diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_1.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd43821a83486343294d792c303ed8e6cce982a3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00221929 0.00009368 -0.00252026
+v 0.00470042 0.00009368 -0.00252026
+v -0.00221929 0.00009368 -0.00147663
+v -0.00221929 0.01316666 -0.00252026
+v 0.00470042 0.00009368 -0.00147663
+v 0.00470042 0.01296207 -0.00252026
+v -0.00221929 0.01340513 -0.00147663
+v -0.00221929 0.01317317 -0.00251811
+v -0.00219830 0.01317187 -0.00252026
+v 0.00470042 0.01274053 -0.00147663
+v 0.00461305 0.01296858 -0.00252026
+v 0.00332068 0.01301419 -0.00252026
+v 0.00203509 0.01305850 -0.00252026
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 7
+f 6 7 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_104.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e67c5f05974c8f24c67da0065a391a9defae6f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_104.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.01754993 0.01435520 -0.00649402
+v 0.01779010 0.01488451 -0.00526817
+v 0.01821541 0.01435520 -0.00563939
+v 0.01685371 0.01435520 -0.00646743
+v 0.01685371 0.01458680 -0.00608931
+v 0.01685371 0.01498256 -0.00542187
+v 0.01626686 0.01602149 -0.00358549
+v 0.01778367 0.01493984 -0.00419496
+v 0.01631618 0.01607347 -0.00286062
+v 0.01814679 0.01435520 -0.00424495
+v 0.01607028 0.01435520 -0.00635149
+v 0.01551845 0.01452625 -0.00599039
+v 0.01551845 0.01493429 -0.00532295
+v 0.01542053 0.01567535 -0.00409604
+v 0.01580009 0.01602149 -0.00358549
+v 0.01760211 0.01480377 -0.00334830
+v 0.01627829 0.01606775 -0.00206821
+v 0.01573289 0.01607347 -0.00286062
+v 0.01769718 0.01435520 -0.00310366
+v 0.01297303 0.01435520 -0.00589147
+v 0.01285009 0.01440499 -0.00579202
+v 0.01418463 0.01487374 -0.00522403
+v 0.01285009 0.01481252 -0.00512458
+v 0.01151483 0.01473801 -0.00500918
+v 0.01091368 0.01469176 -0.00493472
+v 0.01506598 0.01591368 -0.00286062
+v 0.01651060 0.01528531 -0.00158425
+v 0.01640124 0.01503050 -0.00106094
+v 0.01740125 0.01438093 -0.00245803
+v 0.01596807 0.01606775 -0.00206821
+v 0.01551988 0.01520206 -0.00106094
+v 0.01742412 0.01435520 -0.00248409
+v 0.01284794 0.01435520 -0.00587232
+v 0.01176073 0.01435520 -0.00569789
+v 0.01151483 0.01435520 -0.00565800
+v 0.01091368 0.01461472 -0.00506555
+v 0.01091368 0.01470000 -0.00468211
+v 0.01418463 0.01556468 -0.00286062
+v 0.01674506 0.01435520 -0.00106094
+v 0.01738767 0.01435520 -0.00240379
+v 0.01199590 0.01475500 -0.00334245
+v 0.01287296 0.01496877 -0.00288296
+v 0.01420893 0.01498694 -0.00154968
+v 0.01446698 0.01485659 -0.00106094
+v 0.01502953 0.01509424 -0.00106094
+v 0.01149053 0.01435520 -0.00565162
+v 0.01091368 0.01435520 -0.00549154
+v 0.01091368 0.01445158 -0.00397691
+v 0.01350199 0.01435520 -0.00106094
+v 0.01091368 0.01435520 -0.00378333
+v 0.01163635 0.01435520 -0.00298241
+f 1 2 3
+f 1 3 10
+f 1 10 19
+f 1 19 32
+f 1 32 40
+f 1 40 39
+f 1 39 49
+f 1 49 51
+f 1 51 50
+f 1 50 47
+f 1 47 46
+f 1 46 35
+f 1 35 34
+f 1 34 33
+f 1 33 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 18
+f 7 18 9
+f 8 16 10
+f 8 9 17
+f 8 17 16
+f 9 18 30
+f 9 30 17
+f 10 16 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 18
+f 16 27 28
+f 16 28 29
+f 16 29 19
+f 16 17 27
+f 17 28 27
+f 17 30 31
+f 17 31 28
+f 18 26 30
+f 19 29 32
+f 20 33 21
+f 21 33 34
+f 21 34 23
+f 21 23 22
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 47
+f 25 47 50
+f 25 50 48
+f 25 48 37
+f 25 37 26
+f 26 37 38
+f 26 38 30
+f 28 31 45
+f 28 45 44
+f 28 44 49
+f 28 49 39
+f 28 39 29
+f 29 39 40
+f 29 40 32
+f 30 38 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 35 46 36
+f 36 46 47
+f 37 48 41
+f 37 41 38
+f 41 48 50
+f 41 50 51
+f 41 51 49
+f 41 49 43
+f 41 43 42
+f 43 49 44
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_106.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22fbafed0658952e276fdc81d18d1fbb4c0ef219
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_106.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00883849 -0.00558534 0.00385801
+v 0.00883849 0.00022621 0.00385801
+v 0.01018121 -0.00558534 0.00385801
+v 0.00883849 -0.00558534 0.01508780
+v 0.01018121 0.00022621 0.00385801
+v 0.00883849 0.00022621 0.01373511
+v 0.01018121 -0.00558534 0.01517538
+v 0.01018002 -0.00558534 0.01525112
+v 0.01018002 -0.00470075 0.01547242
+v 0.01018002 -0.00336619 0.01579077
+v 0.00883849 -0.00337188 0.01556237
+v 0.01018121 0.00022621 0.01461797
+v 0.00883849 -0.00064644 0.01453986
+v 0.00990796 0.00022621 0.01443927
+v 0.01018121 -0.00470075 0.01547242
+v 0.01018121 -0.00336619 0.01579077
+v 0.01018121 -0.00203220 0.01594817
+v 0.00884546 -0.00336619 0.01556473
+v 0.00883849 -0.00336619 0.01556355
+v 0.01018121 0.00021483 0.01462862
+v 0.00883849 -0.00135126 0.01518130
+v 0.00926289 -0.00118800 0.01531148
+v 0.01018121 -0.00019305 0.01500259
+v 0.01018121 -0.00201570 0.01594226
+v 0.00883849 -0.00199806 0.01547242
+v 0.00883849 -0.00197986 0.01546532
+v 0.01018121 -0.00080458 0.01550319
+v 0.01018121 -0.00076590 0.01548781
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 26
+f 1 26 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 20
+f 3 20 23
+f 3 23 28
+f 3 28 27
+f 3 27 24
+f 3 24 17
+f 3 17 16
+f 3 16 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 14 20
+f 13 21 22
+f 13 22 23
+f 13 23 20
+f 13 20 14
+f 17 24 25
+f 17 25 19
+f 17 19 18
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_107.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f92eeb98a266d62a496140c7dc14b9f13ff06ec
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_107.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01117325 0.00201750 -0.00006252
+v 0.01286045 0.00201750 -0.00006252
+v 0.01117325 0.00201750 0.00114980
+v 0.01117325 0.01337931 -0.00006252
+v 0.01286045 0.00201750 0.00114980
+v 0.02176726 0.00201872 -0.00006252
+v 0.01117325 0.01403845 0.00114980
+v 0.01117325 0.01359821 0.00024293
+v 0.01405611 0.01424389 -0.00006252
+v 0.02123528 0.00201872 0.00111360
+v 0.02121869 0.00201872 0.00114980
+v 0.02173200 0.00209943 -0.00006252
+v 0.01417329 0.01423044 0.00114980
+v 0.01552036 0.01450926 -0.00006252
+v 0.01872366 0.00768190 0.00114980
+v 0.01709453 0.01261990 -0.00006252
+v 0.01418574 0.01422922 0.00114980
+v 0.01571428 0.01448725 -0.00006252
+v 0.01651588 0.01268961 0.00114980
+v 0.01621411 0.01335486 0.00114980
+v 0.01652418 0.01386725 -0.00006252
+v 0.01560332 0.01388192 0.00114980
+v 0.01644225 0.01397731 -0.00006252
+v 0.01561680 0.01387458 0.00114980
+v 0.01649514 0.01392961 -0.00006252
+v 0.01563547 0.01385869 0.00114980
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 25
+f 1 25 21
+f 1 21 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 15
+f 3 15 19
+f 3 19 20
+f 3 20 26
+f 3 26 24
+f 3 24 22
+f 3 22 17
+f 3 17 13
+f 3 13 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 6 12 10
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 10 12 15
+f 10 15 11
+f 12 16 15
+f 13 17 14
+f 14 17 18
+f 15 16 19
+f 16 20 19
+f 16 21 20
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 20 21 25
+f 20 25 23
+f 20 23 26
+f 23 24 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_110.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07815a7a25ba9bb346f72652844a1df64967de85
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_110.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01080682 -0.01357939 -0.00927511
+v 0.01087235 -0.01357939 -0.00926491
+v 0.01080682 -0.01357939 0.00120995
+v 0.01080682 -0.01334517 -0.00962606
+v 0.01300171 -0.01348301 -0.00906104
+v 0.01284917 -0.01357939 -0.00882658
+v 0.01151496 -0.01357939 0.00123762
+v 0.01080682 -0.01306165 0.00211865
+v 0.01080682 -0.01308518 -0.00993916
+v 0.01300171 -0.01357939 -0.00878726
+v 0.01300171 -0.01289803 -0.00965082
+v 0.01284917 -0.01357939 0.00128713
+v 0.01151496 -0.01306053 0.00211865
+v 0.01080682 -0.00937806 0.00211865
+v 0.01300171 -0.01357939 0.00128713
+v 0.01284917 -0.01216176 -0.01026099
+v 0.01300171 -0.01214271 -0.01025080
+v 0.01300171 -0.01280053 -0.00973820
+v 0.01080682 -0.01241727 -0.01038623
+v 0.01284917 -0.01301010 0.00211865
+v 0.01080682 -0.00213080 0.00211720
+v 0.01080747 -0.00865188 0.00211865
+v 0.01300171 -0.01297984 0.00211865
+v 0.01080704 -0.00764777 -0.01275847
+v 0.01123587 -0.00754019 -0.01275847
+v 0.01230668 -0.00726787 -0.01275847
+v 0.01300171 -0.00708297 -0.01275847
+v 0.01080682 -0.00921781 -0.01196918
+v 0.01080682 -0.00213080 -0.01212791
+v 0.01300171 -0.00213080 0.00211720
+v 0.01177557 -0.00865188 0.00211865
+v 0.01300171 -0.00921781 0.00211865
+v 0.01080682 -0.00311810 -0.01261867
+v 0.01080704 -0.00333999 -0.01275847
+v 0.01300171 -0.00384652 -0.01275847
+v 0.01178739 -0.00213080 -0.01196481
+v 0.01264764 -0.00376247 -0.01275847
+v 0.01080682 -0.00257570 -0.01236091
+v 0.01300171 -0.00213080 -0.01173909
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 29
+f 1 29 38
+f 1 38 33
+f 1 33 28
+f 1 28 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 4 9 5
+f 5 10 6
+f 5 9 11
+f 5 11 18
+f 5 18 17
+f 5 17 27
+f 5 27 35
+f 5 35 39
+f 5 39 30
+f 5 30 32
+f 5 32 23
+f 5 23 15
+f 5 15 10
+f 7 12 8
+f 8 13 20
+f 8 20 23
+f 8 23 32
+f 8 32 31
+f 8 31 22
+f 8 22 14
+f 8 12 15
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 11
+f 9 19 16
+f 13 15 20
+f 14 22 21
+f 15 23 20
+f 16 19 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 19 28 24
+f 21 22 31
+f 21 31 30
+f 21 30 39
+f 21 39 36
+f 21 36 29
+f 24 28 33
+f 24 33 34
+f 24 34 37
+f 24 37 35
+f 24 35 27
+f 24 27 26
+f 24 26 25
+f 29 36 35
+f 29 35 37
+f 29 37 38
+f 30 31 32
+f 33 38 34
+f 34 38 37
+f 35 36 39
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_114.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca43c7b3bed455df83a7c7d2e123939405111aaf
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_114.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01151676 0.00320164 -0.00521914
+v 0.01960047 0.00320164 -0.00521914
+v 0.01151676 0.00320164 -0.00161657
+v 0.01151676 0.01390519 -0.00521914
+v 0.01960047 0.00320164 -0.00161657
+v 0.01960047 0.01222045 -0.00521914
+v 0.01151676 0.01354897 -0.00161657
+v 0.01151676 0.01390519 -0.00227713
+v 0.01793229 0.01390519 -0.00521914
+v 0.01960047 0.00852722 -0.00161657
+v 0.01956486 0.01230217 -0.00521914
+v 0.01217121 0.01390519 -0.00161657
+v 0.01205409 0.01390519 -0.00173436
+v 0.01172172 0.01390519 -0.00206941
+v 0.01155633 0.01390519 -0.00223622
+v 0.01842768 0.01390519 -0.00430712
+v 0.01865401 0.01390205 -0.00521914
+v 0.01900775 0.00987250 -0.00161657
+v 0.01953717 0.01131522 -0.00419497
+v 0.01942163 0.01262592 -0.00521914
+v 0.01888904 0.01339390 -0.00478817
+v 0.01903070 0.01255572 -0.00428385
+v 0.01723036 0.01390519 -0.00161657
+v 0.01842689 0.01390519 -0.00428314
+v 0.01890091 0.01369670 -0.00521914
+v 0.01888429 0.01204758 -0.00346423
+v 0.01778273 0.01390519 -0.00283824
+v 0.01898638 0.01353115 -0.00521914
+v 0.01843164 0.01389681 -0.00428385
+v 0.01834459 0.01390519 -0.00409622
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 28
+f 1 28 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 23
+f 3 23 12
+f 3 12 7
+f 4 8 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 23
+f 4 23 27
+f 4 27 30
+f 4 30 24
+f 4 24 16
+f 4 16 9
+f 6 11 10
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 10 11 19
+f 10 19 18
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 16 24 17
+f 17 24 25
+f 18 19 26
+f 18 26 27
+f 18 27 23
+f 19 22 26
+f 20 28 21
+f 21 28 25
+f 21 25 29
+f 21 29 30
+f 21 30 27
+f 21 27 22
+f 22 27 26
+f 24 30 29
+f 24 29 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_115.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81399b256380be9e7a5d8fb8a3f9a406aeac68d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_115.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00752336 -0.00213080 0.00027632
+v 0.00752336 -0.00213080 -0.01118734
+v 0.00618831 -0.00213080 0.00027632
+v 0.00752336 -0.01444043 0.00027632
+v 0.00752336 -0.00213217 -0.01192929
+v 0.00618831 -0.00213080 -0.01118734
+v 0.00618831 -0.01441717 0.00027632
+v 0.00751042 -0.01444180 0.00027632
+v 0.00752336 -0.01516976 -0.00042739
+v 0.00752336 -0.01012193 -0.01192929
+v 0.00618831 -0.00213217 -0.01192929
+v 0.00618831 -0.01514513 -0.00045009
+v 0.00751042 -0.01516976 -0.00042739
+v 0.00618831 -0.01580604 -0.00134138
+v 0.00752179 -0.01578141 -0.00146683
+v 0.00752336 -0.01586351 -0.00160781
+v 0.00752336 -0.01270947 -0.01064971
+v 0.00669536 -0.01033813 -0.01192929
+v 0.00618831 -0.01046539 -0.01192929
+v 0.00618831 -0.01581288 -0.00135333
+v 0.00751644 -0.01586761 -0.00161378
+v 0.00752336 -0.01586624 -0.00161378
