165109 0.00756538
+v 0.04148181 0.01347659 0.00756538
+v 0.04945855 0.00525455 0.00909982
+v 0.05035753 0.00525455 0.00909982
+v 0.05178678 0.00782029 0.00919971
+v 0.04176274 0.00967981 0.00756538
+v 0.04219643 0.00757408 0.00756538
+v 0.05407287 0.00934451 0.00902009
+v 0.05869071 0.01047026 0.00756538
+v 0.04663868 0.00365906 0.00756538
+v 0.04755874 0.00326059 0.00756538
+v 0.04261783 0.00645643 0.00756538
+v 0.04477750 0.00477509 0.00756538
+v 0.05159188 0.00356835 0.00756538
+v 0.05179205 0.00360885 0.00756538
+v 0.05178678 0.00373519 0.00766145
+v 0.05205542 0.00369955 0.00756538
+v 0.05755995 0.00771339 0.00756538
+v 0.05307731 0.00662489 0.00866814
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 24
+f 1 24 33
+f 1 33 32
+f 1 32 30
+f 1 30 29
+f 1 29 26
+f 1 26 25
+f 1 25 28
+f 1 28 27
+f 1 27 22
+f 1 22 21
+f 1 21 17
+f 1 17 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 11 10
+f 6 10 15
+f 6 15 12
+f 7 14 16
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 13
+f 9 13 10
+f 9 17 21
+f 9 21 22
+f 9 22 18
+f 10 13 15
+f 12 15 13
+f 13 20 14
+f 14 20 23
+f 14 23 16
+f 16 23 24
+f 18 25 26
+f 18 26 19
+f 18 22 27
+f 18 27 28
+f 18 28 25
+f 19 26 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 23
+f 19 23 20
+f 23 34 33
+f 23 33 24
+f 30 32 31
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_10.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847db9b21d9bcf6a8fcf28d7ed31c1e8c14ac826
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,564 @@
+# https://github.com/mikedh/trimesh
+v -0.00928369 0.06809357 -0.00123852
+v -0.00928369 0.06743060 0.00283542
+v -0.00521179 0.06803043 -0.00123852
+v -0.00521179 0.06736220 -0.00522618
+v -0.00967690 0.06725697 -0.00570330
+v -0.01295365 0.06719120 -0.00545330
+v -0.01336434 0.06793046 -0.00123852
+v -0.00928369 0.06672817 0.00489879
+v -0.00670598 0.06671765 0.00488295
+v -0.00529043 0.06725171 0.00322802
+v -0.01305851 0.06721751 0.00299739
+v -0.01149441 0.06673343 0.00489879
+v -0.00227145 0.06713332 -0.00455717
+v -0.00224524 0.06714911 0.00212943
+v -0.00179523 0.06735431 -0.00123852
+v -0.00521179 0.06662031 -0.00726843
+v -0.01128906 0.06671239 -0.00735822
+v -0.01132401 0.06671239 -0.00735822
+v -0.01404590 0.06634933 -0.00690400
+v -0.01595952 0.06704650 -0.00418393
+v -0.01625661 0.06722803 -0.00123852
+v -0.01598136 0.06706229 0.00174739
+v -0.00928369 0.06467086 0.00584774
+v -0.00529043 0.06507075 0.00562943
+v -0.00398847 0.06669397 0.00484950
+v -0.01421192 0.06644667 0.00446570
+v -0.01744061 0.06367904 0.00548506
+v -0.01305851 0.06492079 0.00559774
+v 0.00024072 0.06627567 -0.00123852
+v -0.00100444 0.06589157 -0.00567513
+v -0.00098697 0.06596260 0.00322802
+v 0.00127181 0.06300818 -0.00761702
+v -0.00113551 0.06387109 -0.00785294
+v -0.00521179 0.06458142 -0.00796033
+v -0.00967690 0.06505234 -0.00783885
+v -0.01295365 0.06486554 -0.00783885
+v -0.01744061 0.06358696 -0.00783181
+v -0.01990909 0.06290295 -0.00759062
+v -0.01830130 0.06595208 -0.00123852
+v -0.02078726 0.06346857 -0.00531773
+v -0.02350041 0.06259514 -0.00123852
+v -0.02286691 0.06211633 0.00283542
+v -0.02083095 0.06350014 0.00283542
+v -0.01737944 0.06561796 0.00299739
+v 0.00074316 0.05460532 0.00901498
+v 0.00137229 0.05460532 0.00901498
+v -0.01336434 0.06059308 0.00700266
+v -0.00113551 0.06394738 0.00555900
+v 0.00130676 0.06304501 0.00516816
+v -0.01995715 0.06293189 0.00513999
+v -0.02139018 0.06060097 0.00570161
+v -0.01744061 0.06059308 0.00658541
+v 0.00200143 0.06375007 0.00283542
+v 0.00249076 0.06423415 -0.00123852
+v 0.00196211 0.06370535 -0.00531773
+v 0.00600343 0.05959863 -0.00531773
+v 0.00531750 0.05890409 -0.00759942
+v 0.00274853 0.06039577 -0.00790047
+v -0.00113551 0.06059308 -0.00845505
+v -0.00521179 0.06059308 -0.00856244
+v -0.01336434 0.06059308 -0.00856244
+v -0.01744061 0.06059308 -0.00843392
+v -0.02136834 0.06056940 -0.00797970
+v -0.02418634 0.05919348 -0.00775611
+v -0.02281885 0.06206898 -0.00531773
+v -0.02499898 0.06002745 -0.00531773
+v -0.02551452 0.06055625 -0.00123852
+v -0.02505140 0.06008007 0.00283542
+v -0.02423003 0.05924610 0.00533893
+v -0.00928806 0.05180348 0.00929843
+v 0.00137229 0.05364243 0.00901498
+v 0.00281406 0.05234543 0.00873153
+v 0.00476700 0.05239016 0.00791463
+v 0.00702577 0.05244278 0.00696745
+v 0.00281406 0.05618644 0.00787062
+v -0.00928806 0.04836236 0.00942167
+v -0.01184829 0.05133783 0.00919808
+v 0.00535245 0.05894092 0.00521569
+v -0.02151688 0.05651530 0.00678435
+v -0.02029793 0.04696539 0.00920688
+v 0.00604275 0.05964072 0.00283542
+v 0.00653208 0.06013531 -0.00123852
+v 0.00452234 0.06217684 -0.00123852
+v 0.00857677 0.05769654 -0.00123852
+v 0.00937629 0.05523934 -0.00416104
+v 0.00801754 0.05656791 -0.00544097
+v 0.00868162 0.05391077 -0.00688111
+v 0.00930202 0.05119050 -0.00759942
+v 0.00596848 0.05651530 -0.00784237
+v 0.00293639 0.05651530 -0.00844449
+v 0.00293639 0.05254011 -0.00856068
+v 0.00284901 0.05253748 -0.00856244
+v -0.02151252 0.05253748 -0.00856420
+v -0.02151688 0.05254011 -0.00856420
+v -0.02151688 0.05651530 -0.00856244
+v -0.02482422 0.05651530 -0.00796033
+v -0.02788251 0.05129310 -0.00759766
+v -0.02733639 0.05401601 -0.00700611
+v -0.02698250 0.05681784 -0.00551668
+v -0.02755921 0.05832531 -0.00123852
+v -0.02708299 0.05684678 0.00306077
+v -0.02744124 0.05409494 0.00457133
+v -0.02771212 0.05254011 0.00490055
+v -0.02791310 0.05137466 0.00514703
+v -0.02493781 0.05651530 0.00567520
+v -0.02395042 0.04287708 0.00910653
+v -0.02159990 0.04425564 0.00934773
+v -0.00611180 0.04836236 0.00914702
+v -0.00690259 0.04623665 0.00899386
+v 0.00293639 0.04121703 0.00739175
+v 0.00702577 0.04121703 0.00695689
+v 0.01089234 0.04121703 0.00560302
+v 0.00683354 0.05618118 0.00586182
+v 0.00930639 0.05254011 0.00516816
+v 0.00912726 0.05460795 0.00497626
+v -0.02171349 0.04121966 0.00927378
+v -0.02089212 0.04121966 0.00927026
+v -0.01972123 0.04121966 0.00921921
+v 0.00808307 0.05721246 0.00283542
+v 0.00936756 0.05517357 0.00283542
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_11.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d080ca219636ac63decdfa1b57d7eacb346e2bb6
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01847751 0.00755722 0.00760202
+v 0.01584709 0.00755722 0.00748650
+v 0.01847751 0.00755722 -0.00856406
+v 0.01847751 0.02388644 0.00734883
+v 0.01584709 0.02388644 0.00734883
+v 0.01584709 0.00755722 -0.00856406
+v 0.01847751 0.02796420 -0.00856406
+v 0.01847751 0.02718141 0.00724914
+v 0.01584709 0.02455090 0.00732826
+v 0.01584709 0.02796420 -0.00856406
+v 0.01847751 0.03204499 -0.00845170
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_12.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2cff8b7cf6f48af2b272de575d708b31942893d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.03046545 0.01727621 0.00761739
+v -0.03231202 0.01624151 0.00761739
+v -0.03046545 -0.01829652 0.00761739
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+v -0.03231220 -0.03003657 -0.00564026
+v -0.03231220 -0.03019264 0.00305720
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_13.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afa85851b8656723c058a727ecf9a5daa3c998ca
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,468 @@
+# https://github.com/mikedh/trimesh
+v -0.03231220 -0.02104310 0.00712261
+v -0.03231220 -0.02360806 0.00672219
+v -0.03231220 -0.02104310 -0.00855794
+v -0.03383426 -0.02104310 0.00719955
+v -0.04191957 -0.02505891 0.00731261
+v -0.03784372 -0.02505891 0.00709905
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diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_14.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a979d66276662a7991994e8cb3751f03aa7a4d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_15.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687ea8a0993f9c6c12775a5409b614439c260376
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01392005 0.00755722 0.00763476
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+f 26 31 32
+f 26 32 33
+f 28 34 35
+f 28 35 29
+f 32 35 36
+f 32 36 33
+f 34 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_16.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a53274d2f9b484920d5acfc4835abc7a850d11
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,306 @@
+# https://github.com/mikedh/trimesh
+v -0.01335983 -0.04955200 -0.00856407
+v -0.02557408 -0.04955200 -0.00856230
+v -0.02559614 -0.04952785 -0.00856230
+v -0.01335983 -0.04952785 -0.00856407
+v -0.00521405 -0.04955200 -0.00856407
+v -0.02559614 -0.04955200 -0.00856054
+v -0.02559614 -0.03927524 -0.00856230
+v -0.02853497 -0.04952785 -0.00795959
+v -0.02889240 -0.04544935 -0.00796135
+v -0.02889681 -0.04137285 -0.00796135
+v -0.00929577 -0.04102174 -0.00856407
+v -0.00113675 -0.04952785 -0.00856407
+v -0.00113675 -0.04955200 -0.00856230
+v -0.02853056 -0.04955200 -0.00795782
+v -0.02886593 -0.04102174 -0.00796135
+v -0.02870707 -0.03927524 -0.00795959
+v 0.00294055 -0.03927524 -0.00856407
+v -0.03093105 -0.04544935 -0.00608623
+v -0.03093546 -0.04137285 -0.00610914
+v 0.00294055 -0.04137285 -0.00856407
+v 0.00294055 -0.04544935 -0.00854997
+v 0.00321854 -0.04955200 -0.00809705
+v -0.03046331 -0.04955200 -0.00518392
+v -0.03092222 -0.04102174 -0.00601221
+v -0.03083397 -0.03927524 -0.00552405
+v 0.00708845 -0.03927524 -0.00821512
+v -0.03198568 -0.04544935 -0.00404545
+v -0.03199450 -0.04137285 -0.00407012
+v -0.03056480 -0.04955200 -0.00500239
+v 0.00373924 -0.04955200 -0.00799660
+v 0.00979782 -0.03927524 -0.00768995
+v 0.00603824 -0.04544935 -0.00794549
+v -0.03196803 -0.04102174 -0.00398377
+v -0.03092664 -0.03927524 -0.00534076
+v -0.03175622 -0.04767270 -0.00339339
+v -0.03227691 -0.04544935 -0.00123806
+v -0.03229898 -0.04137285 -0.00123806
+v -0.03140321 -0.04955200 -0.00153413
+v 0.00548224 -0.04864656 -0.00774106
+v 0.00606030 -0.04955200 -0.00608623
+v 0.01172175 -0.03927524 -0.00532843
+v -0.03181358 -0.03927524 -0.00354319
+v -0.03141203 -0.04955200 -0.00123806
+v -0.03178711 -0.04781355 -0.00123806
+v -0.03200333 -0.04544935 0.00162926
+v -0.03177387 -0.04773810 0.00095252
+v -0.03201657 -0.04137285 0.00165393
+v -0.03199450 -0.04102174 0.00157815
+v -0.03186212 -0.03927524 0.00120101
+v -0.03195038 -0.03927524 0.00027402
+v -0.03197685 -0.03927524 -0.00123982
+v 0.00634271 -0.04955200 -0.00559101
+v 0.01200857 -0.03927524 -0.00429218
+v -0.03103696 -0.04955200 0.00069522
+v -0.03066188 -0.04955200 0.00254214
+v -0.03110756 -0.04544935 0.00366827
+v -0.03120022 -0.04137285 0.00369471
+v -0.03118257 -0.04102174 0.00359954
+v -0.03154000 -0.03927524 0.00200463
+v 0.00736645 -0.04952785 -0.00123806
+v 0.00735321 -0.04955200 -0.00123806
+v 0.01278078 -0.03927524 -0.00123982
+v -0.02862764 -0.04955200 0.00561565
+v -0.02863205 -0.04952785 0.00561741
+v -0.02767892 -0.03941609 0.00897994
+v -0.02767892 -0.03927524 0.00897994
+v -0.03095311 -0.04102174 0.00399783
+v -0.03108550 -0.03927524 0.00313076
+v 0.00734880 -0.04955200 -0.00121162
+v 0.01180117 -0.03927524 0.00285055
+v 0.00641331 -0.04955200 0.00313605
+v 0.00650157 -0.04955200 0.00275010
+v -0.02561379 -0.04955200 0.00682637
+v -0.02559614 -0.04955200 0.00683166
+v -0.02151884 -0.04955200 0.00734273
+v -0.00745569 -0.04760932 0.00900990
+v -0.00900894 -0.04538697 0.00933416
+v -0.00929135 -0.04137285 0.00943990
+v -0.00929577 -0.03927524 0.00901342
+v -0.02970874 -0.03927524 0.00551696
+v 0.01102013 -0.03927524 0.00386741
+v 0.00553078 -0.04870893 0.00564737
+v 0.00532780 -0.04955200 0.00536187
+v -0.00936196 -0.04955200 0.00808115
+v -0.00537291 -0.04955200 0.00822037
+v -0.00022774 -0.04764756 0.00904867
+v 0.00120196 -0.04764756 0.00904867
+v -0.00559796 -0.04544935 0.00926543
+v 0.00166529 -0.04544935 0.00910506
+v 0.00162116 -0.04317769 0.00906100
+v -0.00721299 -0.03929436 0.00897112
+v -0.00780870 -0.03927524 0.00897994
+v 0.00985960 -0.03927524 0.00526671
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+v -0.00170157 -0.04955200 0.00808467
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+v 0.00913151 -0.03927524 0.00587471
+v 0.00517335 -0.03927524 0.00727752
+v 0.00295379 -0.03927524 0.00764761
+v -0.00719534 -0.03927524 0.00896055
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+f 1 7 4
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+f 1 12 5
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+f 18 23 29
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+f 20 26 21
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+f 82 95 83
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+f 87 89 88
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+f 91 102 103
+f 93 100 96
+f 94 96 100
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_17.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed31a66b0eccc9ee4b0d57e24da76f4b5e6f6337
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01337396 0.04121703 0.00796652
+v -0.01913788 0.04121703 0.00912247
+v -0.01337396 0.03635243 0.00739379
+v -0.01337396 0.04121703 -0.00856246
+v -0.01972322 0.04121703 0.00921851
+v -0.02326183 0.03801190 0.00904215
+v -0.02174789 0.03635243 0.00799970
+v -0.01337396 0.03635243 -0.00074847
+v -0.01337396 0.03635719 -0.00856246
+v -0.02152569 0.03635243 -0.00856421
+v -0.02152569 0.04121703 -0.00856246
+v -0.02089723 0.04121703 0.00926914
+v -0.02175286 0.04023563 0.00924994
+v -0.02377753 0.03801190 0.00904215
+v -0.02533127 0.03635243 0.00716330
+v -0.01359616 0.03635243 -0.00856246
+v -0.02253885 0.04121703 -0.00855373
+v -0.02175452 0.03635243 -0.00855373
+v -0.02560321 0.04121703 -0.00843499
+v -0.02171638 0.04121703 0.00927438
+v -0.02401631 0.04020278 0.00913469
+v -0.02605590 0.04020278 0.00778667
+v -0.02776054 0.03635243 0.00539795
+v -0.02540920 0.03635243 0.00711615
+v -0.02560321 0.03635243 -0.00816259
+v -0.02560321 0.04020278 -0.00840531
+v -0.02627645 0.04121703 -0.00828482
+v -0.02341107 0.04121703 0.00918708
+v -0.02399144 0.04121703 0.00912421
+v -0.02525665 0.04121703 0.00828781
+v -0.02589837 0.04121703 0.00781635
+v -0.02820825 0.04121703 0.00574718
+v -0.02815685 0.04020278 0.00574718
+v -0.02787827 0.03635243 0.00528445
+v -0.02574416 0.03635243 -0.00812942
+v -0.02811373 0.04020278 -0.00780289
+v -0.02816182 0.04121703 -0.00783257
+v -0.02955306 0.04121703 0.00283636
+v -0.02943532 0.04020278 0.00283636
+v -0.02885661 0.03635243 0.00283636
+v -0.02784345 0.03635243 -0.00756017
+v -0.02854155 0.04121703 -0.00718650
+v -0.03031251 0.04121703 -0.00124089
+v -0.03017820 0.04020278 -0.00124089
+v -0.02957793 0.03635243 -0.00124089
+v -0.02791309 0.03635243 -0.00742048
+v -0.02948673 0.04121703 -0.00531813
+v -0.02970395 0.04121703 -0.00430537
+v -0.02937065 0.04020278 -0.00531813
+v -0.02880023 0.03635243 -0.00531813
+v -0.02884500 0.03635243 -0.00509113
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
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+f 1 17 19
+f 1 19 27
+f 1 27 37
+f 1 37 42
+f 1 42 47
+f 1 47 48
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+f 1 43 38
+f 1 38 32
+f 1 32 31
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+f 1 30 29
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+f 1 28 20
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+f 22 34 23
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+f 33 39 34
+f 34 39 40
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+f 38 43 39
+f 39 43 44
+f 39 44 40
+f 40 44 45
+f 41 46 47