+v 0.00618831 -0.01270810 -0.01081578
+v 0.00752336 -0.01343743 -0.01025902
+v 0.00751042 -0.01343880 -0.01026022
+v 0.00618831 -0.01586351 -0.00146683
+v 0.00618831 -0.01610981 -0.00202000
+v 0.00707551 -0.01606739 -0.00211677
+v 0.00752336 -0.01587993 -0.00276792
+v 0.00618831 -0.01352638 -0.01034265
+v 0.00752336 -0.01344154 -0.01025424
+v 0.00618831 -0.01610981 -0.00241427
+v 0.00707551 -0.01606739 -0.00227090
+v 0.00752336 -0.01587993 -0.00277389
+v 0.00618831 -0.01393688 -0.00953261
+v 0.00752336 -0.01379046 -0.00953261
+v 0.00751042 -0.01379320 -0.00953261
+v 0.00618831 -0.01559668 -0.00419565
+v 0.00751644 -0.01588130 -0.00277389
+v 0.00752336 -0.01547079 -0.00419565
+v 0.00618831 -0.01394235 -0.00952066
+v 0.00752336 -0.01379594 -0.00951947
+v 0.00752336 -0.01428444 -0.00819807
+v 0.00618831 -0.01521081 -0.00553019
+v 0.00752336 -0.01508902 -0.00551824
+v 0.00618831 -0.01440348 -0.00819807
+v 0.00752336 -0.01460053 -0.00716461
+v 0.00618831 -0.01466073 -0.00735935
+v 0.00618831 -0.01493987 -0.00644178
+v 0.00752336 -0.01480030 -0.00649794
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 29
+f 1 29 34
+f 1 34 40
+f 1 40 45
+f 1 45 50
+f 1 50 47
+f 1 47 43
+f 1 43 42
+f 1 42 36
+f 1 36 31
+f 1 31 24
+f 1 24 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 19
+f 3 19 23
+f 3 23 30
+f 3 30 35
+f 3 35 41
+f 3 41 46
+f 3 46 48
+f 3 48 49
+f 3 49 44
+f 3 44 38
+f 3 38 32
+f 3 32 27
+f 3 27 26
+f 3 26 20
+f 3 20 14
+f 3 14 12
+f 3 12 7
+f 4 8 9
+f 5 10 18
+f 5 18 19
+f 5 19 11
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 12 14 13
+f 14 20 21
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 17 23 19
+f 17 19 18
+f 17 24 25
+f 17 25 23
+f 20 26 21
+f 21 27 28
+f 21 28 22
+f 21 26 27
+f 22 28 29
+f 23 25 30
+f 24 31 25
+f 25 31 30
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 29
+f 30 31 35
+f 31 36 37
+f 31 37 35
+f 32 38 39
+f 32 39 33
+f 33 39 34
+f 34 39 40
+f 35 37 41
+f 36 42 37
+f 37 42 43
+f 37 43 41
+f 38 44 45
+f 38 45 40
+f 38 40 39
+f 41 43 46
+f 43 47 48
+f 43 48 46
+f 44 49 50
+f 44 50 45
+f 47 50 49
+f 47 49 48
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_116.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0167525d400bf9940fa1508413d2d2e8456a8dd
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_116.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00340617 -0.01118000 -0.01192726
+v 0.00342706 -0.01118000 -0.01192477
+v 0.00340617 -0.01118000 0.00012506
+v 0.00224699 -0.01113792 -0.01210171
+v 0.00469237 -0.01118000 -0.01175779
+v 0.00310022 -0.01113792 -0.01199081
+v 0.00470030 -0.01118000 0.00012506
+v 0.00224699 -0.01113792 0.00012506
+v 0.00224699 -0.01018530 -0.01260514
+v 0.00470030 -0.01102153 -0.01183879
+v 0.00470030 -0.01118000 -0.01175654
+v 0.00434224 -0.00963826 -0.01260514
+v 0.00470030 -0.00203342 0.00012506
+v 0.00224699 -0.00203431 0.00012506
+v 0.00224699 -0.00203431 -0.01260514
+v 0.00470030 -0.00954157 -0.01260514
+v 0.00340617 -0.00203342 0.00012506
+v 0.00470030 -0.00203342 -0.01260514
+v 0.00340617 -0.00203342 -0.01260514
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 13
+f 3 13 17
+f 3 17 14
+f 3 14 8
+f 4 9 6
+f 4 8 14
+f 4 14 15
+f 4 15 9
+f 5 10 11
+f 5 6 9
+f 5 9 12
+f 5 12 10
+f 7 11 10
+f 7 10 16
+f 7 16 18
+f 7 18 13
+f 9 15 19
+f 9 19 18
+f 9 18 16
+f 9 16 12
+f 10 12 16
+f 13 18 19
+f 13 19 17
+f 14 17 19
+f 14 19 15
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_117.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b7e57a6540f7b03f6d2336bde8ef1ac1fc89f8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_117.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01044653 0.00776518 0.00357417
+v -0.01044653 0.00597697 0.00357417
+v -0.01044653 0.00776518 0.00240337
+v -0.02460857 0.00776518 0.00357417
+v -0.01044653 0.00597697 0.00240337
+v -0.01044799 0.00545886 0.00357417
+v -0.02491119 0.00776518 0.00240337
+v -0.02483517 0.00776518 0.00278156
+v -0.02538048 0.00545886 0.00240337
+v -0.02475769 0.00545886 0.00357417
+v -0.01044799 0.00545886 0.00240337
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 11
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_118.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5897ef59e13447ae50ac28d0990c057ca670c9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_118.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00898231 -0.00213080 0.00027614
+v 0.00752363 -0.00213080 0.00027614
+v 0.00898317 -0.00234479 0.00027614
+v 0.00898317 -0.00231249 -0.00154052
+v 0.00898317 -0.00229365 -0.00265392
+v 0.00898189 -0.00213484 -0.00265392
+v 0.00898117 -0.00213080 -0.00265392
+v 0.00752363 -0.00213080 -0.00265392
+v 0.00752363 -0.01444112 0.00027614
+v 0.00898317 -0.01447881 0.00027614
+v 0.00898317 -0.01573582 -0.00265392
+v 0.00752363 -0.01587982 -0.00265392
+v 0.00752363 -0.01516922 -0.00042683
+v 0.00884516 -0.01519210 -0.00040360
+v 0.00898317 -0.01512212 -0.00033247
+v 0.00898317 -0.01448957 0.00026610
+v 0.00898317 -0.01579369 -0.00152532
+v 0.00764336 -0.01587174 -0.00265392
+v 0.00752363 -0.01586636 -0.00161251
+v 0.00752363 -0.01582464 -0.00154023
+v 0.00759664 -0.01582733 -0.00154023
+v 0.00898317 -0.01519345 -0.00040131
+v 0.00898317 -0.01573716 -0.00140715
+v 0.00884516 -0.01579907 -0.00152532
+v 0.00752363 -0.01586367 -0.00160677
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 12
+f 2 12 19
+f 2 19 25
+f 2 25 20
+f 2 20 13
+f 2 13 9
+f 3 10 16
+f 3 16 15
+f 3 15 22
+f 3 22 23
+f 3 23 17
+f 3 17 11
+f 3 11 5
+f 3 5 4
+f 5 11 18
+f 5 18 12
+f 5 12 8
+f 5 8 7
+f 5 7 6
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 12 18 17
+f 12 17 19
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 17 23 24
+f 17 24 19
+f 19 24 25
+f 20 25 21
+f 21 25 23
+f 21 23 22
+f 23 25 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_119.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5ff501ee8cce46583a26483dea6f31316d8163
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_119.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01044637 -0.00407278 0.01401839
+v -0.00887115 -0.00471059 0.01401839
+v -0.01044637 -0.00203088 0.01471032
+v -0.01044637 0.00473078 0.01401839
+v -0.00887115 -0.00195508 0.01490280
+v -0.00984096 -0.00203088 0.01477647
+v -0.00887115 0.00341542 0.01401839
+v -0.01044637 -0.00025057 0.01522649
+v -0.01044637 0.00273510 0.01520647
+v -0.01042108 0.00272770 0.01520354
+v -0.00985823 0.00436658 0.01401839
+v -0.00887115 -0.00077468 0.01503266
+v -0.01019594 -0.00025057 0.01522649
+v -0.00889382 0.00345055 0.01401839
+v -0.00887115 0.00329988 0.01405842
+v -0.01044637 0.00062572 0.01526530
+v -0.01044637 0.00270182 0.01520952
+v -0.01044637 0.00197250 0.01526396
+v -0.01033133 0.00197250 0.01524553
+v -0.00887115 0.00063774 0.01475804
+v -0.00887115 0.00199284 0.01443423
+v -0.00887115 0.00315753 0.01410139
+v -0.00920624 0.00393029 0.01401839
+v -0.01016248 0.00063774 0.01526274
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 15
+f 2 15 22
+f 2 22 21
+f 2 21 20
+f 2 20 12
+f 2 12 5
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 8
+f 5 8 6
+f 7 14 10
+f 7 10 15
+f 8 13 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 10 12 20
+f 10 20 21
+f 10 21 22
+f 10 22 15
+f 10 14 23
+f 10 23 11
+f 12 24 13
+f 12 19 24
+f 13 24 16
+f 16 24 18
+f 18 24 19
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_12.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f40c88679ab2663369834694447313c58fac348e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01129879 0.00201617 0.01384481
+v 0.00910292 0.00022638 0.01389442
+v 0.01151565 0.00219021 0.01384481
+v 0.01546947 0.00201617 0.01384481
+v 0.00990879 0.00022638 0.01444067
+v 0.01271746 0.00268894 0.01435949
+v 0.01624946 0.00022638 0.01389442
+v 0.01226416 0.00268894 0.01384481
+v 0.01519245 0.00264339 0.01384481
+v 0.01583743 0.00116021 0.01389442
+v 0.01597174 0.00085600 0.01389442
+v 0.01136035 0.00022638 0.01540352
+v 0.01317566 0.00022638 0.01659073
+v 0.01326171 0.00022638 0.01662343
+v 0.01418371 0.00095459 0.01615018
+v 0.01420260 0.00268894 0.01461994
+v 0.01583393 0.00059904 0.01444997
+v 0.01592207 0.00022638 0.01461796
+v 0.01517146 0.00268894 0.01384481
+v 0.01519035 0.00264796 0.01384481
+v 0.01516237 0.00268894 0.01386454
+v 0.01517636 0.00062869 0.01581927
+v 0.01359889 0.00022638 0.01667360
+v 0.01418371 0.00028737 0.01670911
+v 0.01461533 0.00022638 0.01666232
+v 0.01498608 0.00022638 0.01653690
+v 0.01496790 0.00152275 0.01536969
+v 0.01502386 0.00268894 0.01415148
+v 0.01536174 0.00022638 0.01580687
+v 0.01418371 0.00022638 0.01672405
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 18
+f 2 18 29
+f 2 29 26
+f 2 26 25
+f 2 25 30
+f 2 30 23
+f 2 23 14
+f 2 14 13
+f 2 13 12
+f 2 12 5
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 4 11 7
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 28
+f 6 28 21
+f 6 21 19
+f 6 19 8
+f 7 11 17
+f 7 17 18
+f 9 17 10
+f 9 20 21
+f 9 21 22
+f 9 22 17
+f 10 17 11
+f 14 23 15
+f 15 24 25
+f 15 25 16
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 17 22 18
+f 18 22 29
+f 19 21 20
+f 21 28 22
+f 22 28 27
+f 22 27 26
+f 22 26 29
+f 23 30 24
+f 24 30 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_122.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b64925d218f996038215d894296f2e69403e3e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_122.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 0.01604849 0.00071120
+v -0.00755157 0.01557313 0.00071120
+v -0.00887115 0.01609285 -0.00019107
+v -0.00887115 -0.01511295 0.00071120
+v -0.00755157 -0.01504956 0.00071120
+v -0.00755157 0.01524988 -0.00431652
+v -0.00887115 0.01600095 -0.00286048
+v -0.00887115 0.01607384 -0.00134242
+v -0.00887115 -0.01616508 -0.00190357
+v -0.00850612 -0.01620627 -0.00182727
+v -0.00755157 -0.01627916 -0.00175147
+v -0.00862418 -0.01510661 0.00071120
+v -0.00842139 0.01561749 -0.00431652
+v -0.00887115 0.01586468 -0.00388778
+v -0.00755157 -0.01557563 -0.00431652
+v -0.00887115 -0.01616508 -0.00240319
+v -0.00850612 -0.01620627 -0.00248687
+v -0.00755157 -0.01628233 -0.00278566
+v -0.00887115 0.01566186 -0.00431652
+v -0.00858053 -0.01513196 -0.00431652
+v -0.00887115 -0.01500520 -0.00431652
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 14
+f 1 14 19
+f 1 19 21
+f 1 21 16
+f 1 16 9
+f 1 9 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 15
+f 2 15 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 12 11
+f 6 13 14
+f 6 14 7
+f 6 15 20
+f 6 20 21
+f 6 21 19
+f 6 19 13
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 13 19 14
+f 15 18 16
+f 15 16 20
+f 16 18 17
+f 16 21 20
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_123.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4e7106009c4c7547f30f565e56c55af221fc25
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_123.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02616265 -0.00020688 -0.00464546
+v -0.02633185 -0.00020688 -0.00439015
+v -0.02611828 0.00038077 -0.00464546
+v -0.01643340 -0.00020688 -0.00464546
+v -0.02635971 0.00038077 -0.00425721
+v -0.02665066 -0.00020688 -0.00378057
+v -0.01643340 0.00038077 -0.00464546
+v -0.01643340 -0.00020688 0.00307138
+v -0.02642368 0.00038077 -0.00411746
+v -0.02688589 -0.00020688 -0.00289150
+v -0.02660526 0.00035333 -0.00372089
+v -0.02658875 0.00038077 -0.00375413
+v -0.01643340 0.00038077 0.00307138
+v -0.02580670 -0.00020688 0.00307138
+v -0.02696121 -0.00020688 -0.00236954
+v -0.02677859 0.00038077 -0.00292927
+v -0.02661351 0.00038077 -0.00366575
+v -0.02583971 0.00038077 0.00307138
+v -0.02597797 -0.00020688 0.00247841
+v -0.02675796 0.00038077 -0.00008455
+v -0.02697359 -0.00020688 -0.00152579
+v -0.02694677 0.00038077 -0.00152579
+v -0.02694264 0.00038077 -0.00178186
+v -0.02673216 -0.00020688 -0.00018804
+v -0.02678891 0.00038077 -0.00021976
+v -0.02690137 -0.00020688 -0.00093132
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 24
+f 1 24 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 9
+f 3 9 12
+f 3 12 17
+f 3 17 16
+f 3 16 23
+f 3 23 22
+f 3 22 25
+f 3 25 20
+f 3 20 18
+f 3 18 13
+f 3 13 7
+f 4 7 13
+f 4 13 8
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 8 13 18
+f 8 18 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 14 18 20
+f 14 20 19
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 19 20 24
+f 20 25 24
+f 21 26 25
+f 21 25 22
+f 24 25 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_125.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b77de8f0793bf43854b26444d125c1930c9268
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_125.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v 0.01300192 -0.01357939 -0.00878787