+f 41 47 42
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+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 46 50 49
+f 46 49 47
+f 47 49 48
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_18.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c1f387df8afe5fb8e58dfdae5c7a7bda77b4d5
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.03376121 0.01961680 -0.00856422
+v -0.03376121 0.01981013 -0.00856422
+v -0.03231244 0.01981013 -0.00856422
+v -0.03231244 0.01961680 -0.00856269
+v -0.03471412 0.01961680 -0.00856269
+v -0.03471412 0.01981013 -0.00856269
+v -0.03471412 0.02076249 -0.00855809
+v -0.03471412 0.02401155 -0.00818987
+v -0.03231244 0.02265117 -0.00822976
+v -0.03231244 0.01961680 0.00707734
+v -0.03471412 0.01961680 0.00710956
+v -0.03471412 0.02496302 -0.00800883
+v -0.03231244 0.02405521 -0.00799809
+v -0.03231244 0.01981013 0.00705432
+v -0.03471412 0.01981013 0.00710342
+v -0.03471412 0.01976469 0.00710495
+v -0.03471412 0.02613276 -0.00777256
+v -0.03471412 0.02637508 -0.00768357
+v -0.03231244 0.02557774 -0.00694100
+v -0.03231244 0.02411222 0.00579011
+v -0.03471412 0.02405254 0.00612151
+v -0.03471412 0.02638310 -0.00767130
+v -0.03231244 0.02723123 -0.00541443
+v -0.03231244 0.02475634 0.00526694
+v -0.03471412 0.02626817 0.00534211
+v -0.03471412 0.02777110 -0.00540676
+v -0.03231244 0.02833236 -0.00123977
+v -0.03231244 0.02727755 0.00296098
+v -0.03471412 0.02652297 0.00510124
+v -0.03471412 0.02871723 -0.00123977
+v -0.03471412 0.02848649 -0.00006301
+v -0.03471412 0.02783347 0.00293950
+v -0.03231244 0.02766776 0.00145129
+f 1 2 3
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+f 2 6 7
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+f 5 16 15
+f 5 15 21
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+f 5 26 22
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+f 5 17 12
+f 5 12 8
+f 5 8 7
+f 5 7 6
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+f 12 17 13
+f 13 17 18
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+f 18 22 23
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+f 22 26 23
+f 23 26 27
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+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 27 32 33
+f 28 33 32
+f 28 32 29
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_19.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5bce7e073dfc8316d3aba3d500627279612cd62
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.04447956 -0.00110742 0.00557368
+v 0.04393121 -0.00110742 0.00591975
+v 0.04393121 -0.00196594 0.00592117
+v 0.04447956 -0.00196594 0.00543269
+v 0.04447956 -0.00110742 -0.00767795
+v 0.04354788 -0.00110742 0.00601659
+v 0.04262505 -0.00196594 0.00625157
+v 0.04447956 -0.00196594 -0.00764947
+v 0.04390347 -0.00196594 -0.00806105
+v 0.04387492 -0.00196594 -0.00808098
+v 0.04388376 -0.00110742 -0.00807529
+v 0.04242605 -0.00110742 0.00629572
+v 0.04242605 -0.00196594 0.00630142
+v 0.04387492 -0.00110742 -0.00808098
+v 0.04242605 -0.00196594 -0.00824761
+v 0.04291028 -0.00110742 -0.00819207
+v 0.04242605 -0.00110742 -0.00824618
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
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+f 1 17 12
+f 1 12 6
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+f 2 6 7
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+f 3 15 10
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+f 3 8 4
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+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 11
+f 10 15 16
+f 10 16 14
+f 12 17 15
+f 12 15 13
+f 15 17 16
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_2.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4099676822a2c806038b8996ab7b796a684c39d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.02738834 0.01162127 0.00736970
+v 0.01847879 0.01981088 0.00736658
+v 0.01847879 0.01573135 0.00736658
+v 0.01847879 0.01494734 0.00736034
+v 0.01847879 0.01162127 0.00733227
+v 0.03149770 0.01162127 0.00736658
+v 0.03149770 0.02389042 0.00736658
+v 0.02741893 0.02796995 0.00736658
+v 0.01847879 0.02389042 0.00734942
+v 0.02334144 0.02796995 0.00736502
+v 0.01847879 0.01162127 -0.00856406
+v 0.03149770 0.01162127 -0.00856406
+v 0.03149770 0.02796995 0.00734942
+v 0.03149770 0.03204270 0.00731355
+v 0.01847879 0.02718255 0.00724960
+v 0.02741893 0.03204270 0.00728236
+v 0.01847879 0.02796995 -0.00856406
+v 0.03149770 0.03612224 -0.00856406
+v 0.03149770 0.03612224 0.00719657
+v 0.01847879 0.02796995 0.00719813
+v 0.03149770 0.04020177 0.00696886
+v 0.01847879 0.03204270 -0.00845176
+v 0.02741893 0.03612224 -0.00856250
+v 0.02334144 0.03204270 -0.00856406
+v 0.03149770 0.04020177 -0.00845176
+v 0.01847879 0.03125870 0.00672711
+v 0.03149770 0.04345657 0.00585836
+v 0.01847879 0.03538235 0.00547936
+v 0.01847879 0.03204270 0.00658674
+v 0.01847879 0.03272149 -0.00833322
+v 0.02754767 0.04018141 -0.00799165
+v 0.03149770 0.04328009 -0.00784816
+v 0.03149770 0.04538434 0.00316011
+v 0.02895102 0.04257075 0.00516742
+v 0.01847879 0.03701145 0.00350480
+v 0.02146521 0.03802285 0.00467924
+v 0.01847879 0.03531108 -0.00783568
+v 0.02899436 0.04254021 -0.00761109
+v 0.03149770 0.04336834 -0.00774678
+v 0.03149770 0.04611065 0.00013276
+v 0.02537955 0.04224154 0.00079874
+v 0.01847879 0.03720830 0.00306029
+v 0.01847879 0.03714042 -0.00551799
+v 0.02152257 0.03794140 -0.00711043
+v 0.03149770 0.04522483 -0.00553982
+v 0.03149770 0.04629053 -0.00123977
+v 0.01847879 0.03769703 -0.00123977
+v 0.02540504 0.04222457 -0.00194631
+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 7
+f 1 7 8
+f 1 8 2
+f 2 9 15
+f 2 15 20
+f 2 20 26
+f 2 26 29
+f 2 29 28
+f 2 28 35
+f 2 35 42
+f 2 42 47
+f 2 47 43
+f 2 43 37
+f 2 37 30
+f 2 30 22
+f 2 22 17
+f 2 17 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 2 8 10
+f 2 10 9
+f 6 12 18
+f 6 18 25
+f 6 25 32
+f 6 32 39
+f 6 39 45
+f 6 45 46
+f 6 46 40
+f 6 40 33
+f 6 33 27
+f 6 27 21
+f 6 21 19
+f 6 19 14
+f 6 14 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 10
+f 9 10 15
+f 10 14 16
+f 10 16 15
+f 11 17 24
+f 11 24 18
+f 11 18 12
+f 14 19 16
+f 15 16 19
+f 15 19 21
+f 15 21 20
+f 17 22 23
+f 17 23 24
+f 18 24 23
+f 18 23 25
+f 20 21 26
+f 21 27 28
+f 21 28 29
+f 21 29 26
+f 22 30 25
+f 22 25 23
+f 25 31 32
+f 25 30 31
+f 27 33 34
+f 27 34 28
+f 28 34 36
+f 28 36 35
+f 30 37 31
+f 31 37 32
+f 32 38 39
+f 32 37 38
+f 33 40 41
+f 33 41 42
+f 33 42 35
+f 33 35 34
+f 34 35 36
+f 37 43 44
+f 37 44 38
+f 38 44 43
+f 38 43 45
+f 38 45 39
+f 40 46 41
+f 41 46 47
+f 41 47 42
+f 43 47 48
+f 43 48 46
+f 43 46 45
+f 46 48 47
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_20.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd875d7fef774251e14f2fe36c2f144e5655db8
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.04668503 -0.03647044 0.00772223
+v 0.04642265 -0.03647044 0.00777528
+v 0.04183341 -0.03904700 0.00901744
+v 0.04183341 -0.03960018 0.00901744
+v 0.04571237 -0.04125377 0.00772223
+v 0.03095694 -0.03647044 0.00772223
+v 0.04598812 -0.03647044 0.00786291
+v 0.03965410 -0.03829945 0.00915537
+v 0.03557794 -0.04137139 0.00959095
+v 0.03965076 -0.04112420 0.00926202
+v 0.04446896 -0.03647044 0.00816896
+v 0.03828870 -0.04378747 0.00920019
+v 0.04364838 -0.04430378 0.00772223
+v 0.03021992 -0.03739940 0.00772223
+v 0.03314962 -0.03892241 0.00916507
+v 0.03530887 -0.03647044 0.00861186
+v 0.03965410 -0.03647044 0.00877468
+v 0.03557794 -0.03820575 0.00926623
+v 0.03557794 -0.04390708 0.00928032
+v 0.03284044 -0.04137139 0.00925398
+v 0.03299586 -0.04369477 0.00914403
+v 0.03965243 -0.04665209 0.00772223
+v 0.04250024 -0.04539521 0.00772223
+v 0.02961326 -0.04137139 0.00772223
+v 0.03557794 -0.03647044 0.00865119
+v 0.03921290 -0.03647044 0.00878876
+v 0.03557626 -0.04597730 0.00772223
+v 0.03210342 -0.04474035 0.00772223
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 22
+f 1 22 27
+f 1 27 28
+f 1 28 24
+f 1 24 14
+f 1 14 6
+f 1 6 16
+f 1 16 25
+f 1 25 26
+f 1 26 17
+f 1 17 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 8
+f 4 10 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 16
+f 8 11 17
+f 8 17 18
+f 8 18 9
+f 9 19 12
+f 9 12 10
+f 9 18 15
+f 9 15 20
+f 9 20 21
+f 9 21 19
+f 12 22 23
+f 12 23 13
+f 12 19 22
+f 14 24 20
+f 14 20 15
+f 15 18 16
+f 16 18 25
+f 17 26 18
+f 18 26 25
+f 19 21 22
+f 20 24 21
+f 21 27 22
+f 21 24 28
+f 21 28 27
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_21.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c412811b5e0e4adf059f1cb8cee4318f79c30695
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.05171605 0.02986173 0.00756521
+v 0.05323161 0.02930769 0.00756521
+v 0.03603372 0.02986173 0.00756521
+v 0.04545528 0.02986173 0.00890812
+v 0.05464585 0.02664378 0.00756521
+v 0.03599117 0.02845646 0.00756521
+v 0.04117404 0.02986173 0.00918313
+v 0.04368848 0.02986173 0.00920058
+v 0.05667807 0.02051884 0.00756521
+v 0.03601143 0.02796639 0.00756521
+v 0.03640248 0.02480551 0.00756521
+v 0.04128345 0.02796639 0.00911526
+v 0.04258829 0.02986173 0.00920058
+v 0.04298339 0.02577877 0.00902193
+v 0.04781168 0.01980833 0.00863470
+v 0.05189030 0.01980833 0.00823594
+v 0.05668820 0.01980833 0.00756521
+v 0.03715418 0.02138680 0.00756521
+v 0.04154483 0.02577877 0.00902193
+v 0.04373508 0.01980833 0.00797725
+v 0.04123280 0.01980833 0.00756521
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 21
+f 1 21 18
+f 1 18 11
+f 1 11 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 8 13 19
+f 8 19 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 11 18 12
+f 12 19 13
+f 12 18 19
+f 14 19 15
+f 15 19 18
+f 15 18 20
+f 15 20 21
+f 15 21 17
+f 15 17 16
+f 18 21 20
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_22.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fbc781dac14bec1b0da6b168f09677882e870e
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00294575 -0.03764825 -0.00856406
+v 0.00294575 -0.03729222 -0.00856406
+v 0.00702422 -0.03321404 -0.00856406
+v 0.01392005 -0.03309595 -0.00854726
+v 0.01392005 -0.03321404 -0.00854558
+v 0.00702422 -0.03729222 -0.00843806
+v 0.00703316 -0.03764825 -0.00839775
+v -0.02152507 -0.03764825 -0.00856238
+v 0.00690347 -0.03309595 -0.00856406
+v -0.02152507 -0.03309595 -0.00856238
+v 0.00702422 -0.03309595 -0.00856406
+v 0.01392005 -0.03309595 0.00678100
+v 0.01392005 -0.03680472 -0.00795087
+v 0.01065996 -0.03764825 -0.00790719
+v -0.02560354 -0.03764825 -0.00856070
+v -0.02560354 -0.03729222 -0.00856070
+v -0.02560354 -0.03321404 -0.00840783
+v -0.02560354 -0.03309595 -0.00839942
+v -0.00928519 -0.03764825 0.00836019
+v 0.00294575 -0.03764825 0.00730348
+v 0.01392005 -0.03321404 0.00676756
+v 0.00306202 -0.03309595 0.00731188
+v 0.01392005 -0.03764825 -0.00703191
+v -0.02856849 -0.03764825 -0.00795759
+v -0.02853718 -0.03729222 -0.00795759
+v -0.02570640 -0.03309595 -0.00838599
+v -0.02144458 -0.03764825 0.00859875
+v 0.00294575 -0.03309595 0.00731524
+v 0.00669329 -0.03764825 0.00667684
+v 0.01392005 -0.03440069 0.00645004
+v 0.01392005 -0.03764825 0.00468941
+v -0.03075529 -0.03764825 -0.00507136
+v -0.02824203 -0.03309595 -0.00780135
+v -0.02536653 -0.03764825 0.00832491
+v -0.01732586 -0.03309595 0.00761595
+v -0.01744213 -0.03309595 0.00761595
+v -0.02140433 -0.03309595 0.00759579
+v -0.02152507 -0.03309595 0.00758739
+v 0.01054369 -0.03764825 0.00564868
+v 0.01392005 -0.03721379 0.00553108
+v -0.03092971 -0.03764825 -0.00471352
+v -0.02987431 -0.03309595 -0.00531832
+v -0.02567510 -0.03764825 0.00830307
+v -0.02548280 -0.03309595 0.00681292
+v -0.03176597 -0.03764825 -0.00124097
+v -0.03162734 -0.03611849 -0.00124097
+v -0.03099231 -0.03309595 -0.00124097
+v -0.02833147 -0.03309595 0.00556300
+v -0.02855954 -0.03764825 0.00692716
+v -0.02560354 -0.03309595 0.00678268
+v -0.03173914 -0.03764825 0.00033150
+v -0.03097442 -0.03309595 -0.00108641
+v -0.02999058 -0.03309595 0.00290189
+v -0.03100126 -0.03764825 0.00269693
+v -0.03003083 -0.03309595 0.00283637
+v -0.03135455 -0.03764825 0.00180318
+v -0.03096548 -0.03707253 0.00254237
+f 1 2 9
+f 1 9 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 23
+f 1 23 31
+f 1 31 39
+f 1 39 29
+f 1 29 20
+f 1 20 19
+f 1 19 27
+f 1 27 34
+f 1 34 43
+f 1 43 49
+f 1 49 54
+f 1 54 56
+f 1 56 51
+f 1 51 45
+f 1 45 41
+f 1 41 32
+f 1 32 24
+f 1 24 15
+f 1 15 8
+f 1 8 10
+f 1 10 2
+f 2 10 9
+f 3 11 4
+f 4 12 21
+f 4 21 30
+f 4 30 40
+f 4 40 31
+f 4 31 23
+f 4 23 13
+f 4 13 5
+f 4 11 9
+f 4 9 10
+f 4 10 18
+f 4 18 26
+f 4 26 33
+f 4 33 42
+f 4 42 47
+f 4 47 52
+f 4 52 55
+f 4 55 53
+f 4 53 48
+f 4 48 50
+f 4 50 44
+f 4 44 38
+f 4 38 37
+f 4 37 36
+f 4 36 35
+f 4 35 28
+f 4 28 22
+f 4 22 12
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 8 15 16
+f 8 16 10
+f 10 16 17
+f 10 17 18
+f 12 19 20
+f 12 20 21
+f 12 22 19
+f 13 23 14
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 19 22 28
+f 19 28 27
+f 20 29 30
+f 20 30 21
+f 24 32 25
+f 25 33 26
+f 25 32 33
+f 27 28 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 34
+f 29 39 40
+f 29 40 30
+f 31 40 39
+f 32 41 42
+f 32 42 33
+f 34 38 43
+f 38 44 43
+f 41 45 46
+f 41 46 42
+f 42 46 47
+f 43 48 49
+f 43 44 50
+f 43 50 48
+f 45 51 46
+f 46 51 52
+f 46 52 47
+f 48 53 49
+f 49 53 55
+f 49 55 54
+f 51 56 55
+f 51 55 52
+f 54 55 57
+f 54 57 56
+f 55 56 57
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_23.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe042d9b9aed6e7a93cc5b1d07582f2a191bdf32
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,453 @@
+# https://github.com/mikedh/trimesh
+v -0.08988761 -0.00058623 -0.00123870
+v -0.08926445 -0.00094045 0.00282669
+v -0.08905737 0.00209226 0.00145960
+v -0.08916186 0.00237882 -0.00123870
+v -0.08904217 0.00205246 -0.00389955
+v -0.08934235 -0.00058623 -0.00475321
+v -0.08929485 -0.00226975 -0.00461587
+v -0.08922456 -0.00466169 -0.00442080
+v -0.08978881 -0.00226975 -0.00123870
+v -0.08916947 -0.00428359 0.00255827
+v -0.08922836 -0.00226975 0.00271901
+v -0.08883699 -0.00267172 0.00489295
+v -0.08883699 -0.00254436 0.00489295
+v -0.08842662 0.00017393 0.00417819
+v -0.08484350 0.00987701 0.00498190
+v -0.08521588 0.01140133 0.00258480
+v -0.08483781 0.01394451 0.00105696
+v -0.08725251 0.00757263 -0.00123870
+v -0.08482261 0.01390073 -0.00349691
+v -0.08843802 -0.00058623 -0.00679293
+v -0.08518548 0.01136949 -0.00504036
+v -0.08481880 0.00982130 -0.00743746
+v -0.08892058 -0.00226975 -0.00546016
+v -0.08832023 -0.00466169 -0.00645896
+v -0.08483971 -0.01517667 -0.00746087
+v -0.08525957 -0.01668109 -0.00520891
+v -0.08888259 -0.00690239 -0.00345478
+v -0.08964632 -0.00466169 -0.00124027
+v -0.08889779 -0.00694617 0.00101326
+v -0.08528997 -0.01672487 0.00275022
+v -0.08851591 -0.00226975 0.00501155
+v -0.08486060 -0.01524831 0.00500531
+v -0.08519118 -0.01281657 0.00528466
+v -0.08569654 -0.00874112 0.00557806
+v -0.08685165 -0.00428359 0.00556869
+v -0.08691434 -0.00226975 0.00557962
+v -0.08695424 -0.00094045 0.00558586
+v -0.08586182 0.00349320 0.00561395
+v -0.08521398 0.00757263 0.00528154
+v -0.08154917 0.01572752 0.00551251
+v -0.08104191 0.01822692 0.00520819
+v -0.08356111 0.01547280 0.00258480
+v -0.08164416 0.01895127 0.00283606
+v -0.08408547 0.01607775 -0.00123870
+v -0.08487390 0.01404002 -0.00123870
+v -0.08160806 0.01891147 -0.00531815
+v -0.08347751 0.01544892 -0.00504036
+v -0.08516648 0.00757263 -0.00770901
+v -0.08575733 0.00349320 -0.00794934
+v -0.08639568 -0.00058623 -0.00795871
+v -0.08634818 -0.00226975 -0.00796027
+v -0.08754509 -0.00226975 -0.00727672
+v -0.08101151 0.01819110 -0.00765595
+v -0.08627979 -0.00466169 -0.00796027
+v -0.08560344 -0.00874112 -0.00793842
+v -0.08514748 -0.01281657 -0.00771369
+v -0.08418805 -0.01789895 -0.00649485
+v -0.08491760 -0.01945112 -0.00377470
+v -0.08149027 -0.02097544 -0.00782449
+v -0.08147507 -0.02104310 -0.00781825
+v -0.08830313 -0.00907543 -0.00124027
+v -0.08591312 -0.01689601 -0.00124027
+v -0.08493280 -0.01949490 0.00133475
+v -0.08429255 -0.01796661 0.00405334
+v -0.08157766 -0.02104310 0.00546413
+v -0.08159286 -0.02097544 0.00547350
+v -0.08284106 -0.01672487 0.00566545
+v -0.08270427 -0.01281657 0.00632091
+v -0.08270427 -0.00874112 0.00674852
+v -0.08270427 -0.00466169 0.00696856
+v -0.08270427 -0.00226975 0.00698573
+v -0.08270237 -0.00058623 0.00699665
+v -0.08270237 0.00349320 0.00679690
+v -0.08270237 0.00757263 0.00631467
+v -0.07862909 0.01572752 0.00658153
+v -0.07845621 0.01961591 0.00561863
+v -0.07856450 0.01961591 0.00558586
+v -0.08038836 0.01961591 0.00401900
+v -0.08102671 0.01961591 0.00283606
+v -0.08128128 0.01961591 0.00176704
+v -0.08204883 0.01943284 -0.00123870
+v -0.08188924 0.01961591 -0.00123870
+v -0.08095261 0.01961591 -0.00531815
+v -0.08145987 0.01572752 -0.00788224
+v -0.08270237 0.00757263 -0.00831141
+v -0.08270237 0.00349320 -0.00855174
+v -0.08270237 -0.00058623 -0.00856110
+v -0.08486820 -0.00226975 -0.00820997
+v -0.07849990 0.01961591 -0.00791345
+v -0.07862909 0.01572752 -0.00848463
+v -0.08270427 -0.00874112 -0.00854082
+v -0.08270427 -0.01281657 -0.00831609
+v -0.08354401 -0.02087594 -0.00520891
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_24.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb827eadd91d1e325f80c757a423ee4a7989987
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05448277 0.00346230 0.00794377
+v -0.05447705 0.00346627 0.00794377
+v -0.05083265 0.00691034 0.00808567
+v -0.05448277 0.00386538 0.00799730
+v -0.05448277 0.01194787 0.00794377
+v -0.05083265 0.00601383 0.00794377
+v -0.05083265 0.00682794 0.00807264
+v -0.05448277 0.00699473 0.00840003
+v -0.05083265 0.00759836 0.00812139
+v -0.05448277 0.00757354 0.00844229
+v -0.05448277 0.01130751 0.00806615
+v -0.05083265 0.01360488 0.00794377
+v -0.05083265 0.01095308 0.00825349
+v -0.05083265 0.01178505 0.00822358
+v -0.05083265 0.01352943 0.00795538
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 6
+f 3 6 12
+f 3 12 15
+f 3 15 14
+f 3 14 13
+f 3 13 9
+f 3 9 10
+f 3 10 8
+f 5 11 12
+f 9 13 10
+f 10 13 14
+f 10 14 11
+f 11 14 15
+f 11 15 12
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_25.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe08cb3028ed510e7aa7027a69105c9a90fa7bb
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02964278 0.01774825 0.00761755
+v -0.03046544 0.01980566 0.00705714
+v -0.03046544 0.01728221 0.00761755
+v -0.02964077 0.01570221 0.00761755
+v -0.02964077 0.01774825 0.00761690
+v -0.02964077 0.01985113 0.00705068
+v -0.03046544 0.02410804 0.00566226
+v -0.03046544 -0.01830757 0.00761755
+v -0.02964077 -0.01814843 0.00761755
+v -0.02964077 0.02410804 0.00560473
+v -0.02964077 0.02577329 0.00461901
+v -0.03046544 0.02564257 0.00447616
+v -0.03046544 -0.02175742 0.00692463
+v -0.02964077 -0.02093332 0.00702288
+v -0.02964077 0.02751242 0.00290094
+v -0.03046544 0.02743854 0.00291969
+v -0.03046544 0.02731919 0.00302699
+v -0.03046544 0.02684746 0.00344907
+v -0.03046544 0.02673379 0.00355055
+v -0.03046544 -0.02877649 0.00529060
+v -0.02964077 -0.02888447 0.00524082
+v -0.02964077 0.02756357 0.00271802
+v -0.02964077 0.02802394 0.00101417
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+v -0.03046544 -0.02883900 0.00521949
+v -0.02964077 -0.03003821 0.00451882
+v -0.03046544 0.02793300 0.00101417
+v -0.02964077 -0.03003821 0.00101417
+v -0.03046544 -0.02924253 0.00475475
+v -0.03046544 -0.03003821 0.00308581
+v -0.03046544 -0.03003821 0.00101417
+f 1 2 3
+f 1 3 8
+f 1 8 9
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+f 25 29 26
+f 26 30 31
+f 26 31 28
+f 26 29 30
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_26.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ffdbb897ad9cee44d9888b69aa3fdbd1fa39d4
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.05009765 -0.00357513 -0.00124009
+v 0.05006847 -0.00196602 -0.00124009
+v 0.04802782 -0.00196602 0.00307441
+v 0.04802782 -0.00357513 0.00307441
+v 0.04799864 -0.00357513 -0.00553756
+v 0.04799864 -0.00196602 -0.00553756
+v 0.04570075 -0.00196602 0.00472311
+v 0.04393059 -0.00357513 0.00592442
+v 0.04578296 -0.00357513 -0.00718162
+v 0.04387490 -0.00196602 -0.00808106
+v 0.04393059 -0.00196602 0.00592133
+v 0.04262584 -0.00196602 0.00625107
+v 0.04085435 -0.00357513 0.00670156
+v 0.04387490 -0.00357513 -0.00808106
+v 0.04293213 -0.00357513 -0.00818942
+v 0.04160617 -0.00196602 -0.00834113
+v 0.04211667 -0.00196602 0.00637801
+v 0.04066341 -0.00357513 0.00674955
+v 0.03965568 -0.00357513 -0.00856406
+v 0.04116993 -0.00196602 -0.00839067
+v 0.03965568 -0.00196602 0.00699105
+v 0.03965568 -0.00357513 0.00700034
+v 0.03655159 -0.00357513 -0.00856406
+v 0.03965568 -0.00196602 -0.00856251
+v 0.03777148 -0.00196602 0.00714431
+v 0.03655159 -0.00196602 0.00724339
+v 0.03655159 -0.00357513 0.00725113
+v 0.03655159 -0.00196602 -0.00856251
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+f 22 25 26
+f 22 26 27
+f 23 27 26
+f 23 26 28
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_27.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a9910aa5307ffcac7f4e86dc07d9e9436f9bd7
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.06219636 0.05513229 -0.00004909
+v 0.06258081 0.05488825 -0.00004909
+v 0.06219636 0.05532858 -0.00124111
+v 0.06219636 0.00118375 -0.00004909
+v 0.06265749 0.05495191 -0.00124111
+v 0.06430205 0.05327547 -0.00004909
+v 0.06430205 0.05357256 -0.00124111
+v 0.06245692 0.05478745 -0.00397690
+v 0.06219636 0.05503149 -0.00367098
+v 0.06219636 0.00113070 -0.00124111
+v 0.06249196 0.00126333 -0.00004909
+v 0.06430205 0.05351420 -0.00172375
+v 0.06430205 0.00241456 -0.00004909
+v 0.06219636 0.05493600 -0.00408109
+v 0.06430205 0.05241603 -0.00553735
+v 0.06430205 0.05236298 -0.00564571
+v 0.06219636 0.05366275 -0.00644594
+v 0.06219636 0.00128986 -0.00376100
+v 0.06238786 0.00131108 -0.00369515
+v 0.06255978 0.00123150 -0.00124111
+v 0.06430205 0.00218644 -0.00124111
+v 0.06355625 0.00184690 -0.00004909
+v 0.06430205 0.00220766 -0.00090184
+v 0.06430205 0.05087752 -0.00753709
+v 0.06219636 0.05304734 -0.00706946
+v 0.06219636 0.00136944 -0.00392855
+v 0.06219636 0.00249414 -0.00577075
+v 0.06389947 0.00288142 -0.00515974
+v 0.06430205 0.00312015 -0.00517975
+v 0.06430205 0.00257371 -0.00290575
+v 0.06430205 0.04894643 -0.00804557
+v 0.06326910 0.05128602 -0.00776049
+v 0.06219636 0.05172635 -0.00787136
+v 0.06219636 0.00445706 -0.00786552
+v 0.06412786 0.00482312 -0.00777966
+v 0.06430205 0.00486556 -0.00775966
+v 0.06430205 0.04877136 -0.00808058
+v 0.06219636 0.05070775 -0.00808142
+v 0.06219636 0.00757652 -0.00846820
+v 0.06412786 0.00757652 -0.00838234
+v 0.06430205 0.00758182 -0.00836150
+v 0.06430205 0.04864934 -0.00809476
+v 0.06219636 0.04850610 -0.00832649
+v 0.06219636 0.01165621 -0.00856322
+v 0.06430205 0.01165621 -0.00856322
+v 0.06430205 0.04681905 -0.00828314
+v 0.06219636 0.04754586 -0.00842568
+v 0.06219636 0.04620895 -0.00856322
+v 0.06430205 0.03594870 -0.00856322
+v 0.06430205 0.04427786 -0.00853071
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+v 0.06412786 0.04019816 -0.00856322
+v 0.06430205 0.04002840 -0.00856239
+v 0.06430205 0.04412931 -0.00854238
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_28.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869580fb333959bf28f40832fea0912a6f4664eb
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,432 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_29.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcab9a5981f9e62a70d4d39de106e00e78dbf030
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.06742814 -0.01273820 0.00794377
+v -0.06741279 -0.01393470 0.00794377
+v -0.06462157 -0.01126697 0.00908272
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_3.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681016800e5f3f0885548ce201c4ceddbeb8b2c3
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01847879 -0.00443559 -0.00856231
+v 0.01847879 0.01161969 -0.00856231
+v 0.03149770 -0.00443559 -0.00856231
+v 0.01847879 -0.00443559 0.00855476
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_30.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faaacba244afe1f42132c81f9e4ef0196f26ea36
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.07048372 -0.02104310 -0.00851090
+v -0.07048372 -0.02104310 0.00734912
+v -0.07048372 -0.02103912 -0.00856423
+v -0.07046878 -0.02104310 -0.00856423
+v -0.07046878 -0.02104310 0.00735235
+v -0.07048372 -0.02097544 0.00735397
+v -0.07048372 -0.00872520 -0.00856423
+v -0.03784214 -0.02104310 -0.00856423
+v -0.06231212 -0.02104310 0.00744930
+v -0.06223739 -0.01829296 0.00794377
+v -0.06362361 -0.01814172 0.00794377
+v -0.06741237 -0.01393493 0.00794377
+v -0.06781964 0.00581748 0.00794377
+v -0.07048372 -0.01691192 0.00736851
+v -0.07048372 -0.00226975 -0.00856261
+v -0.07047625 0.01961591 -0.00856261
+v -0.06638858 -0.00466169 -0.00856423
+v -0.03376194 -0.02097544 -0.00856423
+v -0.03376194 -0.02104310 -0.00856099
+v -0.05014252 -0.02104310 0.00747193
+v -0.04768767 -0.01885811 0.00794377
+v -0.06783458 0.00742935 0.00794377
+v -0.07048372 -0.01283249 0.00737659
+v -0.07048372 -0.00226975 0.00736689
+v -0.07047625 0.01961591 0.00716814
+v -0.03231594 0.01961591 -0.00856261
+v -0.03376194 0.01164808 -0.00856423
+v -0.03231220 -0.02097544 -0.00856261
+v -0.03231220 -0.02104310 -0.00855776
+v -0.04606606 -0.02104310 0.00747839
+v -0.04599880 -0.01887005 0.00794377
+v -0.07047625 0.00757263 0.00737982
+v -0.07047625 0.00756467 0.00737982
+v -0.06660156 0.01138541 0.00794377
+v -0.07047625 0.01572752 0.00735881
+v -0.07047625 0.01164808 0.00737497
+v -0.07048372 -0.00874112 0.00737659
+v -0.06657914 0.01961591 0.00734912
+v -0.06612329 0.01187096 0.00794377
+v -0.06202068 0.01591457 0.00794377
+v -0.03231220 -0.00226975 -0.00856261
+v -0.03231594 0.01961591 0.00707603
+v -0.03231220 -0.02104310 0.00712289
+v -0.04599880 -0.02104310 0.00747839
+v -0.03790566 -0.02104310 0.00735397
+v -0.03231220 -0.01952674 0.00744284
+v -0.03231220 -0.01569406 0.00794377
+v -0.06229344 0.01961591 0.00740244
+v -0.04600254 0.01626083 0.00794377
+v -0.03231220 -0.00226975 0.00785489
+v -0.03803644 0.01961591 0.00729741
+v -0.03231594 0.01567976 0.00776764
+v -0.03382920 -0.02104310 0.00720046
+v -0.03231220 -0.00878092 0.00794377
+v -0.04600254 0.01961591 0.00740567
+v -0.04546823 0.01626083 0.00794377
+v -0.03231594 0.01164808 0.00783712
+v -0.04211664 0.01961591 0.00740244
+v -0.04278546 0.01516635 0.00794377
+v -0.03994576 0.01369775 0.00794377
+v -0.03231594 0.00068337 0.00791953
+v -0.03649329 0.00904521 0.00794377
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 37
+f 1 37 24
+f 1 24 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 19
+f 1 19 29
+f 1 29 43
+f 1 43 53
+f 1 53 45
+f 1 45 44
+f 1 44 30
+f 1 30 20
+f 1 20 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 27
+f 3 27 18
+f 3 18 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 8 18 19
+f 9 20 21
+f 9 21 10
+f 10 21 31
+f 10 31 47
+f 10 47 54
+f 10 54 62
+f 10 62 60
+f 10 60 59
+f 10 59 56
+f 10 56 49
+f 10 49 40
+f 10 40 39
+f 10 39 34
+f 10 34 22
+f 10 22 13
+f 10 13 12
+f 10 12 11
+f 13 22 23
+f 13 23 14
+f 15 24 25
+f 15 25 16
+f 16 25 38
+f 16 38 48
+f 16 48 55
+f 16 55 58
+f 16 58 51
+f 16 51 42
+f 16 42 26
+f 16 26 27
+f 16 27 17
+f 18 28 19
+f 18 27 41
+f 18 41 28
+f 19 28 29
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 22 33 23
+f 22 34 35
+f 22 35 36
+f 22 36 32
+f 23 33 32
+f 23 32 37
+f 24 37 36
+f 24 36 35
+f 24 35 25
+f 25 35 34
+f 25 34 39
+f 25 39 40
+f 25 40 38
+f 26 41 27
+f 26 42 50
+f 26 50 41
+f 28 41 50
+f 28 50 54
+f 28 54 47
+f 28 47 46
+f 28 46 43
+f 28 43 29
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 32 36 37
+f 38 40 48
+f 40 49 48
+f 42 51 52
+f 42 52 50
+f 43 46 53
+f 45 53 46
+f 48 49 55
+f 49 56 55
+f 50 52 57
+f 50 57 54
+f 51 58 52
+f 52 59 60
+f 52 60 57
+f 52 58 56
+f 52 56 59
+f 54 57 61
+f 54 61 62
+f 55 56 58
+f 57 60 62
+f 57 62 61
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_31.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98de9f43a5323cd81a3b624e2e365ab56113e88
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.03150093 -0.00443708 -0.00856406
+v 0.03150093 -0.00443708 -0.00850633
+v 0.03150093 -0.00357513 -0.00856250
+v 0.03965669 -0.00443708 -0.00856406
+v 0.03172400 -0.00443708 0.00736877
+v 0.03150093 -0.00443640 0.00737345
+v 0.03150093 -0.00357513 0.00737501
+v 0.03965669 -0.00357513 -0.00856250
+v 0.04293033 -0.00357513 -0.00818961
+v 0.04387349 -0.00357513 -0.00808196
+v 0.04387349 -0.00443708 -0.00808196
+v 0.03557881 -0.00443708 0.00733445
+v 0.03557881 -0.00357513 0.00732977
+v 0.04578328 -0.00357513 -0.00718172
+v 0.04655816 -0.00443708 -0.00741887
+v 0.03965669 -0.00443708 0.00700524
+v 0.03965669 -0.00357513 0.00700056
+v 0.04799833 -0.00357513 -0.00553726
+v 0.04855600 -0.00443708 -0.00604120
+v 0.03990519 -0.00443708 0.00694284
+v 0.04085422 -0.00357513 0.00670256
+v 0.05009597 -0.00357513 -0.00124045
+v 0.05148918 -0.00443708 -0.00124045
+v 0.05051080 -0.00443708 -0.00315638
+v 0.04923108 -0.00443708 -0.00539216
+v 0.04393024 -0.00443708 0.00592714
+v 0.04393024 -0.00357513 0.00592402
+v 0.04974179 -0.00443708 0.00296899
+v 0.04802768 -0.00357513 0.00307508
+v 0.04794745 -0.00443708 0.00395816
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 15
+f 1 15 19
+f 1 19 25
+f 1 25 24
+f 1 24 23
+f 1 23 28
+f 1 28 30
+f 1 30 26
+f 1 26 20
+f 1 20 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 17
+f 3 17 21
+f 3 21 27
+f 3 27 29
+f 3 29 22
+f 3 22 18
+f 3 18 14
+f 3 14 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 7
+f 7 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 27
+f 22 28 23
+f 22 29 28
+f 26 30 27
+f 27 30 28
+f 27 28 29
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_32.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2314f05e28905d502e23ecfc1c409ccf4b0c9b25
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00940578 -0.00802833 0.00761755
+v -0.00521049 -0.00822493 0.00761755
+v -0.00803522 -0.00299394 0.00908294
+v -0.00940578 -0.00068298 0.00916657
+v -0.00940578 0.01146548 0.00761755
+v -0.00111101 -0.00684105 0.00761755
+v -0.00302881 -0.00276844 0.00901911
+v -0.00521049 -0.00300936 0.00909865
+v -0.00521049 -0.00058275 0.00928948
+v -0.00935219 -0.00063094 0.00917901
+v -0.00940578 -0.00059817 0.00917639
+v -0.00940578 0.00311980 0.00913187
+v -0.00750746 0.00568132 0.00902091
+v -0.00696265 0.00568132 0.00902091
+v -0.00246045 0.01029747 0.00761755
+v -0.00111101 -0.00675046 0.00763081
+v -0.00111101 0.00737937 0.00761755
+v -0.00111101 -0.00098944 0.00847201
+v -0.00271296 -0.00058275 0.00909849
+v -0.00111101 -0.00434698 0.00798218
+v -0.00270322 0.00192866 0.00908261
+v -0.00544595 0.00337036 0.00914742
+v -0.00903553 0.00333181 0.00914186
+v -0.00111101 0.00337807 0.00833781
+v -0.00111101 -0.00058275 0.00850834
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 15