+v 0.01300192 -0.01348301 -0.00906094
+v 0.01503071 -0.01339224 -0.00889290
+v 0.01418480 -0.01357939 -0.00851029
+v 0.01300192 -0.01357939 0.00128892
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\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_127.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0057530a08e61b7ae80478a21159dde1bbb7a9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_127.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01151676 0.01354897 -0.00161622
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+v 0.01091368 0.01325351 -0.00161622
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+v 0.01091368 0.00320164 -0.00737019
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+v 0.01091368 0.01328808 -0.00737019
+v 0.01091368 0.01365479 -0.00675908
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\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_129.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228a5f9e09713702fecc4ce35f78d1a3ef55340d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_129.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.01044953 0.00608267 -0.01298799
+v -0.01373868 0.00608267 -0.01238832
+v -0.01044953 0.00693169 -0.01265651
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+v -0.01044798 0.00608267 0.00198886
+v -0.01405504 0.00608267 -0.01231147
+v -0.01518244 0.00693169 -0.01163345
+v -0.01374178 0.00693169 -0.01197999
+v -0.01044798 0.00693169 0.00240321
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+v -0.01518244 0.00608267 -0.01199657
+v -0.01537008 0.00693169 -0.01157920
+v -0.02493978 0.00693169 0.00240321
+v -0.02505609 0.00608267 0.00240321
+v -0.01784663 0.00693169 -0.01084844
+v -0.01783733 0.00608267 -0.01119951
+v -0.02506384 0.00693169 0.00224049
+v -0.02534143 0.00608267 0.00202954
+v -0.01794588 0.00608267 -0.01116184
+v -0.01853517 0.00693169 -0.01060134
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+v -0.01894457 0.00693169 -0.01044464
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+v -0.02629049 0.00608267 -0.00017480
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+v -0.02529335 0.00689114 -0.00286129
+v -0.02527630 0.00693169 -0.00286129
+v -0.02521892 0.00608267 -0.00420981
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\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_130.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f639ccf7a3d5de6ddadcbe55c03ccf09ba388f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_130.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01150582 -0.00200255 0.01632111
+v 0.01150582 -0.00077299 0.01615031
+v 0.01018121 -0.00203223 0.01594780
+v 0.01018121 -0.00336779 0.01579042
+v 0.01150582 -0.00204071 0.01631623
+v 0.01150582 -0.00073483 0.01613567
+v 0.01018121 -0.00076592 0.01548787
+v 0.01018121 -0.00080549 0.01550251
+v 0.01150582 -0.00470052 0.01574041
+v 0.01150582 -0.00336779 0.01604783
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+v 0.01144669 0.00022479 0.01545859
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+v 0.01077726 0.00001987 0.01520606
+v 0.01018121 -0.00027692 0.01507309
+v 0.01150582 -0.00612087 0.01538540
+v 0.01018121 -0.00993392 0.01411664
+v 0.01150582 -0.00870295 0.01473882
+v 0.01150582 0.00022479 0.01548909
+v 0.01086465 0.00022621 0.01507309
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+v 0.01018121 0.00022621 0.01461804
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+v 0.01150582 -0.00871284 0.01473516
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+v 0.01018121 -0.01099813 0.01304064
+v 0.01150582 -0.01099106 0.01296988
+v 0.01150582 -0.01058404 0.01364208
+v 0.01150582 -0.01057980 0.01364574
+v 0.01150582 -0.00991838 0.01419594
+v 0.01150582 0.00022621 0.00385801
+v 0.01018121 -0.01305871 0.00385801
+v 0.01018121 -0.01202135 0.01111432
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+f 42 45 46
+f 43 47 48
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 45 51 46
+f 46 51 52
+f 47 52 53
+f 47 53 48
+f 51 54 52
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_131.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce44164c89c5f9c6d2094f8209d6891f7cf4f747
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_131.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00557266 0.00761527 -0.00152910
+v 0.00622318 0.00761527 -0.00152910
+v 0.00544418 0.00761527 -0.00152769
+v 0.00544418 0.01266728 -0.00152628
+v 0.00617582 0.01260939 -0.00152910
+v 0.00622318 0.01260568 -0.00152910
+v 0.00622318 0.00761527 0.01286475
+v 0.00544418 0.00761527 0.01265200
+v 0.00617941 0.01260939 -0.00152910
+v 0.00544418 0.01304062 -0.00030754
+v 0.00596186 0.01304062 -0.00022159
+v 0.00622318 0.01304062 -0.00017651
+v 0.00622318 0.00874272 0.01217577
+v 0.00544418 0.00823980 0.01230962
+v 0.00544418 0.01304062 0.00709227
+v 0.00622318 0.01304062 0.00746846
+v 0.00622318 0.01120261 0.01066819
+v 0.00544418 0.00920475 0.01171645
+v 0.00544418 0.01282288 0.00781647
+v 0.00622318 0.01255098 0.00915357
+v 0.00622318 0.01294343 0.00781647
+v 0.00622318 0.01123182 0.01064847
+v 0.00544418 0.01134068 0.01034977
+v 0.00544418 0.01066252 0.01079641
+v 0.00544418 0.01233324 0.00921556
+v 0.00622318 0.01218348 0.00996935
+v 0.00622318 0.01215799 0.01001303
+v 0.00544418 0.01171933 0.01008630
+v 0.00544418 0.01198380 0.00982000
+v 0.00617582 0.01215056 0.00999612
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 21
+f 2 21 20
+f 2 20 26
+f 2 26 27
+f 2 27 22
+f 2 22 17
+f 2 17 13
+f 2 13 7
+f 3 8 14
+f 3 14 18
+f 3 18 24
+f 3 24 23
+f 3 23 28
+f 3 28 29
+f 3 29 25
+f 3 25 19
+f 3 19 15
+f 3 15 10
+f 3 10 4
+f 4 9 5
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 6 9 12
+f 7 13 14
+f 7 14 8
+f 10 15 16
+f 10 16 12
+f 10 12 11
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 25 26
+f 22 27 23
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 26 30 27
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_132.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70260d64c2f81c5543ed2c58945241f39a666dbc
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_132.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01434030 -0.00068747 -0.01156126
+v 0.01457576 -0.00068766 -0.01156126
+v 0.01418414 -0.00068747 -0.01171188
+v 0.01209080 -0.00068747 -0.01156126
+v 0.01418414 -0.00084875 -0.01156126
+v 0.01309466 -0.00068747 -0.01194475
+v 0.01209080 -0.00068747 -0.01213635
+v 0.01209080 -0.00130710 -0.01156126
+v 0.01377136 -0.00094319 -0.01156126
+v 0.01284971 -0.00068747 -0.01199536
+v 0.01284971 -0.00114286 -0.01156126
+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 11
+f 1 11 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 10 8
+f 8 10 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_136.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b052df178b3c873bbdfa7f479837f07196b9603
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_136.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00004673 -0.01078447 -0.01261068
+v -0.00004673 -0.00803307 -0.01409990
+v 0.00434216 -0.00963834 -0.01260535
+v 0.00224738 -0.01018571 -0.01260535
+v -0.00004673 -0.00203342 -0.01261068
+v -0.00004673 -0.00758763 -0.01433929
+v 0.00224738 -0.00696659 -0.01434696
+v 0.00350620 -0.00679956 -0.01425743
+v 0.00419485 -0.00670790 -0.01420840
+v 0.00470042 -0.00954240 -0.01260535
+v 0.00224738 -0.00203342 -0.01260535
+v -0.00004673 -0.00203342 -0.01404874
+v -0.00004673 -0.00734264 -0.01447082
+v 0.00083708 -0.00715333 -0.01444694
+v -0.00004673 -0.00641237 -0.01470488
+v 0.00470042 -0.00721929 -0.01385837
+v -0.00004673 -0.00603718 -0.01478290
+v 0.00470042 -0.00594381 -0.01423483
+v 0.00470042 -0.00203342 -0.01260535
+v 0.00470042 -0.00455697 -0.01405129
+v 0.00470042 -0.00515402 -0.01422737
+v 0.00470042 -0.00522512 -0.01424805
+v -0.00004673 -0.00470173 -0.01455566
+v 0.00083708 -0.00203342 -0.01390335
+v 0.00470042 -0.00591554 -0.01423782
+v 0.00470042 -0.00203342 -0.01320799
+v 0.00224738 -0.00203342 -0.01365544
+v 0.00350620 -0.00203342 -0.01343246
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 17
+f 1 17 15
+f 1 15 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 19
+f 3 19 11
+f 3 11 4
+f 3 9 10
+f 5 11 19
+f 5 19 26
+f 5 26 28
+f 5 28 27
+f 5 27 24
+f 5 24 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 18
+f 9 18 16
+f 10 16 18
+f 10 18 25
+f 10 25 22
+f 10 22 21
+f 10 21 20
+f 10 20 26
+f 10 26 19
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 24 20
+f 13 15 14
+f 17 23 22
+f 17 22 25
+f 17 25 18
+f 20 24 27
+f 20 27 28
+f 20 28 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_137.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b820a0f86f7ba657654881d6ba118aa051150ee3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_137.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.01217542 -0.00110761 0.01656082
+v 0.01217542 -0.00073476 0.01645762
+v 0.01201064 -0.00120469 0.01652850
+v 0.01217542 -0.00136790 0.01656082
+v 0.01217542 -0.00044914 0.01636809
+v 0.01207350 -0.00044914 0.01632084
+v 0.01150582 -0.00077275 0.01615049
+v 0.01150582 -0.00153111 0.01625494
+v 0.01150582 -0.00200245 0.01631836
+v 0.01201064 -0.00153111 0.01652850
+v 0.01217542 -0.00153111 0.01654839
+v 0.01217542 -0.00039427 0.01634944
+v 0.01150582 0.00022621 0.01548775
+v 0.01150582 -0.00073476 0.01613682
+v 0.01150582 -0.00204044 0.01631338
+v 0.01151486 -0.00336863 0.01604853
+v 0.01217542 -0.00272986 0.01630841
+v 0.01217542 -0.00162257 0.01653969
+v 0.01217542 0.00022621 0.01587445
+v 0.01150582 0.00022621 0.00385801
+v 0.01150582 -0.00336863 0.01604605
+v 0.01150582 -0.00470245 0.01573892
+v 0.01217542 -0.00470245 0.01587197
+v 0.01217542 -0.00333908 0.01617909
+v 0.01217542 0.00022621 0.00385801
+v 0.01150582 -0.00044914 0.00385801
+v 0.01150582 -0.00612209 0.01538455
+v 0.01217542 -0.00616149 0.01551386
+v 0.01217542 -0.00044914 0.00385801
+v 0.01150582 -0.01318655 0.00386049
+v 0.01150582 -0.00870390 0.01473797
+v 0.01217542 -0.00730396 0.01522539
+v 0.01217542 -0.01306273 0.00386049
+v 0.01164694 -0.01316122 0.00386049
+v 0.01217542 -0.01370150 0.00512879
+v 0.01150582 -0.01371839 0.00493481
+v 0.01150582 -0.00871235 0.01473548
+v 0.01217542 -0.00868983 0.01485112
+v 0.01217542 -0.00806936 0.01503141
+v 0.01217542 -0.00803559 0.01504012
+v 0.01164418 -0.01373527 0.00501688
+v 0.01217542 -0.01387034 0.00566470
+v 0.01150582 -0.01376341 0.00502931
+v 0.01150582 -0.00991391 0.01419832
+v 0.01217542 -0.00929061 0.01458129
+v 0.01217542 -0.01409405 0.00648412
+v 0.01150582 -0.01414752 0.00648412
+v 0.01151486 -0.00991391 0.01419832
+v 0.01217542 -0.00985341 0.01423562
+v 0.01150582 -0.01058082 0.01364500
+v 0.01217542 -0.01399978 0.00689072
+v 0.01217542 -0.01393647 0.00716178
+v 0.01217542 -0.01374090 0.00787924
+v 0.01151486 -0.01378311 0.00781831
+v 0.01150582 -0.01378451 0.00780961
+v 0.01217542 -0.01019108 0.01395585
+v 0.01150582 -0.01098462 0.01297728
+v 0.01151486 -0.01098462 0.01297728
+v 0.01151486 -0.01058082 0.01364375
+v 0.01217542 -0.01353970 0.00826346
+v 0.01217542 -0.01339900 0.00853079
+v 0.01150582 -0.01340604 0.00853328
+v 0.01150582 -0.01378170 0.00781831
+v 0.01217542 -0.01052172 0.01353806
+v 0.01150582 -0.01164027 0.01181965
+v 0.01151486 -0.01164027 0.01181965
+v 0.01217542 -0.01198921 0.01106862
+v 0.01217542 -0.01093116 0.01286910
+v 0.01150582 -0.01305148 0.00920100
+v 0.01151486 -0.01202719 0.01112831
+v 0.01151486 -0.01238175 0.01046183
+v 0.01150582 -0.01202719 0.01112831
+v 0.01150582 -0.01238175 0.01046183
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 17
+f 1 17 24
+f 1 24 23
+f 1 23 28
+f 1 28 32
+f 1 32 40
+f 1 40 39
+f 1 39 38
+f 1 38 45
+f 1 45 49
+f 1 49 56
+f 1 56 64
+f 1 64 68
+f 1 68 67
+f 1 67 61
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+f 1 60 53
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+f 1 52 51
+f 1 51 46
+f 1 46 42
+f 1 42 35
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+f 1 33 29
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+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
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+f 2 6 3
+f 3 6 7
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+f 4 10 11
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+f 12 19 13
+f 13 19 25
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+f 31 40 32
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+f 38 44 45
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+f 47 53 54
+f 47 54 55
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+f 50 59 56
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 55
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+f 58 66 67
+f 58 67 68