+f 1 15 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 7
+f 6 17 24
+f 6 24 25
+f 6 25 18
+f 6 18 20
+f 6 20 16
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 7 16 20
+f 7 20 18
+f 9 19 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 12
+f 10 12 11
+f 12 23 13
+f 13 23 22
+f 13 22 14
+f 14 22 21
+f 14 21 15
+f 15 24 17
+f 15 21 24
+f 18 25 19
+f 19 25 21
+f 21 25 24
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_33.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47629d027aa3811d58c42f43d73b1355ac086ad
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.05083116 0.00601457 0.00794390
+v -0.04858788 0.00898383 0.00926935
+v -0.05083116 0.00682947 0.00807286
+v -0.05083116 0.01360431 0.00794390
+v -0.04746302 0.00358804 0.00794377
+v -0.04728279 0.00216774 0.00794377
+v -0.05083116 0.00759818 0.00812151
+v -0.05083116 0.00691195 0.00808578
+v -0.04024719 -0.00058706 0.00905613
+v -0.04578619 0.00760642 0.00929071
+v -0.04858788 0.01066640 0.00926935
+v -0.05083116 0.01095178 0.00825364
+v -0.05083116 0.01178482 0.00822370
+v -0.04698347 0.01572898 0.00794390
+v -0.03562384 0.00358804 0.00794377
+v -0.04599700 0.01626509 0.00794390
+v -0.04458892 -0.00058706 0.00794377
+v -0.03937337 -0.00058706 0.00905613
+v -0.04599700 0.01102931 0.00928688
+v -0.03942004 0.00349566 0.00911046
+v -0.04599700 0.01306985 0.00881575
+v -0.03512498 0.00193845 0.00794377
+v -0.04546434 0.01626015 0.00794390
+v -0.04278013 0.01516647 0.00794390
+v -0.03994304 0.01369669 0.00794390
+v -0.03649283 0.00904816 0.00794390
+v -0.03439277 -0.00058706 0.00794377
+v -0.03733285 -0.00058706 0.00862746
+v -0.03733285 -0.00058377 0.00862759
+v -0.04196103 0.00752230 0.00917467
+v -0.03962280 0.00612840 0.00907578
+v -0.04334498 0.01044866 0.00908369
+v -0.03439277 -0.00058377 0.00794377
+v -0.03942648 0.00358804 0.00910927
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 12
+f 1 12 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 7
+f 4 13 11
+f 4 11 14
+f 4 14 5
+f 5 15 22
+f 5 22 33
+f 5 33 27
+f 5 27 17
+f 5 17 6
+f 5 14 16
+f 5 16 15
+f 6 17 9
+f 9 17 27
+f 9 27 28
+f 9 28 18
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 19
+f 11 19 21
+f 11 21 16
+f 11 16 14
+f 11 13 12
+f 15 16 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 22
+f 16 21 23
+f 18 28 29
+f 18 29 20
+f 19 25 21
+f 19 20 30
+f 19 30 31
+f 19 31 32
+f 19 32 25
+f 20 29 33
+f 20 33 34
+f 20 34 30
+f 21 25 24
+f 21 24 23
+f 22 26 33
+f 25 32 31
+f 25 31 26
+f 26 31 33
+f 27 33 29
+f 27 29 28
+f 30 34 31
+f 31 34 33
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_34.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c768e74c955059e7defdff64652513794f3cda2e
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,345 @@
+# https://github.com/mikedh/trimesh
+v 0.03965775 -0.04952948 -0.00856407
+v 0.03965775 -0.05360846 -0.00830333
+v 0.03869670 -0.04856669 -0.00853752
+v 0.03965775 -0.04856669 -0.00856407
+v 0.04373713 -0.05360846 -0.00856407
+v 0.03965775 -0.05656463 -0.00770066
+v 0.03755757 -0.05572524 -0.00741338
+v 0.03700312 -0.05360846 -0.00770066
+v 0.03464084 -0.04856669 -0.00799419
+v 0.04781316 -0.05768608 -0.00844853
+v 0.04349519 -0.05796542 -0.00802697
+v 0.05596857 -0.04856669 -0.00856407
+v 0.05188918 -0.05360846 -0.00856407
+v 0.04469146 -0.06007000 -0.00766943
+v 0.04197298 -0.05951131 -0.00712610
+v 0.03961406 -0.05852682 -0.00558821
+v 0.03707704 -0.05634766 -0.00531966
+v 0.03235584 -0.04985222 -0.00497305
+v 0.03235584 -0.04856669 -0.00628767
+v 0.03321272 -0.04856669 -0.00738215
+v 0.03390829 -0.04856669 -0.00775062
+v 0.05596857 -0.05360846 -0.00851566
+v 0.05188918 -0.05768608 -0.00834236
+v 0.04781316 -0.06026120 -0.00784586
+v 0.06004796 -0.04856669 -0.00842042
+v 0.05596857 -0.04952948 -0.00856407
+v 0.04349519 -0.06070327 -0.00558821
+v 0.04781316 -0.06159825 -0.00531966
+v 0.04094473 -0.06012966 -0.00440629
+v 0.03850853 -0.05898787 -0.00123995
+v 0.03660997 -0.05694839 -0.00123995
+v 0.03235584 -0.05078518 -0.00247339
+v 0.03339081 -0.05181306 -0.00364125
+v 0.03235584 -0.05006648 -0.00450778
+v 0.03235584 -0.04856669 0.00408256
+v 0.05579384 -0.05765760 -0.00790519
+v 0.06004796 -0.04952948 -0.00837671
+v 0.05992027 -0.05334267 -0.00789426
+v 0.05847199 -0.05627986 -0.00769754
+v 0.05188918 -0.06012424 -0.00774125
+v 0.05431531 -0.05988557 -0.00752892
+v 0.06336793 -0.04856669 -0.00785211
+v 0.04373713 -0.06167826 -0.00123995
+v 0.05188918 -0.06127958 -0.00531966
+v 0.04781316 -0.06242002 -0.00123995
+v 0.04054822 -0.06034256 -0.00123995
+v 0.04091785 -0.06014458 0.00197479
+v 0.03959726 -0.05861225 0.00313484
+v 0.03704344 -0.05638970 0.00283663
+v 0.03337401 -0.05184289 0.00120194
+v 0.03235584 -0.05090858 -0.00123995
+v 0.03248689 -0.04856669 0.00425586
+v 0.03235584 -0.04966509 0.00286317
+v 0.03753404 -0.05575778 0.00495533
+v 0.06303190 -0.04952948 -0.00777404
+v 0.06226575 -0.05180492 -0.00751174
+v 0.05898275 -0.05765760 -0.00500584
+v 0.05703714 -0.05899872 -0.00615652
+v 0.05807211 -0.05979201 -0.00343828
+v 0.05579384 -0.06024628 -0.00500584
+v 0.06531689 -0.04856669 -0.00613466
+v 0.04345151 -0.06073988 0.00313484
+v 0.04781316 -0.06166606 0.00283663
+v 0.05188918 -0.06205524 -0.00123995
+v 0.05188918 -0.06134196 0.00283663
+v 0.04190578 -0.05959809 0.00469459
+v 0.03235584 -0.05018852 0.00203099
+v 0.03366299 -0.04856669 0.00545027
+v 0.03965775 -0.05665413 0.00537064
+v 0.03965775 -0.05360846 0.00634021
+v 0.03550443 -0.04856669 0.00635114
+v 0.06600575 -0.04856669 -0.00475447
+v 0.06279331 -0.05250329 -0.00531966
+v 0.06668453 -0.04856669 -0.00123995
+v 0.05977242 -0.05768608 -0.00123995
+v 0.05811916 -0.05983811 -0.00123995
+v 0.05596857 -0.06081040 -0.00123995
+v 0.04462425 -0.06009983 0.00522388
+v 0.05188918 -0.06016492 0.00530975
+v 0.04781316 -0.06030730 0.00542060
+v 0.05582408 -0.06028018 0.00254935
+v 0.05436908 -0.05990998 0.00507711
+v 0.04345151 -0.05801695 0.00585621
+v 0.04373713 -0.05360846 0.00704749
+v 0.03965775 -0.04856669 0.00723172
+v 0.06634514 -0.04856669 0.00123941
+v 0.05808892 -0.05980964 0.00099741
+v 0.04781316 -0.05768608 0.00650259
+v 0.05188918 -0.05768608 0.00635895
+v 0.05708755 -0.05904483 0.00371721
+v 0.05850895 -0.05632461 0.00525510
+v 0.05582408 -0.05768472 0.00562201
+v 0.04373713 -0.04952948 0.00732852
+v 0.04781316 -0.05360846 0.00720362
+v 0.04373713 -0.04856669 0.00738629
+v 0.06606623 -0.04856669 0.00229642
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+v 0.06282692 -0.05254803 0.00283663
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_35.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1394635e91fc911c5a9a8f8109b20bd046b488b1
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02964077 0.02801920 0.00101323
+v -0.02964077 0.02902655 0.00007471
+v -0.03046544 0.02793135 0.00101323
+v -0.02964077 -0.03003821 0.00101323
+v -0.02964077 0.02944238 -0.00031533
+v -0.02964077 0.02979378 -0.00124166
+v -0.03046544 0.02839988 -0.00079069
+v -0.03046544 -0.03003821 0.00101323
+v -0.02964077 -0.03003821 -0.00682031
+v -0.03046544 0.02845260 -0.00145825
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+v -0.02964077 0.02745110 -0.00534736
+v -0.03046544 0.02738082 -0.00536799
+v -0.03046544 -0.03003821 -0.00548050
+v -0.02964077 -0.02886102 -0.00766133
+v -0.03046544 -0.02874389 -0.00769508
+v -0.02964077 0.02733983 -0.00544112
+v -0.03046544 0.02707042 -0.00562489
+v -0.02964077 -0.02870289 -0.00769133
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+v -0.02964077 -0.02509516 -0.00818075
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+v -0.02964077 0.02448175 -0.00756757
+v -0.03042847 0.02552425 -0.00689251
+v -0.03046544 0.02405422 -0.00790510
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+f 32 34 33
+f 34 36 37
+f 34 37 35
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_36.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f672d73b9def19301f45dee16ae6c7a9f4fe71d5
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01292628 0.00646699 0.00821953
+v -0.01292628 0.00315341 0.00833172
+v -0.01292628 0.00646699 0.00761755
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+v -0.02560227 0.00256269 0.00920164
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+v -0.01292628 -0.00046820 0.00835428
+v -0.02560227 -0.00058288 0.00938227
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_37.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba3ada2bc19f4b3b981372f4208bcec13d7d16d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03439157 -0.00058747 0.00794377
+v -0.03733251 -0.00058747 0.00862747
+v -0.03862747 -0.00297826 0.00886224
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+v -0.04458963 -0.00058747 0.00794377
+v -0.03937171 -0.00058747 0.00905617
+v -0.03946950 -0.00297826 0.00903918
+v -0.04490668 -0.00297826 0.00794377
+v -0.04024462 -0.00058747 0.00905617
+v -0.04026521 -0.00297826 0.00903918
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+f 3 7 10
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+f 5 8 9
+f 6 9 10
+f 6 10 7
+f 8 10 9
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_38.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11020dcd54766d25c29fdbc5689e93b9ee047855
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,543 @@
+# https://github.com/mikedh/trimesh
+v 0.06430253 0.02389011 0.00735513
+v 0.06430253 0.01998654 0.00735513
+v 0.06756405 0.02389011 0.00711983
+v 0.06430253 0.02796471 0.00735357
+v 0.06756405 0.02323113 0.00711983
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+v 0.06820780 0.02389011 0.00707153
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+v 0.06430253 0.01573084 0.00734110
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+v 0.06756405 0.03204434 0.00704971
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_39.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39fa087df4af4c85c6049ca4db25682b2eb2e4d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.05479562 -0.01660273 0.00772205
+v 0.05014980 -0.01660273 0.00906355
+v 0.05501945 -0.01690048 0.00772205
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+v 0.05153979 -0.02808015 0.00772205
+v 0.04108010 -0.02505546 0.00931038
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+v 0.03616719 -0.02808015 0.00772205
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_4.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b3e672df695642cbe4044f00278578713dcafb
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.02077257 -0.00444093 0.00756926
+v 0.01392072 -0.00444093 0.00756926
+v 0.02803617 -0.00444510 0.00756926
+v 0.02077257 -0.00444093 -0.00856249
+v 0.01392072 -0.00444093 -0.00856249
+v 0.01392072 -0.00782370 0.00756926
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+v 0.02741855 -0.00671972 0.00756926
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+v 0.02803617 -0.03790201 -0.00856249
+v 0.02334115 -0.03728961 -0.00856249
+v 0.01392072 -0.03321112 -0.00854512
+v 0.01927205 -0.00873604 0.00756926
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+v 0.02334253 -0.00872771 0.00756926
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+v 0.02741855 -0.04136393 -0.00836510
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_40.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c522876604df618b82f1c25000e1669ca1e5e3cf
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v 0.04447956 0.04406321 0.00756521
+v 0.04703502 0.04345484 0.00756521
+v 0.05151447 0.04835831 0.00736312
+v 0.04447956 0.04502444 0.00751311
+v 0.04447956 0.00531616 0.00756521
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+v 0.05151447 0.05205719 0.00710419
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+v 0.05151447 0.05243438 0.00707419
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+v 0.04447956 0.05243438 0.00664633
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+v 0.04663768 0.00366140 0.00756521
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+v 0.04447956 0.05570132 0.00558694
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+v 0.04447956 0.00757930 -0.00856406
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+f 1 17 25
+f 1 25 27
+f 1 27 36
+f 1 36 48
+f 1 48 53
+f 1 53 65
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+f 1 72 71
+f 1 71 81
+f 1 81 83
+f 1 83 75
+f 1 75 67
+f 1 67 54
+f 1 54 42
+f 1 42 30
+f 1 30 23
+f 1 23 29
+f 1 29 20
+f 1 20 13
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+f 1 22 16
+f 1 16 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
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+f 3 24 34
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+f 3 56 66
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+f 3 78 84
+f 3 84 77
+f 3 77 68
+f 3 68 61
+f 3 61 50
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+f 3 26 18
+f 3 18 15
+f 3 15 7
+f 4 8 11
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+f 23 58 45
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+f 28 40 41
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+f 30 43 44
+f 31 45 32
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+f 36 41 48
+f 37 47 38
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+f 40 52 41
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+f 41 53 48
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+f 42 56 43
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+f 45 58 59
+f 45 59 60
+f 45 60 46
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+f 51 62 63
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+f 51 64 52
+f 52 64 65
+f 52 65 53
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+f 54 67 66
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+f 61 69 62
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+f 63 70 71
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 65
+f 66 67 75
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+f 68 77 76
+f 69 76 78
+f 69 78 79
+f 69 79 80
+f 69 80 81
+f 69 81 70
+f 70 81 71
+f 74 82 79
+f 75 83 82
+f 76 77 84
+f 76 84 78
+f 79 82 80
+f 80 82 83
+f 80 83 81
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_41.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970b4d8ac186e553e39f56988fe60f99c80f2802
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03530092 0.04293504 0.00756555
+v 0.03530253 0.04020173 0.00840686
+v 0.03530253 0.04044132 0.00839484
+v 0.03722918 0.04249824 0.00905647
+v 0.03580067 0.04398143 0.00756555
+v 0.03530253 0.03311172 0.00756555
+v 0.03530253 0.03585482 0.00791447
+v 0.03733524 0.03789055 0.00908258
+v 0.03711510 0.04020173 0.00912646
+v 0.03809208 0.04249824 0.00905647
+v 0.04194378 0.04651264 0.00756555
+v 0.03953346 0.04025062 0.00923476
+v 0.03603527 0.02986173 0.00756555
+v 0.04117408 0.02986173 0.00918287
+v 0.03953506 0.03652471 0.00930545
+v 0.03978734 0.03636824 0.00933069
+v 0.04283721 0.03892553 0.00919297
+v 0.04956684 0.04195548 0.00756555
+v 0.04401024 0.03633401 0.00934410
+v 0.05171685 0.02986173 0.00756555
+v 0.04258814 0.02986173 0.00920028
+v 0.04104875 0.03204578 0.00926105
+v 0.04394757 0.03184204 0.00928925
+v 0.04555445 0.03783187 0.00890604
+v 0.05099697 0.03939982 0.00756555
+v 0.04606383 0.03306283 0.00910435
+v 0.04606383 0.03511322 0.00910435
+v 0.04545483 0.02986173 0.00890795
+v 0.04368725 0.02986173 0.00920028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 25
+f 1 25 20
+f 1 20 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 10