+f 58 68 59
+f 59 68 64
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+f 61 71 69
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+f 65 70 66
+f 66 70 67
+f 69 71 73
+f 70 72 73
+f 70 73 71
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_138.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be90d8b8999afa591c436607c1e7fd0f28eb295
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_138.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 -0.00360394 0.01435357
+v -0.00852860 -0.00374358 0.01435357
+v -0.00887115 -0.00195538 0.01490281
+v -0.00887115 0.00142923 0.01435357
+v -0.00755157 -0.00412122 0.01435357
+v -0.00800327 -0.00140713 0.01517203
+v -0.00887115 -0.00077574 0.01503262
+v -0.00887115 0.00142923 0.01453360
+v -0.00844658 0.00142923 0.01435357
+v -0.00755157 -0.00336595 0.01458000
+v -0.00775798 -0.00140713 0.01517203
+v -0.00755157 0.00016971 0.01435357
+v -0.00800327 -0.00133051 0.01517203
+v -0.00887115 0.00063755 0.01475819
+v -0.00861204 0.00142923 0.01442464
+v -0.00775798 -0.00133051 0.01517203
+v -0.00755157 -0.00111643 0.01501339
+v -0.00845846 0.00142923 0.01435998
+v -0.00755157 -0.00161958 0.01509407
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 15
+f 4 15 18
+f 4 18 9
+f 5 10 11
+f 5 11 6
+f 5 12 17
+f 5 17 19
+f 5 19 10
+f 6 11 16
+f 6 16 13
+f 6 13 7
+f 7 13 14
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 18 17
+f 9 17 12
+f 10 19 11
+f 11 19 16
+f 13 16 14
+f 15 17 18
+f 16 19 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_139.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45799d7f07edd9d3695d0f532f76c6ec0cf29547
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_139.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.01044653 -0.00454498 0.01387475
+v -0.01495744 -0.00454498 0.01335191
+v -0.01080965 -0.00523052 0.01363610
+v -0.01044653 -0.00523052 0.01367610
+v -0.01044653 -0.00454498 -0.00021849
+v -0.01518035 -0.00470120 0.01327604
+v -0.01384529 -0.00523052 0.01327466
+v -0.01630928 -0.00454498 0.01318361
+v -0.01568489 -0.00470120 0.01321396
+v -0.01044653 -0.00523052 -0.00021849
+v -0.02246325 -0.00454498 -0.00021849
+v -0.01651541 -0.00470120 0.01311050
+v -0.01520911 -0.00523052 0.01308980
+v -0.01636800 -0.00454498 0.01317533
+v -0.02268855 -0.00523052 -0.00021849
+v -0.02268855 -0.00460786 -0.00021849
+v -0.02268855 -0.00454498 -0.00021573
+v -0.01651541 -0.00454498 0.01315326
+v -0.01784927 -0.00470120 0.01290771
+v -0.01735192 -0.00523052 0.01279459
+v -0.01651541 -0.00523052 0.01291047
+v -0.02268855 -0.00523052 0.00702678
+v -0.02268855 -0.00454498 0.00745306
+v -0.01769227 -0.00454498 0.01297392
+v -0.01784927 -0.00454498 0.01294357
+v -0.01838856 -0.00523052 0.01263594
+v -0.01784927 -0.00523052 0.01271871
+v -0.02112819 -0.00523052 0.00936646
+v -0.02069196 -0.00463362 0.01039283
+v -0.02078903 -0.00454498 0.01030178
+v -0.01865342 -0.00454498 0.01270767
+v -0.01863544 -0.00523052 0.01256282
+v -0.01989380 -0.00523052 0.01121227
+v -0.02070873 -0.00454498 0.01042180
+v -0.01878644 -0.00454498 0.01265663
+v -0.01875888 -0.00470120 0.01264146
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+v -0.01942641 -0.00470120 0.01202205
+v -0.01976077 -0.00523052 0.01136677
+v -0.02000525 -0.00470120 0.01135574
+v -0.02003641 -0.00454498 0.01138885
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+f 1 37 35
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+f 8 14 12
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+f 11 16 17
+f 12 14 18
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+f 15 23 17
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+f 18 24 19
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+f 22 29 23
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+f 28 33 29
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 32 37 38
+f 32 38 39
+f 32 36 37
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 35 37 36
+f 37 41 38
+f 38 41 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_141.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6f175ea50db551049febaa84768b265f9ee1fd
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_141.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01044682 0.00038077 0.00307138
+v -0.01346130 0.00038077 0.00307138
+v -0.01044682 -0.00020688 0.00307138
+v -0.01044682 0.00038077 -0.01530598
+v -0.01643184 0.00038077 0.00306957
+v -0.01346130 -0.00020688 0.00307138
+v -0.01044682 -0.00020688 -0.01526268
+v -0.01117627 -0.00020688 -0.01536010
+v -0.01117627 0.00038077 -0.01531500
+v -0.01643184 0.00038077 -0.01381933
+v -0.01643184 -0.00020688 0.00306957
+v -0.01254553 -0.00020688 -0.01526268
+v -0.01252151 0.00038077 -0.01510391
+v -0.01643184 -0.00020688 -0.01378686
+v -0.01629591 0.00038077 -0.01393300
+v -0.01591448 -0.00011939 -0.01423069
+v -0.01451417 -0.00020688 -0.01469436
+v -0.01591448 0.00003834 -0.01423069
+v -0.01517917 0.00030564 -0.01434255
+v -0.01495887 0.00038077 -0.01437683
+v -0.01600354 -0.00020688 -0.01414950
+v -0.01625724 0.00038077 -0.01396186
+v -0.01578851 -0.00020688 -0.01426497
+v -0.01588870 -0.00020688 -0.01421625
+v -0.01517917 0.00038077 -0.01431007
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 20
+f 1 20 25
+f 1 25 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 14
+f 3 14 21
+f 3 21 24
+f 3 24 23
+f 3 23 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 14
+f 5 14 11
+f 8 12 9
+f 9 12 13
+f 10 15 16
+f 10 16 14
+f 12 17 18
+f 12 18 13
+f 13 19 20
+f 13 18 19
+f 14 16 21
+f 15 22 18
+f 15 18 16
+f 16 17 23
+f 16 23 24
+f 16 24 21
+f 16 18 17
+f 18 22 25
+f 18 25 19
+f 19 25 20
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_144.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0957fae75f467454f8853ac78654e5c9ed2dc868
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_144.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01918484 -0.00410873 0.01240397
+v -0.01953043 -0.00410873 0.01215013
+v -0.01918484 -0.00419225 0.01238357
+v -0.01918484 -0.00410873 -0.01074539
+v -0.01945429 -0.00454494 0.01205721
+v -0.01918484 -0.00454494 0.01228838
+v -0.02012578 -0.00410873 0.01148153
+v -0.01918484 -0.00454494 -0.01057314
+v -0.02003913 -0.00410873 -0.01028757
+v -0.02003716 -0.00454494 0.01138861
+v -0.02079661 -0.00410873 0.01055909
+v -0.01942475 -0.00454494 -0.01044396
+v -0.02017008 -0.00410873 -0.01021731
+v -0.02071029 -0.00454494 0.01042084
+v -0.02123868 -0.00410873 0.00989729
+v -0.02032926 -0.00454494 -0.00995667
+v -0.02195284 -0.00454494 -0.00908183
+v -0.02059739 -0.00410873 -0.00998614
+v -0.02138539 -0.00410873 0.00967745
+v -0.02253735 -0.00410873 0.00795043
+v -0.02253735 -0.00454494 0.00768072
+v -0.02179432 -0.00410873 -0.00933794
+v -0.02068535 -0.00410873 -0.00993854
+v -0.02242872 -0.00454494 -0.00882119
+v -0.02253735 -0.00415476 -0.00891411
+v -0.02253735 -0.00410873 -0.00892545
+v -0.02253735 -0.00454494 -0.00873733
+v -0.02253735 -0.00413687 -0.00891865
+v -0.02253735 -0.00423500 -0.00888238
+f 1 2 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 23
+f 1 23 22
+f 1 22 26
+f 1 26 20
+f 1 20 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 14
+f 5 14 21
+f 5 21 27
+f 5 27 24
+f 5 24 17
+f 5 17 16
+f 5 16 12
+f 5 12 8
+f 5 8 6
+f 7 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 11 15 14
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 15 19
+f 14 19 20
+f 14 20 21
+f 17 22 23
+f 17 23 18
+f 17 24 25
+f 17 25 22
+f 20 26 28
+f 20 28 25
+f 20 25 29
+f 20 29 27
+f 20 27 21
+f 22 25 28
+f 22 28 26
+f 24 27 29
+f 24 29 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_145.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c05f36fc69f9f8ce23b062983589ba5808e5c4a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_145.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01594486 0.00208617 0.00307137
+v -0.02058755 0.00208617 0.00307137
+v -0.01594486 0.00124021 0.00307137
+v -0.01594486 0.00208617 -0.01338968
+v -0.02058755 0.00124021 0.00307137
+v -0.02058755 0.00208617 -0.01189666
+v -0.01594486 0.00124021 -0.01372676
+v -0.01594486 0.00202745 -0.01341434
+v -0.01596350 0.00208617 -0.01338474
+v -0.02058755 0.00124021 -0.01189008
+v -0.01930736 0.00208617 -0.01240145
+v -0.02058755 0.00208244 -0.01189830
+v -0.01731140 0.00124021 -0.01332555
+v -0.01862023 0.00138671 -0.01290296
+v -0.01594486 0.00156509 -0.01360508
+v -0.01660382 0.00207483 -0.01320552
+v -0.01659837 0.00208617 -0.01320223
+v -0.02058755 0.00202240 -0.01190981
+v -0.01862023 0.00124021 -0.01290296
+v -0.01913467 0.00208617 -0.01245900
+v -0.01911240 0.00188791 -0.01254451
+v -0.02058755 0.00205478 -0.01190652
+v -0.01849752 0.00124021 -0.01294900
+v -0.01784948 0.00208617 -0.01284213
+v -0.01784948 0.00166099 -0.01301642
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 24
+f 1 24 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 23
+f 3 23 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 14
+f 12 14 22
+f 13 23 14
+f 14 18 22
+f 14 21 20
+f 14 20 24
+f 14 24 25
+f 14 25 15
+f 14 23 19
+f 14 19 18
+f 15 25 24
+f 15 24 16
+f 16 24 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_15.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab44c347d43ab89a63879ffc5b974d9c32ba6e0d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01811559 -0.01089382 0.00576426
+v 0.01811559 -0.01061844 0.00513064
+v 0.02115730 -0.00958110 0.00497869
+v 0.02219229 -0.00921972 0.00497869
+v 0.02354622 -0.00858404 0.00497869
+v 0.02066293 -0.00960287 0.00576426
+v 0.01811559 0.00022621 0.00576426
+v 0.01811559 -0.01055204 0.00497869
+v 0.02223269 -0.00872773 0.00576426
+v 0.02350742 -0.00735405 0.00497869
+v 0.02342024 -0.00736929 0.00514809
+v 0.02307843 -0.00736929 0.00576426
+v 0.02308162 -0.00821722 0.00576426
+v 0.01992456 0.00022621 0.00576426
+v 0.01811559 0.00022621 0.00497869
+v 0.02291311 -0.00655618 0.00576426
+v 0.02307524 -0.00611861 0.00497869
+v 0.02066718 -0.00065329 0.00497869
+v 0.02027912 0.00022621 0.00497869
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 13
+f 1 13 12
+f 1 12 16
+f 1 16 14
+f 1 14 7
+f 1 7 15
+f 1 15 8
+f 1 8 2
+f 2 8 3
+f 3 8 15
+f 3 15 19
+f 3 19 18
+f 3 18 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
+f 5 9 6
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 9
+f 7 14 19
+f 7 19 15
+f 10 16 11
+f 10 17 16
+f 11 16 12
+f 14 18 19
+f 14 16 18
+f 16 17 18
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_150.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f81128b8bb3aef168b797cff3a2d1c4768db5f5
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_150.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01701273 -0.00410880 0.01319187
+v -0.01717021 -0.00372372 0.01326100
+v -0.01717021 -0.00402182 0.01319187
+v -0.01701273 -0.00454494 0.01307581
+v -0.01701273 -0.00410880 -0.01187565
+v -0.01784958 -0.00372372 0.01313014
+v -0.01784958 -0.00410880 0.01304371
+v -0.01769359 -0.00454494 0.01297211
+v -0.01717021 -0.00372372 -0.01196455
+v -0.01763626 -0.00454494 0.01298198
+v -0.01701273 -0.00454494 -0.01170281
+v -0.01701273 -0.00447290 -0.01173491
+v -0.01809315 -0.00372372 0.01305853
+v -0.01822570 -0.00410880 0.01293260
+v -0.01865276 -0.00454494 0.01270790
+v -0.01784958 -0.00454494 0.01294247
+v -0.01737969 -0.00428864 -0.01163861
+v -0.01746259 -0.00410880 -0.01166824
+v -0.01763967 -0.00372372 -0.01172997
+v -0.01726142 -0.00454494 -0.01158182
+v -0.01892979 -0.00372372 0.01274247
+v -0.01886266 -0.00410880 0.01270296
+v -0.01841792 -0.00410880 0.01287087
+v -0.01878637 -0.00454494 0.01265605
+v -0.01764969 -0.00454494 -0.01138675
+v -0.01918423 -0.00454494 -0.01057191
+v -0.01766013 -0.00410880 -0.01156453
+v -0.01823337 -0.00372372 -0.01141144
+v -0.01918977 -0.00372372 0.01252024
+v -0.01918423 -0.00454494 0.01228813
+v -0.01918977 -0.00410880 -0.01074228
+v -0.01918977 -0.00372372 -0.01089784
+v -0.01918977 -0.00410880 0.01239925
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 19
+f 2 19 28
+f 2 28 32
+f 2 32 29
+f 2 29 21
+f 2 21 13
+f 2 13 6
+f 3 8 10
+f 3 10 4
+f 4 10 8
+f 4 8 16
+f 4 16 15
+f 4 15 24
+f 4 24 30
+f 4 30 26
+f 4 26 25
+f 4 25 20
+f 4 20 11
+f 5 12 9
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 12 17
+f 9 17 18
+f 9 18 19
+f 11 20 17
+f 11 17 12
+f 13 21 22
+f 13 22 23
+f 13 23 15
+f 13 15 14
+f 15 23 22
+f 15 22 24
+f 17 20 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 19 27 26
+f 19 26 28
+f 21 29 22
+f 22 29 24
+f 24 29 30
+f 26 31 32
+f 26 32 28
+f 26 30 33
+f 26 33 31
+f 29 32 31
+f 29 31 33
+f 29 33 30
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_151.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b9bf7d90a67b269b933d70428dca33aec5e045
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_151.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00470050 0.00186164 -0.00152910
+v 0.00470050 0.00226757 -0.00152910
+v 0.00544418 0.00186164 -0.00152910
+v 0.00470050 0.00186164 0.01289422
+v 0.00544418 0.00226757 -0.00152910
+v 0.00470050 0.00790358 -0.00152758
+v 0.00544418 0.00186164 0.01282878
+v 0.00482956 0.00186164 0.01289270
+v 0.00470050 0.00380049 0.01384086
+v 0.00485948 0.00790358 -0.00152758
+v 0.00484500 0.01271569 -0.00152606
+v 0.00544418 0.00655230 -0.00152758
+v 0.00470050 0.01272554 -0.00152606
+v 0.00544418 0.00389568 0.01386369
+v 0.00484121 0.00387380 0.01387282
+v 0.00470050 0.00387052 0.01387282
+v 0.00544418 0.01266646 -0.00152454
+v 0.00544418 0.01303956 -0.00030547
+v 0.00470050 0.01303956 -0.00043179
+v 0.00544418 0.00422065 0.01395044
+v 0.00544418 0.00464409 0.01401893
+v 0.00470050 0.00455984 0.01397936
+v 0.00544418 0.01303956 0.00709263
+v 0.00470050 0.01303956 0.00688412
+v 0.00544418 0.00511020 0.01400371
+v 0.00470050 0.00464409 0.01399153
+v 0.00544418 0.01282183 0.00781554
+v 0.00470050 0.01274086 0.00781554
+v 0.00544418 0.00558506 0.01397327
+v 0.00470050 0.00541984 0.01394740
+v 0.00544418 0.01233274 0.00921420
+v 0.00470050 0.01221129 0.00922789
+v 0.00544418 0.00588814 0.01380433
+v 0.00470050 0.00551066 0.01394131
+v 0.00470050 0.01195306 0.00978188
+v 0.00544418 0.01198261 0.00981992
+v 0.00544418 0.00920344 0.01171473
+v 0.00470050 0.00610698 0.01356539
+v 0.00470050 0.01139723 0.01015779
+v 0.00544418 0.01134034 0.01034956
+v 0.00544418 0.01171891 0.01008626
+v 0.00544418 0.01066196 0.01079396
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 39
+f 1 39 35
+f 1 35 32
+f 1 32 28
+f 1 28 24
+f 1 24 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 12
+f 3 12 17
+f 3 17 18
+f 3 18 23
+f 3 23 27
+f 3 27 31
+f 3 31 36
+f 3 36 41
+f 3 41 40
+f 3 40 42
+f 3 42 37
+f 3 37 33
+f 3 33 29
+f 3 29 25
+f 3 25 21
+f 3 21 20
+f 3 20 14
+f 3 14 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 6 13 10
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 13 11
+f 11 17 12
+f 11 13 18
+f 11 18 17
+f 13 19 18
+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 18 19 24
+f 18 24 23
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 24 28 27
+f 25 29 30
+f 25 30 26
+f 27 28 31
+f 28 32 31
+f 29 33 34
+f 29 34 30
+f 31 32 35
+f 31 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 38
+f 38 42 39
+f 39 42 40
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_152.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91af4fa7dd89c880bb16ee905097a0e2a621bcc
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_152.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01044682 -0.00089344 0.01499739
+v -0.01123066 -0.00089344 0.01496758
+v -0.01044682 -0.00143157 0.01484295
+v -0.01044682 -0.00089344 -0.01268197
+v -0.01142743 -0.00089344 0.01494320
+v -0.01120471 -0.00143157 0.01480773
+v -0.01044682 -0.00143157 -0.01268197
+v -0.01511742 -0.00089344 -0.01268197
+v -0.01183611 -0.00143157 0.01472915
+v -0.01270752 -0.00089344 0.01472644
+v -0.01324594 -0.00143157 0.01450427
+v -0.01193990 -0.00143157 0.01471561
+v -0.01511742 -0.00143157 -0.01268197
+v -0.01804628 -0.00089344 -0.01267926
+v -0.01670024 -0.00089344 0.01393801
+v -0.01706675 -0.00126522 0.01379441
+v -0.01698458 -0.00143157 0.01377815
+v -0.01761814 -0.00143157 -0.01267926
+v -0.02053835 -0.00143157 -0.01107529
+v -0.02055781 -0.00089344 -0.01128391
+v -0.01766247 -0.00089344 0.01370771
+v -0.01785707 -0.00089344 0.01365894
+v -0.01723541 -0.00143157 0.01372125
+v -0.02149193 -0.00143157 -0.01049005
+v -0.02149193 -0.00089344 -0.01066617
+v -0.01860956 -0.00089344 0.01334194
+v -0.01785383 -0.00143157 0.01356140
+v -0.02149193 -0.00143157 0.01088450
+v -0.02149193 -0.00089344 0.01107958
+v -0.01919663 -0.00089344 0.01309267
+v -0.01923447 -0.00143157 0.01297887
+v -0.02125083 -0.00143157 0.01121505
+v -0.02132110 -0.00089344 0.01128549
+v -0.01936096 -0.00089344 0.01300055
+v -0.01994155 -0.00143157 0.01255892
+v -0.02059565 -0.00143157 0.01189240
+v -0.02066916 -0.00089344 0.01195743
+v -0.02000534 -0.00089344 0.01260227
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 25
+f 1 25 29
+f 1 29 33
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+f 16 21 22
+f 16 22 23
+f 16 23 17
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+f 20 24 25
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+f 22 27 23
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+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 37
+f 35 37 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_153.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14656a101aff42c10189e5c819fad1ab1c01012f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_153.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.00710511 0.00197046 -0.00201373
+v -0.00710511 0.01492282 -0.00201373
+v -0.00525135 0.00197046 -0.00201373
+v -0.00710511 0.00197046 0.00027092
+v -0.00525135 0.01400971 -0.00201373
+v -0.00710511 0.01531890 -0.00018912
+v -0.00525135 0.01514213 0.00114593
+v -0.00525135 0.01504377 0.00075427
+v -0.00525135 0.01484573 0.00001914
+v -0.00525135 0.00197046 -0.00154747
+v -0.00635471 0.00197046 0.01286293
+v -0.00710511 0.00197179 0.01309450
+v -0.00710511 0.01554884 0.00114748
+v -0.00525135 0.01492814 0.00253071
+v -0.00525135 0.00197179 0.01321418
+v -0.00585766 0.00197046 0.01323749
+v -0.00710511 0.00197312 0.01357630
+v -0.00710511 0.01523649 0.00248253
+v -0.00710511 0.01478725 0.00375230
+v -0.00525135 0.01306337 0.00777608
+v -0.00525135 0.00256060 0.01337737
+v -0.00525135 0.00434163 0.01377057
+v -0.00525135 0.00463404 0.01381254
+v -0.00525135 0.00501018 0.01386383
+v -0.00710511 0.00211002 0.01359340
+v -0.00710511 0.01431807 0.00503605
+v -0.00710511 0.01318831 0.00811956
+v -0.00525135 0.01239615 0.00904741
+v -0.00525135 0.00538898 0.01386383
+v -0.00585766 0.00504740 0.01385761
+v -0.00710511 0.00491980 0.01381409
+v -0.00635489 0.00509657 0.01384984
+v -0.00692200 0.00515506 0.01383896
+v -0.00710511 0.01245994 0.00926188
+v -0.00710511 0.01244267 0.00928364
+v -0.00525135 0.01185652 0.00971726
+v -0.00710511 0.00737736 0.01281320
+v -0.00710511 0.00589006 0.01358096
+v -0.00585766 0.00537835 0.01385761
+v -0.00525135 0.00605620 0.01346129
+v -0.00710511 0.00501683 0.01381409
+v -0.00635489 0.00536506 0.01384984
+v -0.00692200 0.00534911 0.01383896
+v -0.00664525 0.01194291 0.00978564
+v -0.00710511 0.01144449 0.01019439
+v -0.00525135 0.01118797 0.01016797
+v -0.00525135 0.00712748 0.01279455
+v -0.00710511 0.00861876 0.01202989
+v -0.00710511 0.00560829 0.01371773
+v -0.00710511 0.01035859 0.01089999
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+f 1 41 49
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+f 12 16 17
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+f 17 22 23
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+f 17 24 25
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+f 20 27 28
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+f 25 32 33
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+f 29 38 39
+f 29 40 37
+f 30 39 42
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+f 31 43 41
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+f 35 44 36
+f 35 45 44
+f 36 44 45
+f 36 45 46
+f 37 40 47
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+f 38 49 39
+f 39 49 42
+f 41 43 49
+f 42 49 43
+f 45 50 46
+f 46 50 48
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_158.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75f71f0ed323f06e58a9db2f365a4bc7c0f68f6
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_158.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02121906 0.00201704 0.00115104
+v 0.02102434 0.00201638 0.00115104
+v 0.01055498 0.00201638 0.00114980
+v 0.01055498 0.00268718 0.00114980
+v 0.02092280 0.00268718 0.00115104
+v 0.01998147 0.00268718 0.00323600
+v 0.01998147 0.00201638 0.00389081
+v 0.02121786 0.00201638 0.00115228
+v 0.00901516 0.00201638 0.00114980
+v 0.00901516 0.00268718 0.00114980
+v 0.01583267 0.00268718 0.01241702
+v 0.01588403 0.00201638 0.01295752
+v 0.00901516 0.00201638 0.01311160
+v 0.00901516 0.00268718 0.01334892
+v 0.01549699 0.00268718 0.01315508
+v 0.01580758 0.00201638 0.01312402
+v 0.01023125 0.00201638 0.01352163
+v 0.01129802 0.00201645 0.01384220
+v 0.01019900 0.00268718 0.01356015
+v 0.01517326 0.00268718 0.01384344
+v 0.01519356 0.00264338 0.01384344
+v 0.01547071 0.00201638 0.01384344
+v 0.01154768 0.00201638 0.01384344
+v 0.01154768 0.00218211 0.01384344
+v 0.01151543 0.00219052 0.01384220
+v 0.01226563 0.00268718 0.01384344
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 12
+f 2 12 16
+f 2 16 22
+f 2 22 23
+f 2 23 17
+f 2 17 13
+f 2 13 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 14
+f 4 14 19
+f 4 19 26
+f 4 26 20
+f 4 20 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 20 26 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_159.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..273041735eb48e47510258f1910abd028c254e55
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_159.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00771824 0.00201632 0.00114980
+v 0.00771824 0.00332762 0.00114980
+v 0.00901516 0.00201632 0.00114980
+v 0.00771824 0.00201632 0.01283817
+v 0.00901516 0.00332762 0.00114980
+v 0.00771824 0.00332762 0.01354829
+v 0.00901516 0.00201632 0.01311317
+v 0.00901516 0.00332762 0.01363630
+v 0.00791211 0.00332762 0.01356174
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 9
+f 7 8 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_160.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a55fdb69ce4cd98a87d03ab830b1c02de4b7e9a1
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_160.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.02461756 0.00187172 0.00648764
+v -0.02458169 0.00143734 0.00648764
+v -0.02466081 0.00234270 0.00650872
+v -0.01388290 0.00187172 0.00648764
+v -0.02425569 0.00143538 0.00717056
+v -0.02379149 0.00234270 0.00835007
+v -0.02385163 0.00143538 0.00648764
+v -0.01388290 0.00234270 0.00650872
+v -0.01388290 0.00143538 0.00648764
+v -0.02386956 0.00143538 0.00797573
+v -0.02329564 0.00143538 0.00915356
+v -0.02340642 0.00234270 0.00912489
+v -0.01388290 0.00234270 0.01510002
+v -0.01388290 0.00143538 0.01493645
+v -0.02294854 0.00143538 0.00981202
+v -0.02280506 0.00187172 0.01017119
+v -0.02278607 0.00234270 0.01029428
+v -0.01388290 0.00196107 0.01504268
+v -0.01388396 0.00234270 0.01510002
+v -0.01388290 0.00195174 0.01504100
+v -0.01388396 0.00187172 0.01502498
+v -0.01520588 0.00234270 0.01488755
+v -0.01651619 0.00234270 0.01465570
+v -0.01651619 0.00197253 0.01457897
+v -0.01651619 0.00187172 0.01455789
+v -0.01651619 0.00143538 0.01446600
+v -0.02274387 0.00143538 0.01019311
+v -0.02276603 0.00187172 0.01024454
+v -0.02268479 0.00234270 0.01047893
+v -0.01410023 0.00234270 0.01508231
+v -0.01745620 0.00234270 0.01437663
+v -0.01698883 0.00143538 0.01434627
+v -0.01660587 0.00187172 0.01453513
+v -0.02249278 0.00143538 0.01059275
+v -0.02267846 0.00234270 0.01048989
+v -0.01748257 0.00234270 0.01436820
+v -0.01788242 0.00143538 0.01407817
+v -0.02228495 0.00143538 0.01085917
+v -0.02237779 0.00187172 0.01085917
+v -0.02238095 0.00234270 0.01096034
+v -0.01793517 0.00234270 0.01422318
+v -0.01811030 0.00143538 0.01399891
+v -0.02188616 0.00143538 0.01131445
+v -0.02233770 0.00187172 0.01090976
+v -0.02235036 0.00197253 0.01092072
+v -0.02216784 0.00234270 0.01121665
+v -0.01853547 0.00234270 0.01395676
+v -0.01839621 0.00143538 0.01388678
+v -0.02172052 0.00187172 0.01161375
+v -0.02161713 0.00143538 0.01161038
+v -0.02166988 0.00187172 0.01167024
+v -0.02168043 0.00197253 0.01168373
+v -0.02169520 0.00234270 0.01175540
+v -0.01865679 0.00234270 0.01389858
+v -0.01863780 0.00220868 0.01388847
+v -0.01864730 0.00143538 0.01376537
+v -0.02122889 0.00143538 0.01200917
+v -0.02108646 0.00234270 0.01239953
+v -0.02142828 0.00234270 0.01204795
+v -0.01923599 0.00234270 0.01358157
+v -0.01910095 0.00187172 0.01358495
+v -0.01914526 0.00143538 0.01349473
+v -0.02096092 0.00143538 0.01227812
+v -0.02029310 0.00143538 0.01279832
+v -0.02044080 0.00234270 0.01285481
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 12
+f 3 12 17
+f 3 17 29
+f 3 29 35
+f 3 35 40
+f 3 40 46
+f 3 46 53
+f 3 53 59
+f 3 59 58
+f 3 58 65
+f 3 65 60
+f 3 60 54
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+f 3 47 41
+f 3 41 36
+f 3 36 31
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+f 4 8 13
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+f 4 18 20