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 12
+f 10 12 17
+f 10 17 18
+f 10 18 11
+f 12 16 19
+f 12 19 17
+f 13 20 28
+f 13 28 29
+f 13 29 21
+f 13 21 14
+f 14 21 22
+f 14 22 16
+f 14 16 15
+f 16 22 23
+f 16 23 19
+f 17 19 24
+f 17 24 18
+f 18 24 25
+f 19 23 26
+f 19 26 27
+f 19 27 24
+f 20 27 26
+f 20 26 28
+f 20 25 27
+f 21 29 23
+f 21 23 22
+f 23 29 26
+f 24 27 25
+f 26 29 28
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_42.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d2e0a911cc3997d26c978ede5088699e4ac782
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03749481 -0.00753725 0.00805707
+v -0.03749481 -0.00753725 0.00794377
+v -0.03749646 -0.00753725 0.00825048
+v -0.03749481 -0.00856701 0.00816863
+v -0.03749481 -0.01279702 0.00794377
+v -0.04898136 -0.00753725 0.00794377
+v -0.03905321 -0.00753725 0.00886257
+v -0.03977958 -0.01088841 0.00899845
+v -0.03749481 -0.01253070 0.00798059
+v -0.03749481 -0.00874345 0.00816796
+v -0.04390833 -0.01490869 0.00897668
+v -0.04225419 -0.01703257 0.00794377
+v -0.05234908 -0.00785905 0.00794377
+v -0.05435980 -0.00759162 0.00794390
+v -0.04532970 -0.00753725 0.00848784
+v -0.03965576 -0.00753725 0.00902466
+v -0.03970364 -0.00874345 0.00902359
+v -0.04599664 -0.01282143 0.00931686
+v -0.04599664 -0.01532925 0.00917883
+v -0.04599664 -0.01887238 0.00794377
+v -0.05234908 -0.01560889 0.00794377
+v -0.05435980 -0.01502410 0.00794390
+v -0.05435980 -0.00896316 0.00815720
+v -0.04834084 -0.01054442 0.00906740
+v -0.04129010 -0.00753725 0.00904509
+v -0.04299376 -0.00753725 0.00882964
+v -0.04105898 -0.00753725 0.00904509
+v -0.04866771 -0.01282143 0.00924684
+v -0.04857361 -0.01543578 0.00923192
+v -0.04768215 -0.01886018 0.00794377
+v -0.05107133 -0.01791142 0.00794377
+v -0.05435980 -0.01267607 0.00830142
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 25
+f 1 25 27
+f 1 27 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 5
+f 1 5 2
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+f 5 9 8
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+f 7 17 8
+f 8 18 19
+f 8 19 11
+f 8 17 18
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 13 22 14
+f 14 22 32
+f 14 32 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 27 18
+f 16 18 17
+f 18 27 25
+f 18 25 28
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 21 31 22
+f 22 31 29
+f 22 29 32
+f 23 32 28
+f 23 28 24
+f 24 28 25
+f 28 32 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_43.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29eef3a5ba615f518c2085818f9f7324a7c2dd7
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04781404 -0.01021401 0.00772205
+v 0.04390682 -0.01081254 0.00772205
+v 0.04781404 -0.01232169 0.00859144
+v 0.05016672 -0.01437809 0.00908288
+v 0.04950160 -0.01083943 0.00772205
+v 0.04151371 -0.01294524 0.00772205
+v 0.04570132 -0.01467579 0.00898656
+v 0.04781404 -0.01436058 0.00907422
+v 0.05167170 -0.01293961 0.00820190
+v 0.05173300 -0.01176193 0.00772205
+v 0.04816877 -0.01659835 0.00905850
+v 0.05014976 -0.01660272 0.00906356
+v 0.05479773 -0.01660272 0.00772205
+v 0.05303453 -0.01290208 0.00772205
+v 0.04148763 -0.01533999 0.00772205
+v 0.04570132 -0.01503791 0.00898656
+v 0.04147459 -0.01660272 0.00772205
+v 0.05234985 -0.01227291 0.00772205
+v 0.04816877 -0.01660272 0.00905837
+v 0.04819745 -0.01660272 0.00905850
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 14
+f 1 14 13
+f 1 13 17
+f 1 17 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 9
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 16
+f 8 16 11
+f 9 14 18
+f 9 18 10
+f 11 19 20
+f 11 20 12
+f 11 16 19
+f 12 20 19
+f 12 19 17
+f 12 17 13
+f 16 17 19
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_44.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e444332ae2d32955e951a802bcf83ba0b94babe1
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v -0.02963866 -0.03002727 -0.00681870
+v -0.02963866 -0.03002727 0.00451773
+v -0.02963866 -0.02885743 -0.00765978
+v -0.02910130 -0.03002727 -0.00769146
+v -0.02787046 -0.03003314 -0.00791797
+v -0.02960013 -0.03002727 0.00458584
+v -0.02963866 -0.02888095 0.00524002
+v -0.02787046 -0.03003314 0.00560116
+v -0.02963866 -0.02869871 -0.00768988
+v -0.02963866 -0.02508928 -0.00817932
+v -0.02841187 -0.03002727 -0.00785144
+v -0.02559532 -0.03003314 -0.00821100
+v -0.02958999 -0.03002727 0.00460327
+v -0.02914389 -0.03002727 0.00531922
+v -0.02963866 -0.02092727 0.00702198
+v -0.02559532 -0.03003314 0.00624584
+v -0.02963866 -0.02106248 -0.00855472
+v -0.02787046 -0.03002727 -0.00792114
+v -0.02151954 -0.03003314 -0.00855789
+v -0.02963866 -0.02100957 -0.00855947
+v -0.02963866 -0.01814671 0.00761755
+v -0.02242595 -0.03003314 0.00702198
+v -0.00892720 -0.03003314 -0.00855789
+v -0.02963866 -0.02096842 -0.00856106
+v -0.02787046 -0.02099781 -0.00856106
+v -0.02787046 -0.01886390 0.00761755
+v -0.02963866 0.01569611 0.00761755
+v -0.02151954 -0.03003314 0.00719780
+v -0.01835219 -0.03003314 0.00741797
+v -0.00892720 -0.03003314 0.00736570
+v -0.00892720 -0.02099781 -0.00856106
+v -0.02963866 0.01979934 -0.00856264
+v -0.02151954 0.02796465 -0.00856423
+v -0.02772243 -0.01891680 0.00761755
+v -0.02963866 0.01774773 0.00761597
+v -0.02787046 0.01820037 0.00761755
+v -0.01745390 -0.03003314 0.00742431
+v -0.01427641 -0.03003314 0.00742114
+v -0.00892720 -0.00801797 0.00761755
+v -0.01093062 -0.01679465 0.00761755
+v -0.01346937 -0.01933418 0.00761755
+v -0.00892720 0.02401426 -0.00856264
+v -0.02963866 0.02389081 -0.00788629
+v -0.02562776 0.03002214 -0.00784352
+v -0.02340941 0.03002214 -0.00823318
+v -0.02151954 0.03002214 -0.00856264
+v -0.00892720 0.03002214 -0.00856264
+v -0.02145262 -0.01957520 0.00761755
+v -0.02559735 0.01894695 0.00761755
+v -0.01745187 0.03002214 0.00733560
+v -0.02151954 0.03002214 0.00693803
+v -0.02343374 0.03002214 0.00632504
+v -0.02963866 0.01984049 0.00705049
+v -0.01744579 -0.01962223 0.00761755
+v -0.00892720 0.01128720 0.00761755
+v -0.02963866 0.02404366 -0.00786094
+v -0.02862478 0.03001626 -0.00526958
+v -0.02787046 0.03002214 -0.00574319
+v -0.00892720 0.03002214 0.00736412
+v -0.02184804 0.01953480 0.00761755
+v -0.01337203 0.03002214 0.00736570
+v -0.02568454 0.03002214 0.00557265
+v -0.02963866 0.02410244 0.00560433
+v -0.00892720 0.01608997 0.00755578
+v -0.00948281 0.01550800 0.00761755
+v -0.02963866 0.02447867 -0.00756474
+v -0.02963866 0.02674779 -0.00591742
+v -0.02963866 0.02744734 -0.00534561
+v -0.02955552 0.03001626 -0.00123839
+v -0.02787046 0.03002214 0.00362596
+v -0.02151954 0.01956420 0.00761755
+v -0.01796692 0.01939960 0.00761755
+v -0.01056765 0.01848254 0.00761755
+v -0.02783193 0.03002214 0.00366081
+v -0.02963866 0.02576607 0.00461911
+v -0.02963866 0.02978700 -0.00123839
+v -0.02934463 0.03001626 0.00028538
+v -0.02869373 0.03001626 0.00281972
+v -0.02963866 0.02750612 0.00290051
+v -0.02963866 0.02943429 -0.00031494
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 27
+f 1 27 35
+f 1 35 53
+f 1 53 63
+f 1 63 75
+f 1 75 79
+f 1 79 80
+f 1 80 76
+f 1 76 68
+f 1 68 67
+f 1 67 66
+f 1 66 56
+f 1 56 43
+f 1 43 32
+f 1 32 24
+f 1 24 20
+f 1 20 17
+f 1 17 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 19
+f 5 19 23
+f 5 23 30
+f 5 30 38
+f 5 38 37
+f 5 37 29
+f 5 29 28
+f 5 28 22
+f 5 22 16
+f 5 16 8
+f 6 8 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 8 16 14
+f 8 14 13
+f 10 17 12
+f 10 12 18
+f 10 18 11
+f 11 18 12
+f 12 17 20
+f 12 20 19
+f 14 16 21
+f 14 21 15
+f 16 22 21
+f 19 20 24
+f 19 24 25
+f 19 25 31
+f 19 31 23
+f 21 26 34
+f 21 34 48
+f 21 48 54
+f 21 54 41
+f 21 41 40
+f 21 40 39
+f 21 39 55
+f 21 55 65
+f 21 65 73
+f 21 73 72
+f 21 72 71
+f 21 71 60
+f 21 60 49
+f 21 49 36
+f 21 36 27
+f 21 22 28
+f 21 28 29
+f 21 29 26
+f 23 31 42
+f 23 42 47
+f 23 47 59
+f 23 59 64
+f 23 64 55
+f 23 55 39
+f 23 39 30
+f 24 32 33
+f 24 33 25
+f 25 33 31
+f 26 29 34
+f 27 36 35
+f 29 37 34
+f 30 39 40
+f 30 40 41
+f 30 41 38
+f 31 33 42
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 42
+f 34 37 48
+f 35 36 49
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 37 38 54
+f 37 54 48
+f 38 41 54
+f 43 56 44
+f 44 57 58
+f 44 58 70
+f 44 70 74
+f 44 74 62
+f 44 62 52
+f 44 52 51
+f 44 51 50
+f 44 50 61
+f 44 61 59
+f 44 59 47
+f 44 47 46
+f 44 46 45
+f 44 56 57
+f 49 60 61
+f 49 61 50
+f 52 62 53
+f 53 62 63
+f 55 64 65
+f 56 66 57
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 57 66 67
+f 58 69 70
+f 59 61 71
+f 59 71 72
+f 59 72 73
+f 59 73 65
+f 59 65 64
+f 60 71 61
+f 62 74 75
+f 62 75 63
+f 68 76 69
+f 69 77 70
+f 69 76 77
+f 70 77 78
+f 70 78 75
+f 70 75 74
+f 75 78 79
+f 76 80 77
+f 77 80 79
+f 77 79 78
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_45.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c54b3058f03f8cf114c57080a95735b9ac6b1d1
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01292802 -0.00715660 0.00776457
+v -0.00966338 -0.00810547 0.00761755
+v -0.01292802 -0.00715660 0.00761755
+v -0.01570273 -0.00715660 0.00822780
+v -0.01092883 -0.01679924 0.00761755
+v -0.02158884 -0.00715660 0.00920507
+v -0.01554948 -0.01089593 0.00894426
+v -0.01516637 -0.01361312 0.00907352
+v -0.01516637 -0.01510177 0.00907352
+v -0.03230921 -0.00715660 0.00761755
+v -0.01292802 -0.01879836 0.00761755
+v -0.02420566 -0.00715660 0.00922266
+v -0.02132414 -0.01276682 0.00938551
+v -0.01346903 -0.01933813 0.00761755
+v -0.02254315 -0.01546569 0.00931674
+v -0.03230921 -0.01790688 0.00761755
+v -0.03338427 -0.01281811 0.00794395
+v -0.03329603 -0.01233329 0.00794395
+v -0.03230921 -0.00715660 0.00784178
+v -0.02568937 -0.00715660 0.00919557
+v -0.02575439 -0.01278514 0.00941417
+v -0.01744650 -0.01963244 0.00761755
+v -0.02449590 -0.01546569 0.00931674
+v -0.03249497 -0.01563421 0.00794395
+v -0.03126666 -0.01848451 0.00761755
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+v -0.02772803 -0.01892536 0.00761755
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+f 15 21 23
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+f 17 24 26
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+f 17 27 18
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+f 19 27 28
+f 20 29 27
+f 20 27 21
+f 21 27 26
+f 21 26 24
+f 21 24 23
+f 22 23 30
+f 23 25 31
+f 23 31 30
+f 27 29 28
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_46.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09c4904c913b98c76dfaf668c83566db20b8b64
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
+v 0.05151448 0.03040808 0.00756521
+v 0.05151448 0.00356416 0.00756521
+v 0.05323308 0.02930995 0.00756521
+v 0.05189212 0.04835833 0.00736628
+v 0.05151448 0.04835833 0.00736312
+v 0.05151448 0.00350382 0.00752574
+v 0.05159222 0.00357019 0.00756521
+v 0.05464736 0.02664909 0.00756521
+v 0.05602631 0.04427955 0.00736628
+v 0.05597021 0.04835833 0.00728892
+v 0.05189212 0.05243712 0.00708209
+v 0.05151448 0.05205699 0.00710419
+v 0.05151448 0.00085502 0.00553168
+v 0.05179230 0.00361243 0.00756521
+v 0.05189212 0.00090933 0.00551274
+v 0.05602631 0.02054902 0.00756521
+v 0.05602631 0.04835833 0.00728418
+v 0.05597021 0.05243712 0.00684053
+v 0.05209574 0.05682965 0.00579693
+v 0.05151448 0.05623231 0.00596270
+v 0.05151448 0.05243712 0.00707419
+v 0.05151448 0.00064988 0.00527434
+v 0.05205598 0.00370293 0.00756521
+v 0.05511776 0.00122308 0.00514171
+v 0.05602631 0.00132566 0.00502172
+v 0.05602631 0.00685252 0.00756521
+v 0.05602631 0.05243712 0.00682790
+v 0.05602631 0.05248539 0.00681211
+v 0.05602631 0.05590046 0.00566746
+v 0.05597021 0.05591253 0.00567378
+v 0.05151448 0.05680551 0.00579219
+v 0.05151448 0.05776487 0.00548116
+v 0.05151448 -0.00061116 0.00286031
+v 0.05602631 0.00315387 0.00613480
+v 0.05602631 0.00054127 0.00316818
+v 0.05602631 0.05792778 0.00374919
+v 0.05597021 0.05795191 0.00376656
+v 0.05359129 0.05839841 0.00464123
+v 0.05151448 0.05909832 0.00406654
+v 0.05151448 -0.00074391 0.00223510
+v 0.05151448 -0.00143175 -0.00123989
+v 0.05602631 -0.00027931 -0.00119411
+v 0.05602631 0.05797002 0.00369078
+v 0.05602631 0.05886904 0.00170619
+v 0.05209574 0.05936984 0.00310345
+v 0.05151448 0.05925519 0.00350921
+v 0.05151448 -0.00052066 -0.00534010
+v 0.05602631 0.00059558 -0.00562587
+v 0.05602631 -0.00008020 -0.00226139
+v 0.05602631 -0.00028534 -0.00123989
+v 0.05602631 0.05916469 -0.00123989
+v 0.05597021 0.05918279 -0.00123989
+v 0.05189212 0.06020852 -0.00123989
+v 0.05151448 0.05935777 0.00306240
+v 0.05151448 0.00090329 -0.00782043
+v 0.05501484 0.00124722 -0.00757256
+v 0.05602631 0.00073435 -0.00594005
+v 0.05602631 0.05916469 -0.00129673
+v 0.05602631 0.05885094 -0.00412125
+v 0.05204406 0.05933967 -0.00555640
+v 0.05151448 0.05932157 -0.00551851
+v 0.05151448 0.06018439 -0.00123989
+v 0.05151448 0.06011801 -0.00086571
+v 0.05151448 0.00349778 -0.00842354
+v 0.05189212 0.00349778 -0.00840933
+v 0.05189212 0.00095156 -0.00780780
+v 0.05602631 0.00287631 -0.00790727
+v 0.05602631 0.05781917 -0.00616424
+v 0.05597021 0.05784331 -0.00618161
+v 0.05350516 0.05830187 -0.00707523
+v 0.05151448 0.05909832 -0.00640896
+v 0.05151448 0.05864579 -0.00744625
+v 0.05151448 0.00757657 -0.00856248
+v 0.05597021 0.00757657 -0.00856406
+v 0.05602631 0.00757657 -0.00856406
+v 0.05602631 0.00319007 -0.00798779
+v 0.05602631 0.05778900 -0.00621161
+v 0.05602631 0.05579185 -0.00795621
+v 0.05597021 0.05580392 -0.00796095
+v 0.05151448 0.05761403 -0.00780938
+v 0.05151448 0.05243712 -0.00856248
+v 0.05597021 0.05243712 -0.00856248
+v 0.05602631 0.05238282 -0.00856248
+v 0.05602631 0.05576168 -0.00796253
+v 0.05204406 0.05676931 -0.00797516
+v 0.05602631 0.05243108 -0.00855774
+v 0.05151448 0.05714943 -0.00790095
+v 0.05151448 0.05675121 -0.00797516
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+f 9 35 42
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+f 9 50 49
+f 9 49 48
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+f 24 33 25
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+f 32 38 39
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+f 35 40 41
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+f 39 45 46
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+f 41 48 49
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+f 45 54 46
+f 47 55 56
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+f 59 68 69
+f 59 69 70
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+f 60 71 61
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+f 60 72 71
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+f 64 74 75
+f 64 75 65
+f 65 76 66
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+f 68 77 69
+f 69 77 70
+f 70 77 78
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+f 72 78 79
+f 72 79 80
+f 73 81 74
+f 74 81 82
+f 74 82 75
+f 75 82 83
+f 78 84 79
+f 79 85 80
+f 79 84 86
+f 79 86 82
+f 79 82 85
+f 80 85 87
+f 81 88 85
+f 81 85 82
+f 82 86 83
+f 85 88 87
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_47.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a0558d7ebb7e9a3cc4bcfda94df31375a0154a
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.04373408 0.04844988 -0.00856274
+v 0.04447956 0.04844988 -0.00856274
+v 0.04242575 0.04844988 -0.00840910
+v 0.03949874 0.04851742 -0.00807569
+v 0.04373408 0.05244055 -0.00850282
+v 0.04447956 0.05244055 -0.00851358
+v 0.04447956 0.04844988 0.00713352
+v 0.03938198 0.04851742 -0.00800348
+v 0.04242575 0.04844988 0.00682470
+v 0.03938198 0.04863462 -0.00797736