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+f 16 28 17
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+f 24 33 25
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+f 25 32 26
+f 27 34 35
+f 27 35 28
+f 28 35 29
+f 31 36 37
+f 31 37 32
+f 34 38 39
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+f 34 40 35
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+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 40 45 46
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+f 41 48 42
+f 43 49 44
+f 43 50 51
+f 43 51 49
+f 44 49 45
+f 45 49 52
+f 45 52 53
+f 45 53 46
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 49 51 52
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 51 59 52
+f 52 59 53
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 55 62 56
+f 57 63 58
+f 58 63 64
+f 58 64 65
+f 60 65 62
+f 60 62 61
+f 62 65 64
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_168.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd79d878eacc9744d045e86032f7138e26ba37da
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_168.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00301654 0.00541643 0.01388445
+v -0.00334753 0.00541267 0.01388114
+v -0.00301654 0.00484266 0.01388445
+v -0.00301654 0.00608415 0.01346126
+v -0.00334753 0.00607914 0.01345906
+v -0.00334753 0.00487022 0.01388114
+v -0.00301654 0.00417494 0.01379739
+v -0.00301654 0.00620066 0.01338632
+v -0.00301654 0.00719660 0.01274382
+v -0.00334753 0.00769145 0.01241871
+v -0.00334753 0.00420250 0.01379298
+v -0.00334753 0.00406971 0.01376102
+v -0.00334753 0.00330803 0.01357147
+v -0.00301654 0.00339321 0.01360232
+v -0.00301654 0.00956057 0.01121636
+v -0.00316731 0.01015062 0.01083284
+v -0.00334753 0.00937015 0.01133428
+v -0.00334753 0.00312763 0.01352077
+v -0.00301654 0.00330176 0.01357808
+v -0.00301654 0.01015187 0.01083394
+v -0.00301654 0.01117914 0.01016940
+v -0.00334753 0.01104133 0.01025426
+v -0.00334753 0.00196882 0.01318023
+v -0.00301654 0.00212416 0.01322983
+v -0.00301654 0.01118415 0.01016609
+v -0.00316731 0.01118290 0.01016499
+v -0.00334753 0.01118039 0.01016389
+v -0.00334753 0.00196882 0.00262689
+v -0.00317103 0.00196882 0.01318133
+v -0.00316731 0.00196882 0.01318133
+v -0.00301654 0.00197007 0.01318023
+v -0.00301654 0.01126307 0.01011209
+v -0.00334753 0.01184811 0.00970433
+v -0.00301654 0.00196882 0.00262689
+v -0.00334753 0.01476705 0.00262689
+v -0.00301654 0.00196882 0.01306121
+v -0.00301654 0.01185187 0.00970653
+v -0.00334753 0.01235674 0.00903758
+v -0.00301654 0.01475453 0.00262689
+v -0.00334753 0.01462299 0.00306000
+v -0.00316731 0.01462048 0.00305118
+v -0.00323205 0.01476329 0.00262689
+v -0.00301654 0.01235298 0.00903868
+v -0.00334753 0.01296433 0.00781760
+v -0.00310448 0.01475828 0.00262689
+v -0.00301654 0.01461797 0.00304236
+v -0.00301654 0.01435113 0.00381381
+v -0.00334753 0.01345917 0.00640255
+v -0.00301654 0.01353058 0.00617553
+v -0.00301654 0.01388761 0.00514840
+v -0.00316731 0.01476079 0.00262689
+v -0.00301654 0.01295681 0.00781760
+v -0.00316731 0.01296057 0.00781760
+v -0.00334753 0.01325747 0.00698003
+v -0.00301654 0.01328002 0.00689297
+v -0.00301654 0.01299314 0.00771400
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 24
+f 1 24 31
+f 1 31 36
+f 1 36 34
+f 1 34 39
+f 1 39 46
+f 1 46 47
+f 1 47 50
+f 1 50 49
+f 1 49 55
+f 1 55 56
+f 1 56 52
+f 1 52 43
+f 1 43 37
+f 1 37 32
+f 1 32 25
+f 1 25 21
+f 1 21 20
+f 1 20 15
+f 1 15 9
+f 1 9 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 22
+f 2 22 27
+f 2 27 33
+f 2 33 38
+f 2 38 44
+f 2 44 54
+f 2 54 48
+f 2 48 40
+f 2 40 35
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+f 2 23 18
+f 2 18 13
+f 2 13 12
+f 2 12 11
+f 2 11 6
+f 3 6 7
+f 4 8 5
+f 5 8 9
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+f 6 11 7
+f 7 12 13
+f 7 13 14
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+f 9 15 16
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+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
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+f 18 23 19
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+f 21 25 26
+f 21 26 22
+f 22 26 27
+f 23 28 34
+f 23 34 36
+f 23 36 30
+f 23 30 29
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 28 35 42
+f 28 42 51
+f 28 51 45
+f 28 45 39
+f 28 39 34
+f 30 36 31
+f 32 37 33
+f 33 37 38
+f 35 40 41
+f 35 41 42
+f 37 43 38
+f 38 43 44
+f 39 45 46
+f 40 47 41
+f 40 48 49
+f 40 49 50
+f 40 50 47
+f 41 46 42
+f 41 47 46
+f 42 46 51
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 45 51 46
+f 48 54 55
+f 48 55 49
+f 52 56 53
+f 53 56 55
+f 53 55 54
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_171.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b752979dfbb8db2170320fb5aa3959f666f3633
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_171.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01290530 -0.01402733 0.00648248
+v 0.01379947 -0.01352609 0.00552884
+v 0.01404645 -0.01372253 0.00647527
+v 0.01404645 -0.01368060 0.00751218
+v 0.01290530 -0.01402529 0.00653078
+v 0.01290530 -0.01365308 0.00528404
+v 0.01404645 -0.01361404 0.00608337
+v 0.01290530 -0.01291936 0.00385801
+v 0.01323449 -0.01279994 0.00385801
+v 0.01404645 -0.01279994 0.00444308
+v 0.01404645 -0.01326021 0.00528293
+v 0.01404645 -0.01364515 0.00766594
+v 0.01290530 -0.01383931 0.00733677
+v 0.01290530 -0.01279994 0.00385801
+v 0.01404645 -0.01279994 0.00914137
+v 0.01294518 -0.01369417 0.00794737
+v 0.01404645 -0.01329770 0.00833205
+v 0.01345387 -0.01337327 0.00847859
+v 0.01290530 -0.01370679 0.00790629
+v 0.01290530 -0.01279994 0.00952883
+v 0.01290943 -0.01279994 0.00952827
+v 0.01404645 -0.01288103 0.00902480
+v 0.01290530 -0.01369669 0.00794348
+v 0.01290530 -0.01338840 0.00850635
+v 0.01290530 -0.01366317 0.00800732
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 23
+f 1 23 25
+f 1 25 24
+f 1 24 20
+f 1 20 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 7 11
+f 3 11 10
+f 3 10 15
+f 3 15 22
+f 3 22 17
+f 3 17 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 8 14 9
+f 9 14 20
+f 9 20 21
+f 9 21 15
+f 9 15 10
+f 12 16 13
+f 12 17 18
+f 12 18 16
+f 13 16 19
+f 15 21 22
+f 16 23 19
+f 16 18 24
+f 16 24 25
+f 16 25 23
+f 17 22 18
+f 18 22 21
+f 18 21 20
+f 18 20 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_172.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4c854ce20ff228f302ddfafd357ee387b984c8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_172.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00854619 0.00142926 0.01435349
+v -0.00854619 0.00142926 0.00923805
+v -0.00887115 0.00142926 0.01435349
+v -0.00854619 -0.00373636 0.01435349
+v -0.00887115 0.00142926 0.00923805
+v -0.00854619 -0.00374091 0.00923805
+v -0.00887115 -0.00360426 0.01435349
+v -0.00887115 -0.00374091 0.01431092
+v -0.00854619 -0.00374091 0.01435198
+v -0.00887115 -0.00374091 0.00923805
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 9 8
+f 6 8 10
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_176.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f04cf0784b96408f13d9e2b410f26e8d18eaf2
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_176.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v 0.01418436 -0.00069815 0.01694930
+v 0.01494216 -0.00069815 0.01678399
+v 0.01494216 0.00015248 0.01663278
+v 0.01494216 0.00017978 0.01662637
+v 0.01461582 0.00022621 0.01666226
+v 0.01418436 0.00022621 0.01672248
+v 0.01404654 0.00022211 0.01670198
+v 0.01404654 -0.00070225 0.01692239
+v 0.01404654 -0.00083742 0.01691086
+v 0.01404654 -0.00202939 0.01680834
+v 0.01418436 -0.00203212 0.01683269
+v 0.01494216 -0.00206353 0.01676605
+v 0.01494216 0.00022621 0.01655205
+v 0.01410195 0.00022621 0.01670711
+v 0.01404654 0.00022621 0.01650976
+v 0.01404654 -0.00288412 0.01662894
+v 0.01404662 -0.00318723 0.01656615
+v 0.01424048 -0.00288548 0.01666610
+v 0.01494198 -0.00420990 0.01651873
+v 0.01494198 -0.00334015 0.01664688
+v 0.01494216 -0.00288412 0.01664944
+v 0.01494216 0.00022621 0.00385801
+v 0.01404654 0.00022621 0.00385801
+v 0.01404654 -0.00288412 0.00385801
+v 0.01404662 -0.01372247 0.00647601
+v 0.01404662 -0.01367878 0.00751398
+v 0.01404662 -0.01364464 0.00766648
+v 0.01404662 -0.01329647 0.00833411
+v 0.01404662 -0.01287867 0.00902610
+v 0.01404662 -0.01033634 0.01310495
+v 0.01404662 -0.00970007 0.01409679
+v 0.01404662 -0.00963044 0.01418521
+v 0.01404662 -0.00907746 0.01478365
+v 0.01404662 -0.00836200 0.01527060
+v 0.01404662 -0.00831012 0.01529238
+v 0.01404662 -0.00749499 0.01556405
+v 0.01404662 -0.00737347 0.01559737
+v 0.01404662 -0.00603677 0.01593183
+v 0.01404662 -0.00462770 0.01625732
+v 0.01404662 -0.00409930 0.01637137
+v 0.01494198 -0.00487347 0.01637777
+v 0.01494198 -0.00597533 0.01612661
+v 0.01494198 -0.00661296 0.01596515
+v 0.01494198 -0.00737074 0.01575371
+v 0.01494198 -0.00778309 0.01561531
+v 0.01494198 -0.00831831 0.01535518
+v 0.01494198 -0.00860641 0.01515399
+v 0.01494198 -0.00930958 0.01432361
+v 0.01494198 -0.00950892 0.01403528
+v 0.01494198 -0.00969598 0.01374439
+v 0.01494198 -0.01253596 0.00918628
+v 0.01494198 -0.01275032 0.00883260
+v 0.01494198 -0.01348762 0.00737943
+v 0.01494198 -0.01349172 0.00726795
+v 0.01494216 -0.00288412 0.00385801
+v 0.01404662 -0.01250455 0.00385929
+v 0.01404662 -0.01325824 0.00528426
+v 0.01404662 -0.01361187 0.00608389
+v 0.01422058 -0.01367468 0.00647601
+v 0.01494198 -0.01349172 0.00687070
+v 0.01418445 -0.01363645 0.00763316
+v 0.01418445 -0.01327736 0.00829951
+v 0.01418445 -0.01276534 0.00915296
+v 0.01418445 -0.00961132 0.01417496
+v 0.01418445 -0.00832787 0.01530776
+v 0.01418445 -0.00737074 0.01562556
+v 0.01426836 -0.00461405 0.01630345
+v 0.01494198 -0.01342618 0.00670667
+v 0.01494198 -0.01317905 0.00616846
+v 0.01494198 -0.01205535 0.00385929
+v 0.01421882 -0.01244175 0.00385929
+v 0.01468921 -0.01327736 0.00602366
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 21
+f 2 21 55
+f 2 55 22
+f 2 22 13
+f 2 13 4
+f 2 4 3
+f 4 13 5
+f 5 13 22
+f 5 22 23
+f 5 23 15
+f 5 15 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 23
+f 7 23 24
+f 7 24 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 17
+f 17 40 41
+f 17 41 19
+f 17 19 18
+f 19 41 21
+f 19 21 20
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 47
+f 21 47 48
+f 21 48 49
+f 21 49 50
+f 21 50 51
+f 21 51 52
+f 21 52 53
+f 21 53 54
+f 21 54 60
+f 21 60 55
+f 22 55 24
+f 22 24 23
+f 24 55 56
+f 24 56 57
+f 24 57 58
+f 24 58 25
+f 25 58 59
+f 25 59 60
+f 25 60 54
+f 25 54 53
+f 25 53 26
+f 26 53 61
+f 26 61 27
+f 27 61 28
+f 28 61 62
+f 28 62 52
+f 28 52 63
+f 28 63 29
+f 29 63 30
+f 30 50 31
+f 30 63 50
+f 31 50 49
+f 31 49 64
+f 31 64 32
+f 32 64 47
+f 32 47 33
+f 33 47 46
+f 33 46 65
+f 33 65 34
+f 34 65 35
+f 35 65 45
+f 35 45 44
+f 35 44 36
+f 36 44 66
+f 36 66 37
+f 37 66 42
+f 37 42 38
+f 38 42 39
+f 39 42 41
+f 39 41 67
+f 39 67 40
+f 40 67 41
+f 42 66 43
+f 43 66 44
+f 45 65 46
+f 47 64 48
+f 48 64 49
+f 50 63 51
+f 51 63 52
+f 52 62 61
+f 52 61 53
+f 55 60 68
+f 55 68 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 56 71 57
+f 57 71 70
+f 57 70 72
+f 57 72 58
+f 58 72 60
+f 58 60 59
+f 60 72 68
+f 68 72 69
+f 69 72 70
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_179.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6ccee0866fad55dddfd0a901a332521d7385d5
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_179.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01091500 0.00201644 -0.00841337
+v 0.01091500 0.00201632 -0.00736981
+v 0.01091500 0.00327482 -0.00841337
+v 0.02201052 0.00201644 -0.00841337
+v 0.01091500 0.00201632 -0.00106094
+v 0.02395697 0.00201632 -0.00736981
+v 0.01091500 0.00327482 -0.00736981
+v 0.02286209 0.00327482 -0.00841337
+v 0.02208590 0.00210452 -0.00841337
+v 0.02213482 0.00201644 -0.00839106
+v 0.01091500 0.00320152 -0.00106094
+v 0.02221813 0.00201632 -0.00106094
+v 0.02338573 0.00201644 -0.00783330
+v 0.02346110 0.00201644 -0.00778868
+v 0.02406540 0.00201632 -0.00730000
+v 0.02359862 0.00327482 -0.00736981
+v 0.02262672 0.00281729 -0.00841337
+v 0.02326540 0.00327482 -0.00810750
+v 0.02169581 0.00320152 -0.00106094
+v 0.02249449 0.00201632 -0.00167052
+v 0.02173945 0.00310432 -0.00106094
+v 0.02440920 0.00201632 -0.00675159
+v 0.02331432 0.00327482 -0.00803049
+v 0.02372821 0.00320152 -0.00556985
+v 0.02375994 0.00320152 -0.00564110
+v 0.02387895 0.00320152 -0.00675159
+v 0.02387895 0.00320152 -0.00675447
+v 0.02187961 0.00320152 -0.00146685
+v 0.02250242 0.00320152 -0.00284435
+v 0.02313184 0.00320152 -0.00423697
+v 0.02309482 0.00201632 -0.00299908
+v 0.02442242 0.00201632 -0.00668682
+v 0.02368060 0.00201632 -0.00429598
+v 0.02421217 0.00201632 -0.00548708