+v 0.04069928 0.05244055 -0.00790054
+v 0.04242575 0.05373767 -0.00806033
+v 0.04242575 0.05510332 -0.00778223
+v 0.04373408 0.05539234 -0.00790054
+v 0.04447956 0.05561382 -0.00791437
+v 0.04447956 0.04910738 0.00708282
+v 0.04382340 0.04844988 0.00709511
+v 0.03938198 0.04851742 0.00624546
+v 0.04373408 0.04844988 0.00708589
+v 0.03940393 0.04851742 0.00625161
+v 0.03938198 0.05243261 -0.00627960
+v 0.04130155 0.05485502 -0.00767929
+v 0.04447956 0.05754658 -0.00555132
+v 0.04447956 0.05244055 0.00664647
+v 0.04373408 0.05244055 0.00656504
+v 0.04126862 0.05488680 0.00523448
+v 0.03938198 0.05145828 0.00509313
+v 0.03938198 0.05348838 -0.00538692
+v 0.04067483 0.05545987 -0.00531778
+v 0.04242575 0.05652161 -0.00528091
+v 0.04387579 0.05739959 -0.00525172
+v 0.04447956 0.05796472 -0.00466941
+v 0.04447956 0.05321326 0.00641754
+v 0.04447956 0.05570619 0.00558786
+v 0.04373408 0.05548967 0.00554945
+v 0.04242575 0.05517086 0.00538198
+v 0.04447956 0.05621272 0.00516227
+v 0.04447956 0.05764292 0.00311420
+v 0.04242575 0.05604984 0.00414515
+v 0.04063841 0.05549464 0.00283610
+v 0.03938198 0.05365126 0.00294365
+v 0.03938198 0.05318645 0.00368729
+v 0.03938198 0.05487091 -0.00123854
+v 0.04023274 0.05588695 -0.00123854
+v 0.04304499 0.05792698 -0.00123854
+v 0.04447956 0.05859639 -0.00123854
+v 0.04447956 0.05804517 0.00219694
+v 0.04385633 0.05748699 0.00279615
+v 0.04242575 0.05660106 0.00281459
+v 0.03938198 0.05444483 0.00074040
+v 0.04447956 0.05846927 0.00044694
+f 1 2 7
+f 1 7 17
+f 1 17 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 3 8 4
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+f 26 41 42
+f 26 42 27
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+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 32
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+f 30 32 31
+f 32 45 46
+f 34 37 35
+f 35 37 36
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+f 38 48 39
+f 39 48 49
+f 39 49 40
+f 40 50 41
+f 40 49 48
+f 40 48 47
+f 40 47 51
+f 40 51 45
+f 40 45 44
+f 40 44 43
+f 40 43 50
+f 45 51 46
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_48.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199200a7757d38aad9c7d478c5331cc0062fba31
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.03655159 0.04414084 0.00756521
+v 0.03655159 0.04558613 0.00689263
+v 0.03579884 0.04398084 0.00756521
+v 0.03655159 0.02461073 0.00756521
+v 0.03655159 0.04755408 0.00575903
+v 0.03633052 0.04747407 0.00572430
+v 0.03542000 0.04437016 0.00716892
+v 0.03149947 0.04345286 0.00585850
+v 0.03149947 0.04019962 0.00696999
+v 0.03307915 0.04019962 0.00756521
+v 0.03640074 0.02480273 0.00756521
+v 0.03149947 -0.00356980 0.00737417
+v 0.03557678 -0.00356980 0.00732996
+v 0.03655159 0.00447264 0.00735365
+v 0.03655159 0.04785807 0.00554905
+v 0.03361181 0.04624744 0.00473596
+v 0.03149947 0.04410884 0.00494278
+v 0.03149947 0.03611974 0.00719576
+v 0.03267409 0.03746370 0.00756521
+v 0.03309152 0.03363981 0.00756521
+v 0.03149947 -0.00058321 0.00737891
+v 0.03149947 -0.00356980 -0.00856406
+v 0.03655159 -0.00356980 0.00725102
+v 0.03655159 0.04992734 0.00316661
+v 0.03149947 0.04538347 0.00316029
+v 0.03149947 0.03204519 0.00731260
+v 0.03149947 0.02796530 0.00734891
+v 0.03149947 0.02388542 0.00736628
+v 0.03655159 -0.00356980 -0.00856406
+v 0.03149947 0.03611974 -0.00856248
+v 0.03557678 0.04019962 -0.00856248
+v 0.03655159 0.05016200 0.00229825
+v 0.03655159 0.05050866 0.00091994
+v 0.03149947 0.04610878 0.00013368
+v 0.03655159 0.04019962 -0.00856248
+v 0.03149947 0.04019962 -0.00845038
+v 0.03655159 0.04445550 -0.00821672
+v 0.03655159 0.05090865 -0.00123989
+v 0.03149947 0.04629011 -0.00123989
+v 0.03149947 0.04327686 -0.00784885
+v 0.03655159 0.04726075 -0.00776202
+v 0.03655159 0.05002334 -0.00469436
+v 0.03149947 0.04522881 -0.00552324
+v 0.03149947 0.04336753 -0.00774623
+v 0.03381064 0.04604479 -0.00704839
+v 0.03652934 0.04725008 -0.00775886
+v 0.03655159 0.04902603 -0.00611056
+v 0.03149947 0.04522347 -0.00553903
+f 1 2 3
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+f 1 4 14
+f 1 14 23
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+f 1 37 41
+f 1 41 47
+f 1 47 42
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+f 8 15 16
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+f 8 25 34
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+f 8 22 12
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+f 8 21 28
+f 8 28 27
+f 8 27 26
+f 8 26 18
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+f 9 18 19
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+f 12 29 23
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+f 12 20 19
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+f 13 23 14
+f 15 24 16
+f 16 25 17
+f 16 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 21
+f 22 30 31
+f 22 31 35
+f 22 35 29
+f 24 32 25
+f 25 32 33
+f 25 33 34
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+f 31 36 37
+f 31 37 35
+f 33 38 34
+f 34 38 39
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+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 41 46 47
+f 42 47 48
+f 42 48 43
+f 44 48 45
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_49.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39e7578c2a9abb24366ba28df28748dbbf3231b
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02152622 0.01956526 0.00761755
+v -0.02152622 0.01458802 0.00935103
+v -0.01796442 0.01940628 0.00761755
+v -0.02185261 0.01954731 0.00761755
+v -0.02560227 0.01449186 0.00929667
+v -0.02560227 0.01165322 0.00942598
+v -0.02152622 0.01165322 0.00946247
+v -0.01744827 0.01438160 0.00928150
+v -0.01443108 0.01892676 0.00761755
+v -0.02560227 0.01895625 0.00761755
+v -0.02964227 0.01775104 0.00761755
+v -0.02818681 0.01413158 0.00913972
+v -0.02815835 0.01165322 0.00914171
+v -0.02778831 0.00926460 0.00901962
+v -0.02560227 0.00861969 0.00908482
+v -0.01519391 0.00935179 0.00905285
+v -0.01744827 0.01165322 0.00938463
+v -0.02152622 0.00646699 0.00878771
+v -0.01483147 0.01404311 0.00913358
+v -0.01292628 0.01852417 0.00761755
+v -0.03231220 0.01624325 0.00761755
+v -0.03231220 0.01568040 0.00776890
+v -0.03231220 0.01165322 0.00783861
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_5.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48569eeb2300b030d7ed1e789b0aeec2ccb907e
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.02152261 0.03002214 -0.00856422
+v -0.02563147 0.03002214 -0.00784595
+v -0.02560167 0.03635181 -0.00816212
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+v 0.01392005 0.03204590 -0.00843289
+v 0.01392005 0.03002214 -0.00851234
+v 0.01312383 0.03002214 -0.00853179
+v -0.02955725 0.03002214 -0.00124041
+v -0.02879934 0.03635181 -0.00531820
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_50.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2f09dd0d9ffe32d3435364d298707787a2be3f
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00110954 -0.00684098 0.00761755
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_51.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531e555dbbe03f751337678e9f9e72c0e1035ddc
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,453 @@
+# https://github.com/mikedh/trimesh
+v -0.01770848 -0.05741935 -0.00856407
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+v -0.01336631 -0.04955383 -0.00856242
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_52.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c38892dd9d756626e184e57f503cf605c360d8
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.06219636 0.01788112 0.00737281
+v 0.06219636 0.01573162 0.00736846
+v 0.06412786 0.01573162 0.00735974
+v 0.06412786 0.01981408 0.00736700
+v 0.06412786 0.03204032 0.00736700
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+v 0.06219636 0.01380394 0.00735901
+v 0.06430205 0.01573162 0.00734158
+v 0.06430205 0.01590590 0.00734594
+v 0.06430205 0.01998836 0.00735465
+v 0.06219636 0.01375113 0.00735683
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+v 0.06430205 0.01182873 0.00716506
+v 0.06430205 0.03204032 0.00735102
+v 0.06412786 0.03612278 0.00729000
+v 0.06219636 0.03612278 0.00732632
+v 0.06430205 0.02389125 0.00735465
+v 0.06430205 0.02796843 0.00735320
+v 0.06219636 0.01165445 0.00726167
+v 0.06219636 0.00972148 0.00707498
+v 0.06412786 0.00757727 0.00647133
+v 0.06430205 0.00775155 0.00648005
+v 0.06430205 0.01165445 0.00715344
+v 0.06430205 0.03612278 0.00726748
+v 0.06412786 0.04019995 0.00711494
+v 0.06219636 0.04427713 0.00706118
+v 0.06219636 0.04019995 0.00723480
+v 0.06219636 0.00757727 0.00670451
+v 0.06219636 0.00584500 0.00612265
+v 0.06219636 0.00580803 0.00610958
+v 0.06412786 0.00473592 0.00541076
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+v 0.06412786 0.04427713 0.00684544
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_53.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d303e90b75e416c032cbfe647f43261e90d90d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00892332 -0.03003652 -0.00856093
+v 0.01110041 -0.02913117 -0.00856251
+v 0.00702187 -0.03003652 -0.00856093
+v -0.00892332 -0.03003652 0.00736887
+v -0.00892332 -0.01282316 -0.00856251
+v 0.01392005 -0.02913117 -0.00856251
+v -0.00892332 0.02352010 -0.00856409
+v 0.01392005 -0.03003652 -0.00855934
+v -0.00203408 -0.03003652 0.00736887
+v -0.00520926 -0.00821999 0.00761755
+v -0.00853425 -0.00804950 0.00761755
+v -0.00892332 -0.00802011 0.00761755
+v 0.01392005 0.02796453 -0.00856251
+v -0.00892332 0.02388459 -0.00856409
+v 0.01392005 -0.03003652 0.00714553
+v -0.00113072 -0.03003652 0.00736729
+v 0.01392005 -0.00756744 0.00761755
+v 0.01107805 -0.00779671 0.00761755
+v 0.00702187 -0.00791429 0.00761755
+v -0.00892332 0.01129790 0.00761755
+v 0.00904772 0.03002214 -0.00856251
+v 0.01392005 0.02922849 -0.00854350
+v -0.00892332 0.03002214 -0.00856251
+v 0.01392005 -0.02913117 0.00726750
+v 0.00294334 -0.03003652 0.00734036
+v 0.00204445 -0.03003652 0.00735303
+v 0.01392005 0.00812330 0.00761755
+v 0.01392005 -0.02505123 0.00736729
+v 0.00995108 0.01041019 0.00761755
+v -0.00892332 0.01608919 0.00755578
+v 0.01312402 0.03002214 -0.00853083
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+v 0.00702187 0.03002214 0.00731026
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+f 35 40 36
+f 36 40 39
+f 37 41 38
+f 38 41 39
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_54.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee323486bc53438d3140042ae1f816032deedb04
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,381 @@
+# https://github.com/mikedh/trimesh
+v 0.05607848 -0.04856669 -0.00855774
+v 0.06004947 -0.04856669 -0.00842172
+v 0.05607848 -0.04856669 0.00721926
+v 0.05607848 -0.04544871 -0.00856406
+v 0.06004947 -0.04544871 -0.00856406
+v 0.06337106 -0.04856669 -0.00785074
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+v 0.06820516 -0.03729059 -0.00843753
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+v 0.05693331 -0.04856669 0.00715915
+v 0.06004947 -0.04136764 0.00729834
+v 0.05607848 -0.01700965 -0.00856406
+v 0.06531762 -0.04856669 -0.00613465
+v 0.06689310 -0.04449365 -0.00776058
+v 0.06589082 -0.04721035 -0.00703777
+v 0.06820516 -0.03321354 -0.00848024
+v 0.06412815 -0.02505943 -0.00856406
+v 0.07055595 -0.03993506 -0.00765936
+v 0.07081108 -0.03321354 -0.00787763
+v 0.07074647 -0.03729059 -0.00783492
+v 0.06004947 -0.03729059 0.00736635
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+v 0.06004947 -0.04856669 0.00662614
+v 0.06004947 -0.04544871 0.00706900
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+v 0.05607848 -0.01690131 -0.00856090
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+v 0.06004947 -0.02097836 -0.00856406
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+v 0.07034887 -0.04354662 -0.00352966
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+v 0.06412815 -0.02097836 0.00665144
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_55.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b31323392c406bb5b7bc4c1ee631b423cf22f59a
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.06783556 0.00743174 0.00794377
+v -0.06782249 0.00581887 0.00794377
+v -0.06453364 0.00853793 0.00903730
+v -0.06453364 0.00979780 0.00903730
+v -0.06660551 0.01138938 0.00794377
+v -0.06415586 0.00582039 0.00893270
+v -0.06485520 0.00186123 0.00794377
+v -0.06460945 0.00128912 0.00794390
+v -0.06260294 0.00733741 0.00915727
+v -0.06198464 0.01135590 0.00911569
+v -0.06041081 0.01382391 0.00901341
+v -0.06202255 0.01591760 0.00794377
+v -0.06612708 0.01187324 0.00794377
+v -0.06143694 0.00469290 0.00908276
+v -0.05652719 0.00186123 0.00794377
+v -0.05823436 0.00037313 0.00794390
+v -0.06115459 0.00037465 0.00794390
+v -0.06238725 0.00044921 0.00794390
+v -0.05823567 0.00757477 0.00926303
+v -0.05856246 0.01139090 0.00913571
+v -0.06014153 0.01382391 0.00901341
+v -0.06154674 0.01591608 0.00794377
+v -0.05823567 0.00482984 0.00908121
+v -0.05448277 0.00346346 0.00794377
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+v -0.05448277 0.00757477 0.00844250
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_56.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0ba9f9413178304297359c7a65c26daf5882ea
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v 0.05602715 0.02054621 0.00756521
+v 0.05602715 0.00685162 0.00756521
+v 0.05667945 0.02052293 0.00756521
+v 0.05602715 0.04428040 0.00736628
+v 0.05602715 0.00315588 0.00613479
+v 0.06004919 0.00391831 0.00573535
+v 0.06015300 0.00401143 0.00575272
+v 0.05756116 0.00771299 0.00756521
+v 0.05902773 0.01882929 0.00756521
+v 0.06004919 0.04020054 0.00736628
+v 0.06004919 0.04428040 0.00729997
+v 0.05602715 0.04836026 0.00728418
+v 0.05602715 0.00132256 0.00502172
+v 0.05783743 0.00152627 0.00478174
+v 0.06015300 0.00394159 0.00572588
+v 0.06015300 0.00757330 0.00694947
+v 0.06015300 0.00767807 0.00696841
+v 0.06015300 0.01165316 0.00735365
+v 0.05869128 0.01047169 0.00756521
+v 0.05916990 0.01477853 0.00756521
+v 0.06015300 0.04020054 0.00735996
+v 0.06015300 0.04428040 0.00728892
+v 0.06004919 0.04836026 0.00697789
+v 0.05602715 0.05244012 0.00682790
+v 0.05602715 0.00054267 0.00316818
+v 0.06004919 0.00100246 0.00208827
+v 0.06015300 0.00101410 0.00205196
+v 0.06004919 0.00188129 0.00412811
+v 0.06015300 0.00195113 0.00415969
+v 0.06015300 0.01175792 0.00735838
+v 0.05909962 0.01165316 0.00756521
+v 0.06015300 0.01573302 0.00737733
+v 0.06015300 0.01583778 0.00737733
+v 0.06015300 0.03612068 0.00736470
+v 0.06015300 0.04836608 0.00695263
+v 0.06015300 0.05118299 0.00625479
+v 0.06015300 0.05260308 0.00590271
+v 0.06015300 0.05271366 0.00586797
+v 0.05894937 0.05518719 0.00533749
+v 0.05602715 0.05589724 0.00566746
+v 0.05602715 0.00049611 0.00293768
+v 0.05602715 -0.00028959 -0.00123989
+v 0.06015300 0.00190457 0.00408864
+v 0.06015300 0.00060087 -0.00113095
+v 0.06015300 0.05600200 0.00284610
+v 0.05987148 0.05635702 0.00258402
+v 0.05807492 0.05859774 0.00091204
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+v 0.05773403 0.00160193 -0.00721258
+v 0.05621294 0.00063580 -0.00564008
+v 0.06015300 0.00198023 -0.00641370
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+v 0.05602715 0.05916229 -0.00129673
+v 0.06015300 0.05696813 -0.00126831
+v 0.05602715 0.00287652 -0.00790727
+v 0.06004919 0.00404635 -0.00796095
+v 0.06015300 0.00406963 -0.00795621
+v 0.06004919 0.00200933 -0.00654001