+v 0.02432192 0.00201632 -0.00573538
+v 0.02421085 0.00268068 -0.00615712
+v 0.02421085 0.00268068 -0.00623197
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 15
+f 2 15 22
+f 2 22 32
+f 2 32 35
+f 2 35 34
+f 2 34 33
+f 2 33 31
+f 2 31 20
+f 2 20 12
+f 2 12 5
+f 3 7 16
+f 3 16 23
+f 3 23 18
+f 3 18 8
+f 4 9 10
+f 4 10 6
+f 5 12 21
+f 5 21 19
+f 5 19 11
+f 6 13 14
+f 6 14 15
+f 6 10 13
+f 7 11 19
+f 7 19 16
+f 8 18 14
+f 8 14 13
+f 8 13 17
+f 9 17 10
+f 10 17 13
+f 12 20 21
+f 14 18 15
+f 15 18 23
+f 15 23 22
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 22
+f 16 22 23
+f 16 19 28
+f 16 28 29
+f 16 29 30
+f 16 30 24
+f 19 21 28
+f 20 31 30
+f 20 30 21
+f 21 30 29
+f 21 29 28
+f 22 27 32
+f 24 33 34
+f 24 34 25
+f 24 30 33
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 32
+f 30 31 33
+f 32 37 36
+f 32 36 35
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_181.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad447fb6a5ddfd91623479059f09514ba41df5b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_181.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.00802564 0.00689032 0.00071192
+v -0.00802564 0.01567641 0.00071192
+v -0.00755161 0.00689032 0.00071192
+v -0.00802564 0.00689032 0.01311313
+v -0.00802564 0.01575013 0.00115621
+v -0.00755161 0.01564692 0.00115014
+v -0.00755161 0.01557407 0.00071192
+v -0.00755161 0.00689032 0.01307550
+v -0.00802564 0.00734389 0.01292255
+v -0.00802564 0.01539195 0.00247936
+v -0.00755161 0.01531217 0.00247936
+v -0.00755161 0.00737598 0.01285821
+v -0.00802564 0.00806544 0.01254017
+v -0.00802564 0.01509622 0.00333394
+v -0.00755161 0.01518034 0.00286052
+v -0.00755161 0.00783736 0.01260208
+v -0.00802564 0.00870113 0.01213351
+v -0.00769100 0.00801948 0.01251468
+v -0.00802564 0.01474846 0.00431963
+v -0.00755161 0.01478141 0.00399066
+v -0.00755161 0.00817125 0.01239207
+v -0.00802564 0.01000634 0.01129106
+v -0.00802564 0.01467040 0.00453328
+v -0.00783247 0.01465306 0.00448472
+v -0.00755161 0.01449869 0.00476635
+v -0.00755161 0.01036885 0.01097302
+v -0.00755161 0.01139134 0.01031145
+v -0.00802564 0.01135318 0.01041948
+v -0.00802564 0.01442671 0.00519971
+v -0.00755161 0.01438421 0.00507953
+v -0.00755161 0.01168447 0.01012086
+v -0.00802564 0.01168273 0.01020462
+v -0.00802439 0.01168447 0.01020341
+v -0.00802564 0.01349875 0.00773191
+v -0.00755161 0.01336866 0.00784966
+v -0.00755161 0.01204698 0.00988294
+v -0.00802564 0.01212330 0.00991450
+v -0.00755161 0.01206172 0.00987323
+v -0.00802564 0.01326980 0.00835464
+v -0.00755161 0.01322643 0.00823568
+v -0.00802564 0.01275985 0.00914003
+v -0.00755161 0.01260375 0.00920558
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 28
+f 1 28 32
+f 1 32 37
+f 1 37 41
+f 1 41 39
+f 1 39 34
+f 1 34 29
+f 1 29 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 25
+f 3 25 30
+f 3 30 35
+f 3 35 40
+f 3 40 42
+f 3 42 38
+f 3 38 36
+f 3 36 31
+f 3 31 27
+f 3 27 26
+f 3 26 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 18
+f 13 18 17
+f 14 19 15
+f 15 19 20
+f 16 21 18
+f 17 18 22
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 27 31 28
+f 28 31 33
+f 28 33 32
+f 29 34 30
+f 30 34 35
+f 31 36 33
+f 32 33 37
+f 33 36 38
+f 33 38 37
+f 34 39 35
+f 35 39 40
+f 37 38 41
+f 38 42 41
+f 39 41 42
+f 39 42 40
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_183.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6228f0b20c3ec31158f1cb1864f3ac69c649c838
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_183.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.01918977 -0.00372364 0.01252152
+v -0.01959765 -0.00372364 0.01222808
+v -0.01918977 -0.00410873 0.01240002
+v -0.01918977 -0.00372364 -0.01089839
+v -0.01953035 -0.00410873 0.01215014
+v -0.02013332 -0.00372364 0.01164121
+v -0.01918977 -0.00410873 -0.01074479
+v -0.02013264 -0.00381426 -0.01035507
+v -0.02004563 -0.00372364 -0.01043760
+v -0.02020402 -0.00372364 0.01156326
+v -0.02013264 -0.00407552 0.01148990
+v -0.02013332 -0.00410873 0.01147156
+v -0.01980226 -0.00410873 -0.01041468
+v -0.02013264 -0.00405550 -0.01025879
+v -0.02083486 -0.00372364 -0.01001120
+v -0.02087361 -0.00372364 0.01068066
+v -0.02079679 -0.00410873 0.01055916
+v -0.02068599 -0.00410873 -0.00993784
+v -0.02179540 -0.00410873 -0.00933721
+v -0.02176685 -0.00372364 -0.00950456
+v -0.02375251 -0.00372364 0.00639603
+v -0.02409105 -0.00410873 0.00565785
+v -0.02257852 -0.00410873 -0.00890623
+v -0.02264378 -0.00372364 -0.00897500
+v -0.02410668 -0.00372364 0.00586647
+v -0.02414815 -0.00410873 0.00557074
+v -0.02327870 -0.00410873 -0.00820702
+v -0.02332560 -0.00372364 -0.00824829
+v -0.02388983 -0.00410873 -0.00757659
+v -0.02459001 -0.00372364 0.00507098
+v -0.02443026 -0.00410873 0.00510766
+v -0.02390478 -0.00372364 -0.00759952
+v -0.02402443 -0.00410873 -0.00738861
+v -0.02509305 -0.00372364 0.00418838
+v -0.02501624 -0.00408988 0.00402561
+v -0.02501216 -0.00410873 0.00401644
+v -0.02485309 -0.00372364 -0.00626071
+v -0.02463216 -0.00410873 -0.00652893
+v -0.02512024 -0.00372364 0.00411043
+v -0.02522765 -0.00410873 0.00340894
+v -0.02501624 -0.00410873 0.00400727
+v -0.02541051 -0.00372364 -0.00539874
+v -0.02543907 -0.00410873 -0.00521764
+v -0.02548461 -0.00372364 -0.00528183
+v -0.02528339 -0.00372364 0.00355107
+v -0.02524601 -0.00410873 0.00334704
+v -0.02563960 -0.00410873 -0.00483250
+v -0.02589452 -0.00372364 -0.00449322
+v -0.02550161 -0.00372364 0.00247590
+v -0.02568447 -0.00372364 0.00113939
+v -0.02535953 -0.00410873 0.00247590
+v -0.02579527 -0.00410873 -0.00417456
+v -0.02597338 -0.00372364 -0.00416310
+v -0.02585306 -0.00372364 -0.00020400
+v -0.02600261 -0.00372364 -0.00152217
+v -0.02603048 -0.00372364 -0.00179727
+v -0.02581295 -0.00410873 -0.00229244
+v -0.02588977 -0.00410873 -0.00351204
+v -0.02613449 -0.00372364 -0.00303062
+v -0.02612701 -0.00372364 -0.00285639
+v -0.02586393 -0.00410873 -0.00285639
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 37
+f 1 37 42
+f 1 42 44
+f 1 44 48
+f 1 48 53
+f 1 53 59
+f 1 59 60
+f 1 60 56
+f 1 56 55
+f 1 55 54
+f 1 54 50
+f 1 50 49
+f 1 49 45
+f 1 45 39
+f 1 39 34
+f 1 34 30
+f 1 30 25
+f 1 25 21
+f 1 21 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 12
+f 3 12 17
+f 3 17 22
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+f 3 26 31
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+f 3 36 41
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+f 3 61 58
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+f 3 18 13
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+f 4 7 8
+f 4 8 9
+f 5 6 10
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+f 5 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 10 16 11
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 29
+f 24 29 28
+f 25 30 31
+f 25 31 26
+f 28 29 32
+f 29 33 32
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 32 33 37
+f 33 38 37
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 35 41 36
+f 37 38 42
+f 38 43 44
+f 38 44 42
+f 39 45 46
+f 39 46 40
+f 43 47 44
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 47 52 53
+f 47 53 48
+f 50 54 51
+f 51 54 55
+f 51 55 56
+f 51 56 57
+f 52 58 53
+f 53 58 59
+f 56 60 57
+f 57 60 61
+f 58 61 59
+f 59 61 60
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_192.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff3ae9b1d7c828b9179780f4507e49b4aade25f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_192.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01711263 -0.00207973 -0.01268197
+v -0.02051631 -0.00207973 -0.01083939
+v -0.01044775 -0.00207973 -0.01268197
+v -0.01651566 -0.00286848 -0.01268197
+v -0.02100150 -0.00286848 -0.01026351
+v -0.02115135 -0.00286848 -0.01018271
+v -0.02120417 -0.00272492 -0.01021173
+v -0.02140930 -0.00207973 -0.01034033
+v -0.01044775 -0.00207973 -0.00927166
+v -0.01044775 -0.00286848 -0.01268197
+v -0.02134788 -0.00286848 -0.01007402
+v -0.02184290 -0.00286848 -0.00977527
+v -0.02207751 -0.00207973 -0.00991127
+v -0.01044775 -0.00286848 -0.00927166
+v -0.01044898 -0.00207973 -0.00686856
+v -0.02274694 -0.00286848 -0.00912257
+v -0.02282310 -0.00207973 -0.00924491
+v -0.01044898 -0.00286848 -0.00686856
+v -0.02299384 -0.00207973 -0.00686856
+v -0.02299384 -0.00286848 -0.00879309
+v -0.02299384 -0.00207973 -0.00901672
+v -0.02299384 -0.00286848 -0.00686856
+f 1 2 8
+f 1 8 13
+f 1 13 17
+f 1 17 21
+f 1 21 19
+f 1 19 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 14
+f 3 14 10
+f 4 10 14
+f 4 14 18
+f 4 18 22
+f 4 22 20
+f 4 20 16
+f 4 16 12
+f 4 12 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 8
+f 8 12 13
+f 8 11 12
+f 9 15 18
+f 9 18 14
+f 12 16 13
+f 13 16 17
+f 15 19 22
+f 15 22 18
+f 16 20 17
+f 17 20 21
+f 19 21 20
+f 19 20 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_196.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e3a27b84c27f926c0c066a28a16bc7b366ed2f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_196.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00449718 -0.01477794 0.00288307
+v -0.00449718 -0.01467750 0.00188896
+v -0.00405779 -0.01466731 0.00188749
+v -0.00316754 -0.01464693 0.00188749
+v -0.00432080 -0.01477212 0.00288307
+v -0.00449718 0.00009238 0.00288307
+v -0.00449718 -0.01423791 0.00188749
+v -0.00276260 -0.01463238 0.00188749
+v -0.00363511 -0.01474446 0.00288307
+v -0.00272033 0.00009238 0.00288307
+v -0.00449718 0.00009238 0.00188749
+v -0.00272033 -0.01462947 0.00188749
+v -0.00282452 -0.01470516 0.00288307
+v -0.00316754 -0.01472408 0.00288307
+v -0.00272033 0.00009238 0.00188749
+v -0.00272033 -0.01469788 0.00288307
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 13
+f 1 13 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 11
+f 3 11 15
+f 3 15 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 15
+f 6 15 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 16 12
+f 10 12 15
+f 12 16 13
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_197.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f3a9f8a5f73450dfe10ccdec3997cde2f40187
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_197.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00360034 0.00009238 0.00768993
+v -0.00360034 0.00009238 0.00288359
+v -0.00449709 0.00009238 0.00768993
+v -0.00360034 -0.01362610 0.00768993
+v -0.00449709 0.00009238 0.00288359
+v -0.00360034 -0.01474229 0.00288359
+v -0.00449709 -0.01352489 0.00768993
+v -0.00428278 -0.01354983 0.00768993
+v -0.00449709 -0.01417613 0.00648682
+v -0.00360034 -0.01383437 0.00730411
+v -0.00449709 -0.01477749 0.00288359
+v -0.00360034 -0.01474376 0.00288924
+v -0.00363528 -0.01474376 0.00288359
+v -0.00449709 -0.01462642 0.00560178
+v -0.00360034 -0.01426853 0.00648258
+v -0.00432097 -0.01477162 0.00288359
+v -0.00449709 -0.01489190 0.00381334
+v -0.00360034 -0.01481856 0.00346468
+v -0.00360034 -0.01466748 0.00567471
+v -0.00360034 -0.01441374 0.00619604
+v -0.00449709 -0.01484203 0.00493505
+v -0.00360034 -0.01473789 0.00545733
+v -0.00360034 -0.01482443 0.00351079
+v -0.00360034 -0.01486110 0.00381334
+v -0.00360034 -0.01484496 0.00464286
+v -0.00360034 -0.01482883 0.00500798
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 19
+f 1 19 22
+f 1 22 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 21
+f 3 21 14
+f 3 14 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 9 8
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 12 16 13
+f 12 18 16
+f 14 19 20
+f 14 20 15
+f 14 21 22
+f 14 22 19
+f 16 18 23
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 21
+f 21 26 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_198.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f2a10024b5036ae9947a53a9817e57ef863322
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_198.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.01404645 -0.00070157 0.01692203
+v 0.01404645 0.00022276 0.01670396
+v 0.01359952 0.00022621 0.01667327
+v 0.01352790 0.00021816 0.01666896
+v 0.01352790 -0.00071537 0.01682188
+v 0.01404645 -0.00083723 0.01691180
+v 0.01404645 0.00022621 0.01650959
+v 0.01352790 0.00022621 0.01666304
+v 0.01352790 -0.00136378 0.01677126
+v 0.01404645 -0.00202828 0.01680949
+v 0.01404645 0.00022621 0.01142192
+v 0.01352790 0.00022621 0.01142192
+v 0.01352790 -0.00201564 0.01671527
+v 0.01352790 -0.00209496 0.01669911
+v 0.01404645 -0.00216739 0.01678042
+v 0.01404645 -0.01138425 0.01142192
+v 0.01352790 -0.01151876 0.01142192
+v 0.01352790 -0.00292847 0.01652412
+v 0.01404645 -0.00330671 0.01654189
+v 0.01404645 -0.00318599 0.01656720
+v 0.01404645 -0.01098301 0.01206911
+v 0.01352790 -0.01063467 0.01285523
+v 0.01352790 -0.01123939 0.01187743
+v 0.01352790 -0.00330786 0.01644390