+v 0.06015300 0.00203261 -0.00650369
+v 0.05602715 0.05782368 -0.00616425
+v 0.05602715 0.05884800 -0.00412125
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+v 0.05602715 0.05244012 -0.00855616
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_57.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..455e6707c7d57eb0a9983572a5dd706272670a69
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03267402 0.03746561 0.00756521
+v 0.03530094 0.04020291 0.00840672
+v 0.03530094 0.04044432 0.00839453
+v 0.03307875 0.04020291 0.00756521
+v 0.03309135 0.03364051 0.00756521
+v 0.03530094 0.03585362 0.00791438
+v 0.03530094 0.04293539 0.00756529
+v 0.03530068 0.04293636 0.00756521
+v 0.03530094 0.03311055 0.00756521
+v 0.03530094 0.03352605 0.00756521
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 9
+f 2 9 10
+f 2 10 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 7 10 8
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_58.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175eb2e50d0adb4afd02aca67ad6e16c1e82a85e
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01744454 -0.03309566 -0.00856248
+v -0.02152542 -0.03309566 -0.00856090
+v -0.02152542 -0.03003821 -0.00856090
+v -0.01336807 -0.03003821 -0.00856248
+v 0.00702311 -0.03309566 -0.00856248
+v -0.02560189 -0.03309566 -0.00839776
+v -0.02560189 -0.03003821 -0.00821403
+v 0.00702311 -0.03003821 -0.00856248
+v 0.01392005 -0.03003821 -0.00855931
+v 0.01392005 -0.03195031 -0.00855139
+v 0.01392005 -0.03309566 -0.00854664
+v -0.02570325 -0.03309566 -0.00838509
+v -0.02840914 -0.03003821 -0.00785131
+v 0.01392005 -0.03003821 0.00714499
+v 0.01392005 -0.03309566 0.00678069
+v -0.02824168 -0.03309566 -0.00779905
+v -0.02910104 -0.03003821 -0.00769134
+v 0.00294663 -0.03003821 0.00734139
+v 0.00294663 -0.03309566 0.00731447
+v 0.00306122 -0.03309566 0.00731130
+v -0.02987227 -0.03309566 -0.00531708
+v -0.03110182 -0.03004031 -0.00541529
+v -0.03110182 -0.03003821 -0.00498130
+v -0.01732995 -0.03309566 0.00761541
+v 0.00204320 -0.03003821 0.00735089
+v -0.03099164 -0.03309566 -0.00123856
+v -0.03110182 -0.03007323 -0.00538044
+v -0.03110182 -0.03003821 0.00307597
+v -0.01744454 -0.03309566 0.00761541
+v -0.00112984 -0.03003821 0.00736515
+v -0.01427150 -0.03003821 0.00742217
+v -0.01744454 -0.03003821 0.00742375
+v -0.03110182 -0.03011273 0.00290174
+v -0.03110182 -0.03053980 -0.00123856
+v -0.03110182 -0.03053771 -0.00127024
+v -0.03096961 -0.03309566 -0.00108492
+v -0.03002651 -0.03309566 0.00283680
+v -0.02999126 -0.03309566 0.00290174
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+v -0.02914070 -0.03003821 0.00531876
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+v -0.01837441 -0.03003821 0.00741742
+v -0.02152542 -0.03309566 0.00758531
+v -0.02548290 -0.03309566 0.00681079
+v -0.02242444 -0.03003821 0.00702145
+v -0.02152542 -0.03003821 0.00719884
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+f 24 31 32
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+f 26 33 34
+f 26 34 35
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+f 29 32 41
+f 29 41 42
+f 39 43 40
+f 40 43 44
+f 41 45 42
+f 42 45 46
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 46 49 47
+f 47 49 48
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_59.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1fce1c7bea1f7bf9bbd2b057868d0c4f539172
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00929071 -0.03927492 -0.00856406
+v -0.00352825 -0.03821850 -0.00856406
+v -0.00352825 -0.03927492 -0.00856406
+v -0.02560328 -0.03927492 -0.00856234
+v -0.02152305 -0.03764826 -0.00856234
+v -0.00352825 -0.03764826 -0.00856234
+v -0.00352825 -0.03927492 0.00805165
+v -0.02871428 -0.03927492 -0.00796008
+v -0.02560328 -0.03764826 -0.00856062
+v -0.00352825 -0.03764826 0.00775051
+v -0.00719350 -0.03927492 0.00896193
+v -0.03083656 -0.03927492 -0.00552519
+v -0.02856667 -0.03764826 -0.00795835
+v -0.00556698 -0.03764826 0.00801035
+v -0.00929071 -0.03764826 0.00836138
+v -0.00780345 -0.03927492 0.00898258
+v -0.03075579 -0.03764826 -0.00507091
+v -0.03181415 -0.03927492 -0.00354287
+v -0.00929071 -0.03922714 0.00900495
+v -0.02144228 -0.03764826 0.00859713
+v -0.00929071 -0.03927492 0.00901528
+v -0.03093126 -0.03764826 -0.00471299
+v -0.03198125 -0.03927492 -0.00124049
+v -0.03177237 -0.03881343 -0.00342586
+v -0.01895793 -0.03912698 0.00898774
+v -0.02536654 -0.03764826 0.00832525
+v -0.02768100 -0.03925421 0.00898086
+v -0.02013605 -0.03912698 0.00898774
+v -0.02768100 -0.03927492 0.00898086
+v -0.03176401 -0.03764826 -0.00124049
+v -0.03195340 -0.03927492 0.00018259
+v -0.03174173 -0.03764826 0.00033057
+v -0.02567291 -0.03764826 0.00830288
+v -0.02855832 -0.03764826 0.00692627
+v -0.02856110 -0.03765399 0.00692799
+v -0.02971415 -0.03927492 0.00551868
+v -0.02769492 -0.03927492 0.00895849
+v -0.03195062 -0.03927492 0.00027207
+v -0.03135738 -0.03764826 0.00180355
+v -0.03178908 -0.03828554 0.00098618
+v -0.02858338 -0.03764826 0.00688669
+v -0.03100088 -0.03764826 0.00269662
+v -0.03109001 -0.03927492 0.00313198
+v -0.03186149 -0.03927492 0.00120128
+v -0.03145208 -0.03927492 0.00222858
+f 1 2 3
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+f 1 16 21
+f 1 21 29
+f 1 29 37
+f 1 37 36
+f 1 36 43
+f 1 43 45
+f 1 45 44
+f 1 44 38
+f 1 38 31
+f 1 31 23
+f 1 23 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
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+f 4 9 5
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+f 7 10 11
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+f 20 28 25
+f 21 25 28
+f 21 28 27
+f 21 27 29
+f 22 24 30
+f 23 31 32
+f 23 32 30
+f 23 30 24
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+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 29
+f 31 38 32
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+f 32 40 39
+f 34 41 35
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 38 44 40
+f 39 40 42
+f 40 44 45
+f 40 45 42
+f 42 45 43
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_6.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187c02b4edc82c562c6d452c404cee9f436ca831
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01847707 -0.00443716 -0.00856406
+v 0.01392005 -0.00443716 -0.00856231
+v 0.01847707 -0.00369515 -0.00856406
+v 0.01847707 -0.00443716 0.00855372
+v 0.01392005 0.00755722 -0.00856231
+v 0.01392005 -0.00443716 0.00820606
+v 0.01847707 0.00755722 -0.00856231
+v 0.01847707 -0.00306467 0.00911803
+v 0.01674884 -0.00287681 0.00907260
+v 0.01392005 0.00755722 0.00763302
+v 0.01392005 -0.00058384 0.00877560
+v 0.01847707 0.00755722 0.00760157
+v 0.01847707 -0.00130003 0.00924906
+v 0.01592666 -0.00058384 0.00913725
+v 0.01392005 0.00333876 0.00849782
+v 0.01596770 0.00173731 0.00907959
+v 0.01847707 0.00205666 0.00912851
+v 0.01392005 -0.00054627 0.00877560
+v 0.01847707 -0.00058384 0.00928400
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
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+f 2 15 10
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+f 4 8 9
+f 4 9 6
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+f 5 12 7
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+f 8 13 9
+f 9 13 14
+f 9 14 11
+f 10 15 16
+f 10 16 17
+f 10 17 12
+f 11 14 18
+f 13 19 14
+f 14 19 16
+f 14 16 18
+f 15 18 16
+f 16 19 17
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_61.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c96c9d8c089fc146cac15b0d986f65d5f2221e
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
+v 0.03235735 -0.04856237 -0.00628758
+v 0.03235735 -0.04856237 0.00408254
+v 0.03235735 -0.04777188 -0.00728872
+v 0.03321648 -0.04856237 -0.00738278
+v 0.04780998 -0.04856669 -0.00856406
+v 0.04780534 -0.04856669 0.00728205
+v 0.03248971 -0.04856237 0.00425630
+v 0.03290534 -0.04816065 0.00528614
+v 0.03235735 -0.04698570 0.00595889
+v 0.04780534 -0.04856669 0.00736654
+v 0.03235735 -0.04687771 -0.00778611
+v 0.03300518 -0.04805697 -0.00761394
+v 0.03391074 -0.04856237 -0.00774944
+v 0.03442854 -0.04856237 -0.00792161
+v 0.03464680 -0.04856237 -0.00799335
+v 0.03869862 -0.04856237 -0.00853696
+v 0.03966223 -0.04856237 -0.00856406
+v 0.05596934 -0.04856669 -0.00856406
+v 0.03366694 -0.04856237 0.00545034
+v 0.03235735 -0.04476540 0.00772205
+v 0.05189199 -0.04856669 0.00736654
+v 0.04373495 -0.04856237 0.00738567
+v 0.03965759 -0.04856237 0.00723104
+v 0.03550825 -0.04856237 0.00635105
+v 0.03235735 -0.04625136 -0.00799335
+v 0.03235735 -0.04222545 -0.00854015
+v 0.03235735 -0.04137016 -0.00856406
+v 0.05607848 -0.04856669 -0.00855769
+v 0.05607848 -0.04544791 -0.00856406
+v 0.03558023 -0.04597058 0.00772205
+v 0.03235735 -0.03474382 0.00772205
+v 0.05285095 -0.04856669 0.00736335
+v 0.03965759 -0.04664877 0.00772205
+v 0.03235735 -0.02751705 -0.00856406
+v 0.05607848 -0.04856669 0.00721829
+v 0.05607848 -0.02751273 -0.00856406
+v 0.03235735 -0.02751705 0.00731553
+v 0.04151516 -0.01294687 0.00772205
+v 0.03235968 -0.00443717 0.00736335
+v 0.05596934 -0.04856669 0.00722626
+v 0.05607848 -0.04533559 0.00734901
+v 0.04364671 -0.04429888 0.00772205
+v 0.04250199 -0.04538743 0.00772205
+v 0.03235968 -0.00443717 -0.00856247
+v 0.03235968 -0.01689935 -0.00856406
+v 0.05607848 -0.02751273 0.00736973
+v 0.05607616 -0.01700734 -0.00856406
+v 0.05607616 -0.01689935 -0.00856088
+v 0.05607616 -0.01292959 -0.00830581
+v 0.05607616 -0.01283024 -0.00828668
+v 0.05607616 -0.01033781 -0.00770162
+v 0.05607616 -0.01028165 -0.00768249
+v 0.05607616 -0.00873954 -0.00546020
+v 0.05607616 -0.00860563 -0.00512702
+v 0.05607616 -0.00762507 -0.00158476
+v 0.05607616 -0.00757323 -0.00123882
+v 0.04390910 -0.01081297 0.00772205
+v 0.04780998 -0.01021686 0.00772205
+v 0.03558023 -0.00443717 0.00733307
+v 0.05607848 -0.04125785 0.00736654
+v 0.05607616 -0.02097710 0.00759292
+v 0.05538189 -0.02096846 0.00772205
+v 0.05074262 -0.03318011 0.00772205
+v 0.04570629 -0.04125353 0.00772205
+v 0.03965759 -0.00443717 -0.00856247
+v 0.04373727 -0.00874385 -0.00856406
+v 0.03558023 -0.01282160 -0.00856406
+v 0.05607616 -0.00806999 0.00283749
+v 0.05607616 -0.00941772 0.00534513
+v 0.05607616 -0.01282592 0.00665235
+v 0.05607616 -0.01689935 0.00745422
+v 0.05188966 -0.01282160 -0.00856406
+v 0.05596702 -0.01282160 -0.00830103
+v 0.04387659 -0.00443717 -0.00808103
+v 0.05596702 -0.01026005 -0.00769843
+v 0.05022018 -0.00645876 -0.00754698
+v 0.04855533 -0.00443717 -0.00604208
+v 0.04922870 -0.00443717 -0.00539165
+v 0.05170391 -0.00579353 -0.00509992
+v 0.05416518 -0.00645876 -0.00359502
+v 0.05436255 -0.00625142 -0.00123882
+v 0.05420233 -0.00642420 0.00283749
+v 0.04949805 -0.01084320 0.00772205
+v 0.03965759 -0.00443717 0.00700467
+v 0.03580546 -0.00443717 0.00731553
+v 0.05501734 -0.01689935 0.00772205
+v 0.04378603 -0.00443717 -0.00809219
+v 0.05395156 -0.00668338 0.00489716
+v 0.05557229 -0.00910239 0.00543759
+v 0.05303207 -0.01290368 0.00772205
+v 0.04655613 -0.00443717 -0.00741785
+v 0.04780998 -0.00583241 -0.00780205
+v 0.05050810 -0.00443717 -0.00315662
+v 0.05148564 -0.00443717 -0.00123882
+v 0.05173177 -0.01176761 0.00772205
+v 0.03990604 -0.00443717 0.00694409
+v 0.05188966 -0.00874385 0.00649134
+v 0.04973953 -0.00443717 0.00296980
+v 0.04794466 -0.00443717 0.00395819
+v 0.04393231 -0.00443717 0.00592700
+v 0.05234709 -0.01227733 0.00772205
+f 1 2 9
+f 1 9 20
+f 1 20 31
+f 1 31 37
+f 1 37 34
+f 1 34 27
+f 1 27 26
+f 1 26 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 10 7
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 27
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+f 5 45 67
+f 5 67 66
+f 5 66 72
+f 5 72 47
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+f 5 36 29
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+f 5 18 28
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+f 5 40 32
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+f 5 21 10
+f 5 10 6
+f 7 19 8
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+f 8 19 9
+f 9 19 20
+f 10 21 22
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+f 10 23 24
+f 10 24 19
+f 11 25 12
+f 12 25 13
+f 13 25 14
+f 14 25 15
+f 15 25 26
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+f 16 26 17
+f 17 26 27
+f 18 29 28
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+f 20 30 33
+f 20 33 43
+f 20 43 42
+f 20 42 64
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+f 20 63 62
+f 20 62 86
+f 20 86 90
+f 20 90 101
+f 20 101 95
+f 20 95 83
+f 20 83 58
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+f 20 57 38
+f 20 38 31
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+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 30
+f 28 29 36
+f 28 36 46
+f 28 46 60
+f 28 60 41
+f 28 41 35
+f 31 38 39
+f 31 39 37
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 34 37 39
+f 34 39 44
+f 34 44 45
+f 35 41 40
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 46
+f 38 57 39
+f 39 57 58
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+f 39 59 85
+f 39 85 84
+f 39 84 96
+f 39 96 100
+f 39 100 99
+f 39 99 98
+f 39 98 94
+f 39 94 93
+f 39 93 78
+f 39 78 77
+f 39 77 91
+f 39 91 74
+f 39 74 87
+f 39 87 65
+f 39 65 44
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+f 41 62 63
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+f 41 64 42
+f 44 65 66
+f 44 66 67
+f 44 67 45
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+f 46 69 70
+f 46 70 71
+f 46 71 61
+f 46 61 60
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+f 48 72 49
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+f 49 73 50
+f 50 73 51
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+f 51 75 52
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+f 53 77 78
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+f 53 79 80
+f 53 80 54
+f 54 80 55
+f 55 80 81
+f 55 81 56
+f 56 81 82
+f 56 82 68
+f 58 83 84
+f 58 84 85
+f 58 85 59
+f 61 71 86
+f 61 86 62
+f 65 87 73
+f 65 72 66
+f 68 82 88
+f 68 88 69
+f 69 89 70
+f 69 88 89
+f 70 90 71
+f 70 89 90
+f 71 90 86
+f 73 87 74
+f 74 91 76
+f 74 76 92
+f 74 92 75
+f 75 92 76
+f 76 91 77
+f 78 93 80
+f 78 80 79
+f 80 93 94
+f 80 94 81
+f 81 94 82
+f 82 94 88
+f 83 95 84
+f 84 95 97
+f 84 97 88
+f 84 88 96
+f 88 94 98
+f 88 98 99
+f 88 99 100
+f 88 100 96
+f 88 97 89
+f 89 97 101
+f 89 101 90
+f 95 101 97
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_62.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f25df3c0ea0c37cf1db438b0aff5ffadf17cd44
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.04194189 0.04650632 0.00756521
+v 0.03949304 0.04547362 0.00756521
+v 0.04447906 0.04405552 0.00756521
+v 0.04447906 0.04502398 0.00751311
+v 0.04447906 0.04844817 0.00713261
+v 0.04382344 0.04844817 0.00709472
+v 0.04373413 0.04844817 0.00708525
+v 0.03938227 0.04541433 0.00756521
+v 0.04242587 0.04850747 0.00681685
+v 0.03940373 0.04850747 0.00625163
+v 0.03938227 0.04850747 0.00624689
+v 0.04447906 0.00532212 0.00756521
+v 0.04447906 0.04844817 -0.00856090
+v 0.03938227 0.02148945 0.00756521
+v 0.04242587 0.04850747 -0.00840302
+v 0.03938227 0.04850747 -0.00800200
+v 0.04261598 0.00645858 0.00756521
+v 0.03938227 -0.00196108 0.00701420
+v 0.03965620 -0.00196108 0.00699210
+v 0.04447906 0.00441790 0.00744364
+v 0.04447906 0.04835429 -0.00856248
+v 0.04373413 0.04844817 -0.00856090
+v 0.04176077 0.00968513 0.00756521
+v 0.03938227 0.00730845 0.00736786
+v 0.04237847 0.04850747 -0.00839828
+v 0.03950352 0.04850747 -0.00807936
+v 0.03938227 0.04845312 -0.00806673
+v 0.03938227 0.00322709 0.00725576
+v 0.04219436 0.00758021 0.00756521
+v 0.03938227 -0.00196108 -0.00856406
+v 0.04242587 -0.00196108 0.00630057
+v 0.04447906 0.00354332 0.00725418
+v 0.04373413 0.04835429 -0.00856248
+v 0.04447906 0.00758021 -0.00856248
+v 0.03965620 -0.00196108 -0.00856406
+v 0.03938227 -0.00183755 -0.00856406
+v 0.03965620 0.04427293 -0.00856090
+v 0.03938227 0.04428776 -0.00853090
+v 0.04242587 -0.00196108 -0.00824671
+v 0.04447906 -0.00110627 0.00557431
+v 0.04393071 -0.00110627 0.00591850
+v 0.04447906 -0.00062204 0.00588850
+v 0.04447906 -0.00016251 0.00616795
+v 0.04447906 0.00345438 0.00722892
+v 0.03938227 0.04019651 -0.00856248
+v 0.04447906 0.00349885 -0.00855932
+v 0.04373413 0.00349885 -0.00856248
+v 0.04447906 -0.00054298 -0.00805883
+v 0.04387483 -0.00110627 -0.00807936
+v 0.04447906 -0.00110627 -0.00767518
+f 1 2 8
+f 1 8 14
+f 1 14 23
+f 1 23 29
+f 1 29 17
+f 1 17 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 12 20
+f 3 20 32
+f 3 32 44
+f 3 44 43
+f 3 43 42
+f 3 42 40
+f 3 40 50
+f 3 50 48
+f 3 48 46
+f 3 46 34
+f 3 34 21
+f 3 21 13
+f 3 13 5
+f 3 5 4
+f 5 13 15
+f 5 15 9
+f 5 9 6
+f 6 9 7
+f 8 11 16
+f 8 16 27
+f 8 27 38
+f 8 38 45
+f 8 45 36
+f 8 36 30
+f 8 30 18
+f 8 18 28
+f 8 28 24
+f 8 24 14
+f 9 15 25
+f 9 25 26
+f 9 26 16
+f 9 16 11
+f 9 11 10
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 13 21 33
+f 13 33 22
+f 13 22 15
+f 14 24 23
+f 15 22 25
+f 16 26 27
+f 17 24 28
+f 17 28 18
+f 17 29 24
+f 18 30 35
+f 18 35 39
+f 18 39 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 21 34 35
+f 21 35 36
+f 21 36 33
+f 22 26 25
+f 22 33 37
+f 22 37 38
+f 22 38 26
+f 23 24 29
+f 26 38 27
+f 30 36 35
+f 31 39 50
+f 31 50 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 33 45 37
+f 33 36 45
+f 34 46 47
+f 34 47 35
+f 35 47 46
+f 35 46 39
+f 37 45 38
+f 39 46 48
+f 39 48 49
+f 39 49 50
+f 40 42 41
+f 48 50 49
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_63.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfded6aa2bc283c2cd6375d3fe8749ef0f5e305a
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03749481 -0.01156188 0.00794377
+v -0.03733384 -0.01156188 0.00794377
+v -0.03749481 -0.01156188 0.00796673
+v -0.03749481 -0.00297850 0.00794377
+v -0.03592370 -0.00874136 0.00794377
+v -0.03749481 -0.00466308 0.00847807
+v -0.03749481 -0.00297850 0.00855784
+v -0.03481240 -0.00297850 0.00794377
+v -0.03508865 -0.00466308 0.00794377
+v -0.03749481 -0.00303059 0.00855537
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 9 7
+f 5 7 10
+f 5 10 6
+f 7 9 8
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_64.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9fcdcd846746d81db7ee98b95758ff175f6f02
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.06015300 0.00059146 -0.00123975
+v 0.06015300 0.00103432 -0.00446519
+v 0.06219616 0.00128663 -0.00376021
+v 0.06219616 0.00113156 -0.00123975
+v 0.06219616 0.00122750 0.00102024
+v 0.06015300 0.00059672 -0.00113057
+v 0.06015300 0.00197523 -0.00641324
+v 0.06219616 0.00136811 -0.00392710
+v 0.06219616 0.00126823 0.00133218
+v 0.06015300 0.00101198 0.00205120
+v 0.06015300 0.00203042 -0.00650370
+v 0.06219616 0.00249300 -0.00577065
+v 0.06219616 0.00238918 0.00333638
+v 0.06015300 0.00190295 0.00408972
+v 0.06219616 0.00445498 -0.00786531
+v 0.06015300 0.00406600 -0.00795578
+v 0.06219616 0.00335769 0.00476818
+v 0.06219616 0.00338134 0.00480249
+v 0.06015300 0.00195158 0.00415990
+v 0.06219616 0.00757208 -0.00846735
+v 0.06015300 0.00757208 -0.00855938
+v 0.06219616 0.00434722 0.00556362
+v 0.06015300 0.00393853 0.00572583
+v 0.06219616 0.01165111 -0.00856406
+v 0.06015300 0.01165111 -0.00856250
+v 0.06219616 0.00580721 0.00610952
+v 0.06015300 0.00401081 0.00575391
+v 0.06176337 0.01401653 -0.00856406
+v 0.06219616 0.01401653 -0.00856406
+v 0.06015300 0.01401653 -0.00856250
+v 0.06219616 0.00584269 0.00612199
+v 0.06219616 0.00757208 0.00670376
+v 0.06015300 0.00757208 0.00695019
+v 0.06219616 0.01401653 0.00736039
+v 0.06015300 0.01401653 0.00736975
+v 0.06219616 0.00971935 0.00707496
+v 0.06015300 0.00767589 0.00696735
+v 0.06015300 0.01175493 0.00735727
+v 0.06219616 0.01379839 0.00735883
+v 0.06219616 0.01165111 0.00726213
+v 0.06015300 0.01165111 0.00735259
+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 33
+f 1 33 37
+f 1 37 41
+f 1 41 38
+f 1 38 35
+f 1 35 30
+f 1 30 25
+f 1 25 21
+f 1 21 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 8 12
+f 3 12 15
+f 3 15 20
+f 3 20 24
+f 3 24 29
+f 3 29 34
+f 3 34 39
+f 3 39 40
+f 3 40 36
+f 3 36 32
+f 3 32 31
+f 3 31 26
+f 3 26 22
+f 3 22 18
+f 3 18 17
+f 3 17 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 3 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 11 16 15
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 16 20
+f 16 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 28
+f 24 28 29
+f 25 30 28
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 30 35
+f 28 35 34
+f 28 34 29
+f 32 36 33
+f 33 36 37
+f 34 35 38
+f 34 38 39
+f 36 40 41
+f 36 41 37
+f 38 41 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_65.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee6b3b5674f1a710aaa0f7bd30aa3c11da70bf9d
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03749481 -0.00297850 0.00855776
+v -0.03749481 -0.00297850 0.00794388
+v -0.03862834 -0.00297850 0.00886212
+v -0.03965504 -0.00753614 0.00902459
+v -0.03905229 -0.00753614 0.00886255
+v -0.03749481 -0.00466308 0.00847819
+v -0.03749481 -0.00422899 0.00794377
+v -0.04490548 -0.00297850 0.00794388
+v -0.03947062 -0.00297850 0.00903925
+v -0.04105958 -0.00753614 0.00904518
+v -0.03749594 -0.00753614 0.00825039
+v -0.03749481 -0.00753614 0.00805708
+v -0.03749481 -0.00753614 0.00794377
+v -0.04507079 -0.00422899 0.00794377
+v -0.04898304 -0.00753614 0.00794377
+v -0.04026679 -0.00297850 0.00903925
+v -0.04129011 -0.00753614 0.00904518
+v -0.04532718 -0.00753614 0.00848790
+v -0.04299265 -0.00753614 0.00882956
+f 1 2 8
+f 1 8 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 8
+f 3 9 4
+f 4 9 10
+f 4 10 17
+f 4 17 19
+f 4 19 18
+f 4 18 15
+f 4 15 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 7 13 15
+f 7 15 14
+f 8 14 15
+f 8 15 16
+f 9 16 17
+f 9 17 10
+f 15 18 16
+f 16 18 19
+f 16 19 17
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_66.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e5b8acc7e2a1ad4d7e1f4614f76a9991592c23
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00294825 -0.03927492 -0.00856406
+v 0.00294825 -0.03764826 -0.00856406
+v 0.00703706 -0.03764826 -0.00839816
+v 0.00709000 -0.03927492 -0.00821600
+v -0.00352825 -0.03927492 -0.00856244
+v -0.00352825 -0.03764826 -0.00856244
+v 0.01065960 -0.03764826 -0.00790697
+v 0.00980221 -0.03927492 -0.00769227
+v -0.00352825 -0.03927492 0.00805208
+v -0.00352825 -0.03764826 0.00775118
+v 0.01392005 -0.03764826 -0.00703192
+v 0.01392005 -0.03832344 -0.00629675
+v 0.01392005 -0.03865913 -0.00556483
+v 0.01172193 -0.03927492 -0.00532899
+v 0.00295850 -0.03927492 0.00764871
+v 0.00294996 -0.03764826 0.00730389
+v 0.01392005 -0.03764826 0.00468851
+v 0.01392005 -0.03927492 -0.00124002
+v 0.00486968 -0.03927492 0.00732992
+v 0.00663740 -0.03764826 0.00668583
+v 0.01054687 -0.03764826 0.00564814
+v 0.00517711 -0.03927492 0.00727787
+v 0.00913612 -0.03927492 0.00587584
+v 0.00986370 -0.03927492 0.00526754
+v 0.01392005 -0.03861868 0.00283757
+v 0.01180562 -0.03927492 0.00285221
+v 0.00669376 -0.03764826 0.00667607
+v 0.01102168 -0.03927492 0.00386714
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 26
+f 1 26 28
+f 1 28 24
+f 1 24 23
+f 1 23 22
+f 1 22 19
+f 1 19 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 20
+f 2 20 27
+f 2 27 21
+f 2 21 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 11 17 25
+f 11 25 18
+f 11 18 13
+f 11 13 12
+f 13 18 14
+f 15 19 16
+f 16 19 20
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 18 25 26
+f 19 22 20
+f 20 22 27
+f 21 27 22
+f 24 28 25
+f 25 28 26
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_67.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1a3961a89fd7da6275c8583fbc2fb8f38eef9f
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.03938141 0.04542493 0.00756521
+v 0.03938141 0.05145590 0.00509277
+v 0.03655160 0.04413973 0.00756521
+v 0.03938141 0.02148466 0.00756521
+v 0.03938141 0.05318619 0.00368920
+v 0.03655160 0.04786180 0.00554905
+v 0.03655160 0.04755580 0.00575904
+v 0.03655160 0.04558628 0.00689263
+v 0.03655160 0.02461698 0.00756521
+v 0.03715357 0.02139007 0.00756521
+v 0.03655160 0.00447109 0.00735365
+v 0.03655160 0.00039296 0.00730155
+v 0.03938141 0.00730298 0.00736786
+v 0.03938141 0.05364797 0.00294399
+v 0.03655160 0.04992590 0.00316661
+v 0.03655160 -0.00196602 0.00724313
+v 0.03938141 0.00322484 0.00725576
+v 0.03938141 0.05444357 0.00074153
+v 0.03819297 0.05344768 -0.00123989
+v 0.03655160 0.05016514 0.00229825
+v 0.03938141 -0.00196602 0.00701420
+v 0.03655160 -0.00196602 -0.00856406
+v 0.03938141 0.05487197 -0.00123989
+v 0.03938141 0.05348662 -0.00538746
+v 0.03655160 0.05002048 -0.00469436
+v 0.03655160 0.05090510 -0.00123989
+v 0.03655160 0.05050452 0.00091994
+v 0.03938141 -0.00196602 -0.00856406
+v 0.03655160 -0.00155431 -0.00856406
+v 0.03938141 0.05242953 -0.00627950
+v 0.03655160 0.04726092 -0.00776201
+v 0.03655160 0.04902459 -0.00611056
+v 0.03938141 -0.00184362 -0.00856406
+v 0.03938141 0.04020069 -0.00856248
+v 0.03655160 0.04020069 -0.00856248
+v 0.03938141 0.04845711 -0.00806831
+v 0.03655160 0.04445686 -0.00821672
+v 0.03938141 0.04429552 -0.00853248
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 13
+f 1 13 17
+f 1 17 21
+f 1 21 28
+f 1 28 33
+f 1 33 34
+f 1 34 38
+f 1 38 36
+f 1 36 30
+f 1 30 24
+f 1 24 23
+f 1 23 18
+f 1 18 14
+f 1 14 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 15
+f 3 15 20
+f 3 20 27
+f 3 27 26
+f 3 26 25
+f 3 25 32
+f 3 32 31
+f 3 31 37
+f 3 37 35
+f 3 35 29
+f 3 29 22
+f 3 22 16
+f 3 16 12
+f 3 12 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 9 11 10
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 16 22 28
+f 16 28 21
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 22 29 33
+f 22 33 28
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 29 34 33
+f 29 35 34
+f 30 36 31
+f 31 36 37
+f 34 35 38
+f 35 37 38
+f 36 38 37
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_7.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0cd44147348e5ea29254d21ee08ad19f246e9b8
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.03235584 -0.03474148 0.00772205
+v 0.03159855 -0.03565579 0.00772205
+v 0.03235584 -0.04477166 0.00772205
+v 0.03235584 -0.00444171 0.00736335
+v 0.02803659 -0.00444171 0.00770929
+v 0.03021884 -0.03739800 0.00772205
+v 0.03210299 -0.04473981 0.00772205
+v 0.03235584 -0.04699148 0.00595889
+v 0.03235584 -0.00444171 -0.00856247
+v 0.02803659 -0.00444171 -0.00856247
+v 0.02803659 -0.00466460 0.00770929
+v 0.02961334 -0.04136913 0.00772205
+v 0.02803659 -0.04435316 0.00587439
+v 0.02803659 -0.04136913 0.00704930
+v 0.02803659 -0.04367084 0.00615656
+v 0.03235584 -0.04966165 0.00286299
+v 0.03235584 -0.01690096 -0.00856406
+v 0.03149791 -0.01690096 -0.00856406
+v 0.02803659 -0.02098126 -0.00856406
+v 0.02803659 -0.03731157 0.00729799
+v 0.02803659 -0.04619999 0.00276097
+v 0.03235584 -0.05018476 0.00203083
+v 0.03235584 -0.04136913 -0.00856406
+v 0.02803659 -0.03790746 -0.00856406
+v 0.02803659 -0.04640468 0.00228112
+v 0.03235584 -0.05090803 -0.00124042
+v 0.03235584 -0.04222886 -0.00854015
+v 0.03149791 -0.04136913 -0.00856406
+v 0.02803659 -0.04136913 -0.00839668
+v 0.02803659 -0.04700058 -0.00124042
+v 0.02803659 -0.04695054 -0.00219055
+v 0.03235584 -0.05078066 -0.00247272
+v 0.03235584 -0.04625457 -0.00799335
+v 0.02803659 -0.04197867 -0.00831218
+v 0.02803659 -0.04629551 -0.00475558
+v 0.03235584 -0.05006195 -0.00450848
+v 0.02803659 -0.04621818 -0.00505050
+v 0.03235584 -0.04688231 -0.00778611
+v 0.02803659 -0.04426674 -0.00779886
+v 0.03235584 -0.04984815 -0.00497238
+v 0.02803659 -0.04465793 -0.00743698
+v 0.03235584 -0.04777388 -0.00728872
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 22
+f 1 22 26
+f 1 26 32
+f 1 32 36
+f 1 36 40
+f 1 40 42
+f 1 42 38
+f 1 38 33
+f 1 33 27
+f 1 27 23
+f 1 23 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 19
+f 5 19 24
+f 5 24 29
+f 5 29 34
+f 5 34 39
+f 5 39 41
+f 5 41 37
+f 5 37 35
+f 5 35 31
+f 5 31 30
+f 5 30 25
+f 5 25 21
+f 5 21 13
+f 5 13 15
+f 5 15 14
+f 5 14 20
+f 5 20 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 7 12 14
+f 7 14 15
+f 7 15 13
+f 8 13 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 12
+f 12 20 14
+f 13 21 22
+f 13 22 16
+f 17 23 28
+f 17 28 24
+f 17 24 19
+f 17 19 18
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 27 29 28
+f 27 33 29
+f 29 33 34
+f 31 35 32
+f 32 35 37
+f 32 37 36
+f 33 38 39
+f 33 39 34
+f 36 37 40
+f 37 41 40
+f 38 42 39
+f 39 42 41
+f 40 41 42
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_8.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bdcb721eefc42917832a351bc3495336c1a8854
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.05154199 -0.02808272 0.00772205
+v 0.04732431 -0.02808272 0.00919833
+v 0.04673589 -0.02913619 0.00942115
+v 0.05074399 -0.03318174 0.00772205
+v 0.03616853 -0.02808272 0.00772205
+v 0.04679836 -0.02808272 0.00938138
+v 0.04649811 -0.03166928 0.00923355
+v 0.04373133 -0.02808272 0.00971206
+v 0.04373133 -0.02913619 0.00974372
+v 0.04897471 -0.03447579 0.00772205
+v 0.04668350 -0.03647024 0.00772224
+v 0.03258160 -0.03447579 0.00772205
+v 0.03095740 -0.03647024 0.00772224
+v 0.04078722 -0.02808272 0.00928619
+v 0.04446887 -0.03647024 0.00816909
+v 0.04621397 -0.03647024 0.00781723
+v 0.04642153 -0.03647024 0.00777528
+v 0.03965673 -0.03647024 0.00877444
+v 0.03531009 -0.03647024 0.00861177
+v 0.03557810 -0.03647024 0.00865115
+v 0.03921542 -0.03647024 0.00878869
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 7 11
+f 4 11 10
+f 5 12 13
+f 5 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 11
+f 7 9 18
+f 7 18 15
+f 8 14 9
+f 9 14 19
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 10 11 13
+f 10 13 12
+f 11 17 16
+f 11 16 15
+f 11 15 18
+f 11 18 21
+f 11 21 20
+f 11 20 19
+f 11 19 13
+f 13 19 14
\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_9.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc9ee585b487e12bec4c4dc30b7b3d7e0be726a
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01292628 -0.00810467 0.00761755
+v -0.00966320 -0.00810467 0.00761755
+v -0.01292628 -0.00810467 0.00778022
+v -0.01292628 0.01852474 0.00761755
+v -0.01144481 -0.00810467 0.00772696
+v -0.00940578 -0.00802647 0.00761755
+v -0.00940578 -0.00068357 0.00916659
+v -0.01276776 -0.00810467 0.00780799
+v -0.01158369 0.00069795 0.00907335
+v -0.01292628 -0.00046722 0.00835430
+v -0.01292628 0.01605365 0.00807749
+v -0.01056469 0.01849085 0.00761755
+v -0.00940578 0.01146336 0.00761755
+v -0.00940578 -0.00059755 0.00917651
+v -0.01075491 -0.00202078 0.00885361
+v -0.01158369 0.00186833 0.00907335
+v -0.01292628 0.01165103 0.00843289
+v -0.00940578 0.00312212 0.00913195
+v -0.00947642 0.01551147 0.00761755
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 7 8
+f 6 13 18
+f 6 18 14
+f 6 14 7
+f 7 14 9
+f 7 9 15
+f 7 15 8
+f 8 15 9
+f 9 14 16
+f 9 16 17
+f 9 17 10
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 19 18
+f 14 18 16
+f 16 18 17
\ No newline at end of file