+v 0.01404645 -0.00353779 0.01649289
+v 0.01404645 -0.01037484 0.01304584
+v 0.01352790 -0.01037714 0.01326767
+v 0.01352790 -0.00356653 0.01638898
+v 0.01387915 -0.00371139 0.01642451
+v 0.01404645 -0.00409883 0.01637336
+v 0.01404645 -0.01033690 0.01310614
+v 0.01404645 -0.00969999 0.01409901
+v 0.01352790 -0.01002994 0.01380880
+v 0.01404645 -0.00462652 0.01625921
+v 0.01352790 -0.00465871 0.01615099
+v 0.01404645 -0.00963101 0.01418570
+v 0.01352790 -0.00970114 0.01422393
+v 0.01404645 -0.00603486 0.01593292
+v 0.01352790 -0.00603486 0.01582631
+v 0.01352790 -0.00968964 0.01423685
+v 0.01404645 -0.00907917 0.01478444
+v 0.01404645 -0.00737422 0.01559748
+v 0.01352790 -0.00611419 0.01580639
+v 0.01352790 -0.00938843 0.01456314
+v 0.01404645 -0.00836408 0.01527280
+v 0.01352790 -0.00739031 0.01548548
+v 0.01352790 -0.00745929 0.01546718
+v 0.01352790 -0.00796515 0.01533257
+v 0.01404645 -0.00749493 0.01556517
+v 0.01352790 -0.00849629 0.01514035
+v 0.01404645 -0.00831120 0.01529380
+v 0.01352790 -0.00824337 0.01523996
+v 0.01352790 -0.00826176 0.01523296
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 20
+f 1 20 19
+f 1 19 25
+f 1 25 30
+f 1 30 34
+f 1 34 38
+f 1 38 42
+f 1 42 49
+f 1 49 51
+f 1 51 45
+f 1 45 41
+f 1 41 36
+f 1 36 32
+f 1 32 31
+f 1 31 26
+f 1 26 21
+f 1 21 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 17
+f 4 17 23
+f 4 23 22
+f 4 22 27
+f 4 27 33
+f 4 33 37
+f 4 37 40
+f 4 40 44
+f 4 44 50
+f 4 50 53
+f 4 53 52
+f 4 52 48
+f 4 48 47
+f 4 47 46
+f 4 46 43
+f 4 43 39
+f 4 39 35
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+f 4 28 24
+f 4 24 18
+f 4 18 14
+f 4 14 13
+f 4 13 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 24 28 29
+f 24 29 25
+f 25 29 30
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 34 30
+f 28 30 29
+f 28 35 34
+f 32 36 37
+f 32 37 33
+f 34 35 38
+f 35 39 38
+f 36 40 37
+f 36 41 40
+f 38 39 42
+f 39 43 42
+f 40 41 44
+f 41 45 44
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 42 43 46
+f 44 45 50
+f 45 51 50
+f 48 52 51
+f 48 51 49
+f 50 51 53
+f 51 52 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_2.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4962f37aa0ec442683c3a3296f5e7418b93e27f8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.02647150 -0.00213057 -0.00676326
+v 0.02646630 -0.00213057 -0.00685782
+v 0.02646022 -0.00203137 -0.00686218
+v 0.02636823 -0.00177551 -0.00684473
+v 0.02600115 -0.00075555 -0.00677781
+v 0.02594561 -0.00060328 -0.00676908
+v 0.02602805 -0.00213057 -0.00545106
+v 0.02606710 -0.00213057 -0.00806237
+v 0.02600462 -0.00196746 -0.00822821
+v 0.02598813 -0.00177551 -0.00822821
+v 0.02634827 -0.00177551 -0.00713277
+v 0.02570089 0.00022611 -0.00780196
+v 0.02570175 0.00022611 -0.00779032
+v 0.02570175 0.00022611 -0.00714732
+v 0.02549955 -0.00009596 -0.00625991
+v 0.02594474 -0.00075555 -0.00661633
+v 0.02594387 -0.00177551 -0.00560672
+v 0.02594214 -0.00213057 -0.00525466
+v 0.02598726 -0.00213057 -0.00817584
+v 0.02560977 -0.00147997 -0.00891632
+v 0.02590395 -0.00177551 -0.00840569
+v 0.02589441 -0.00074448 -0.00822530
+v 0.02560977 -0.00122112 -0.00891632
+v 0.02522446 -0.00075555 -0.00880139
+v 0.02485130 0.00022611 -0.00829659
+v 0.02501358 0.00022611 -0.00549906
+v 0.02078821 0.00022173 0.00385801
+v 0.02126898 -0.00075555 0.00374890
+v 0.02569568 -0.00098557 -0.00582493
+v 0.02150849 -0.00140845 0.00385655
+v 0.02180008 -0.00207082 0.00385655
+v 0.02182611 -0.00213057 0.00385655
+v 0.02570870 -0.00213057 -0.00841733
+v 0.02501618 -0.00213057 -0.00893959
+v 0.02476452 -0.00213057 -0.00908652
+v 0.02514462 -0.00177551 -0.00903124
+v 0.02468208 -0.00197553 -0.00917527
+v 0.02352876 -0.00213057 -0.00964079
+v 0.02352615 -0.00203114 -0.00966698
+v 0.02215675 -0.00213057 -0.01017469
+v 0.02486085 -0.00098511 -0.00907198
+v 0.02486085 -0.00075555 -0.00894250
+v 0.02486085 -0.00031790 -0.00869083
+v 0.01861174 0.00022611 -0.00995211
+v 0.02122559 0.00022611 0.00288477
+v 0.02078908 0.00022611 0.00385073
+v 0.02078561 0.00022611 0.00385801
+v 0.02119434 -0.00069995 0.00385801
+v 0.02061725 -0.00075555 0.00385801
+v 0.01760855 -0.00213057 0.00385655
+v 0.02085850 -0.00213057 -0.01052238
+v 0.01760681 -0.00213057 -0.01100391
+v 0.01760681 0.00022611 -0.01009759
+v 0.01760681 0.00022611 0.00385801
+v 0.01760681 -0.00075555 0.00385801
+v 0.01760768 -0.00177551 0.00385655
+v 0.01760681 -0.00213057 -0.00983573
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 32
+f 1 32 50
+f 1 50 57
+f 1 57 52
+f 1 52 51
+f 1 51 40
+f 1 40 38
+f 1 38 35
+f 1 35 34
+f 1 34 33
+f 1 33 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 44
+f 12 44 53
+f 12 53 54
+f 12 54 47
+f 12 47 46
+f 12 46 45
+f 12 45 26
+f 12 26 14
+f 12 14 13
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 17
+f 17 29 18
+f 18 30 31
+f 18 31 32
+f 18 29 30
+f 19 33 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 23
+f 20 23 21
+f 20 33 34
+f 21 23 22
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 43 25
+f 24 42 43
+f 25 43 44
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 54
+f 27 54 55
+f 27 55 49
+f 27 49 48
+f 27 48 30
+f 27 30 28
+f 28 30 29
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 32 49 55
+f 32 55 50
+f 35 38 37
+f 35 37 36
+f 38 40 39
+f 40 51 41
+f 41 51 44
+f 41 44 42
+f 42 44 43
+f 44 51 52
+f 44 52 53
+f 50 55 56
+f 50 56 57
+f 52 57 55
+f 52 55 54
+f 52 54 53
+f 55 57 56
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_201.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292a27e654147f9c6b7f7bbd7c32c73bd2dc5d8f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_201.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02242444 0.00256274 -0.00841337
+v 0.02242444 0.00332858 -0.00889639
+v 0.02299762 0.00383442 -0.00889639
+v 0.02327070 0.00413129 -0.00889639
+v 0.02250852 0.00266784 -0.00841337
+v 0.02242444 0.00884186 -0.00841337
+v 0.02242444 0.00862612 -0.00889639
+v 0.02350469 0.00466848 -0.00889639
+v 0.02369041 0.00465004 -0.00841337
+v 0.02325745 0.00365679 -0.00841337
+v 0.02262840 0.00281782 -0.00841337
+v 0.02271208 0.00843374 -0.00841337
+v 0.02294633 0.00817191 -0.00867576
+v 0.02294633 0.00817191 -0.00889639
+v 0.02283314 0.00829852 -0.00889639
+v 0.02374537 0.00533967 -0.00889639
+v 0.02376426 0.00485656 -0.00841337
+v 0.02288705 0.00803853 -0.00841337
+v 0.02305179 0.00766545 -0.00841337
+v 0.02359690 0.00619462 -0.00841337
+v 0.02367179 0.00597643 -0.00841337
+v 0.02369264 0.00597643 -0.00889639
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 9
+f 1 9 17
+f 1 17 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 15
+f 2 15 14
+f 2 14 22
+f 2 22 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 16 22 21
+f 16 21 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_209.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30895c6812724227c1bbd934d0914f45bdf62f55
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_209.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v 0.01290516 -0.00073407 0.01670121
+v 0.01290516 -0.00050136 0.01667230
+v 0.01279971 -0.00073547 0.01667984
+v 0.01217542 -0.00110836 0.01655916
+v 0.01217542 -0.00136911 0.01655916
+v 0.01217542 -0.00162284 0.01654156
+v 0.01290516 -0.00200135 0.01660190
+v 0.01290516 0.00001172 0.01656167
+v 0.01217542 -0.00073547 0.01645859
+v 0.01290516 -0.00200976 0.01660064
+v 0.01217542 -0.00272891 0.01631025
+v 0.01290516 0.00022621 0.01638945
+v 0.01217542 0.00022621 0.01587403
+v 0.01232194 -0.00031631 0.01639699
+v 0.01217542 -0.00039622 0.01635174
+v 0.01290094 -0.00330788 0.01632534
+v 0.01290516 -0.00330367 0.01632659
+v 0.01217542 -0.00334012 0.01618077
+v 0.01290516 0.00022621 0.00385859
+v 0.01217542 0.00022621 0.00385859
+v 0.01284936 -0.00470273 0.01600855
+v 0.01290516 -0.00470974 0.01601735
+v 0.01217542 -0.00470273 0.01587278
+v 0.01290516 -0.01291902 0.00385859
+v 0.01217542 -0.01306341 0.00385859
+v 0.01290516 -0.00604291 0.01569553
+v 0.01217542 -0.00608076 0.01553587
+v 0.01290516 -0.01365219 0.00528415
+v 0.01284944 -0.01293865 0.00385859
+v 0.01284944 -0.01366061 0.00526907
+v 0.01217542 -0.01370266 0.00512827
+v 0.01290516 -0.00740691 0.01534982
+v 0.01217542 -0.00806859 0.01503177
+v 0.01290516 -0.01402509 0.00648344
+v 0.01284944 -0.01404191 0.00648344
+v 0.01217542 -0.01386948 0.00566380
+v 0.01290516 -0.00755271 0.01531211
+v 0.01217542 -0.00868681 0.01485075
+v 0.01290516 -0.01402509 0.00653121
+v 0.01217542 -0.01409518 0.00648344
+v 0.01290516 -0.01370687 0.00790774
+v 0.01290516 -0.00858868 0.01500537
+v 0.01282836 -0.00867279 0.01496012
+v 0.01290516 -0.00865317 0.01498023
+v 0.01217542 -0.00928821 0.01458173
+v 0.01217542 -0.01393677 0.00715976
+v 0.01290516 -0.01369565 0.00794420
+v 0.01217542 -0.01374191 0.00787757
+v 0.01217542 -0.00985316 0.01423602
+v 0.01290516 -0.00975783 0.01429762
+v 0.01290516 -0.01366061 0.00800831
+v 0.01256390 -0.01339565 0.00852498
+v 0.01217542 -0.01354005 0.00826224
+v 0.01217542 -0.01018960 0.01395569
+v 0.01284936 -0.00979148 0.01427374
+v 0.01290516 -0.00978447 0.01426997
+v 0.01290516 -0.01338724 0.00850738
+v 0.01217542 -0.01339986 0.00852875
+v 0.01217542 -0.01198959 0.01107062
+v 0.01217542 -0.01052044 0.01353833
+v 0.01290516 -0.01042371 0.01346039
+v 0.01290516 -0.01276762 0.00958472
+v 0.01288630 -0.01262183 0.00984117
+v 0.01284936 -0.01195034 0.01100777
+v 0.01217542 -0.01093119 0.01287080
+v 0.01284936 -0.01087511 0.01276144
+v 0.01284936 -0.01045876 0.01342896
+v 0.01290516 -0.01045455 0.01341387
+v 0.01290516 -0.01194333 0.01099646
+v 0.01284936 -0.01145268 0.01182112
+v 0.01290516 -0.01086950 0.01274886
+v 0.01290516 -0.01143866 0.01182112
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 10
+f 1 10 17
+f 1 17 22
+f 1 22 26
+f 1 26 32
+f 1 32 37
+f 1 37 42
+f 1 42 44
+f 1 44 50
+f 1 50 56
+f 1 56 61
+f 1 61 68
+f 1 68 71
+f 1 71 72
+f 1 72 69
+f 1 69 62
+f 1 62 57
+f 1 57 51
+f 1 51 47
+f 1 47 41
+f 1 41 39
+f 1 39 34
+f 1 34 28
+f 1 28 24
+f 1 24 19
+f 1 19 12
+f 1 12 8
+f 1 8 2
+f 2 4 3
+f 2 8 4
+f 4 8 9
+f 4 9 15
+f 4 15 13
+f 4 13 20
+f 4 20 25
+f 4 25 31
+f 4 31 36
+f 4 36 40
+f 4 40 46
+f 4 46 48
+f 4 48 53
+f 4 53 58
+f 4 58 59
+f 4 59 65
+f 4 65 60
+f 4 60 54
+f 4 54 49
+f 4 49 45
+f 4 45 38
+f 4 38 33
+f 4 33 27
+f 4 27 23
+f 4 23 18
+f 4 18 11
+f 4 11 6
+f 4 6 5
+f 6 10 7
+f 6 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 11 16
+f 10 16 17
+f 11 18 16
+f 12 19 20
+f 12 20 13
+f 13 15 14
+f 16 21 22
+f 16 22 17
+f 16 18 21
+f 18 23 21
+f 19 24 29
+f 19 29 25
+f 19 25 20
+f 21 23 26
+f 21 26 22
+f 23 27 26
+f 24 28 29
+f 25 29 30
+f 25 30 31
+f 26 27 32
+f 27 33 32
+f 28 34 35
+f 28 35 30
+f 28 30 29
+f 30 35 31
+f 31 35 36
+f 32 33 37
+f 33 38 37
+f 34 39 35
+f 35 40 36
+f 35 39 41
+f 35 41 40
+f 37 38 42
+f 38 43 44
+f 38 44 42
+f 38 45 43
+f 40 41 46
+f 41 47 48
+f 41 48 46
+f 43 45 44
+f 44 45 49
+f 44 49 50
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 49 54 55
+f 49 55 50
+f 50 55 56
+f 51 57 52
+f 52 58 53
+f 52 57 59
+f 52 59 58
+f 54 56 55
+f 54 60 56
+f 56 60 61
+f 57 62 59
+f 59 62 63
+f 59 63 64
+f 59 64 65
+f 60 65 66
+f 60 66 67
+f 60 67 61
+f 61 67 68
+f 62 69 64
+f 62 64 63
+f 64 69 70
+f 64 70 65
+f 65 70 66
+f 66 70 71
+f 66 71 67
+f 67 71 68
+f 69 72 70
+f 70 72 71
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_21.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5ab312e99fd581fc6c97f9c007bf201afc2a76
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 -0.01466366 -0.00513189
+v -0.00887115 -0.01343107 -0.00905859
+v -0.00887115 -0.01466366 0.00278171
+v -0.01044637 -0.01466366 -0.00374965
+v -0.01044637 -0.01295543 -0.00826370
+v -0.00887115 -0.01323597 -0.00957122
+v -0.00887115 -0.01465097 0.00358075
+v -0.01044637 -0.01466366 0.00311170
+v -0.01044637 -0.01247567 -0.00948405
+v -0.01044637 -0.01214142 -0.01012744
+v -0.01044637 -0.01207874 -0.01022913
+v -0.00887115 -0.01257901 -0.01052592
+v -0.00887115 -0.01463008 0.00381112
+v -0.01044637 -0.01464650 0.00330264
+v -0.01044637 -0.01133263 -0.01060478
+v -0.00984096 -0.01137515 -0.01084138
+v -0.00887115 -0.01142253 -0.01122534
+v -0.00887115 -0.01435775 0.00472016
+v -0.01044637 -0.01455920 0.00377376
+v -0.01044637 -0.01085325 -0.01084138
+v -0.00984096 -0.01085325 -0.01109666
+v -0.00887115 -0.01085325 -0.01150552
+v -0.00887115 -0.01418129 0.00509581
+v -0.01044637 -0.01417085 0.00459356
+v -0.01044637 -0.01085325 0.00870290
+v -0.00887115 -0.01085325 0.00969703
+v -0.01044637 -0.01387166 0.00516222
+v -0.01044637 -0.01114871 0.00836460
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 23
+f 1 23 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 4 8 14
+f 4 14 19
+f 4 19 24
+f 4 24 27
+f 4 27 28
+f 4 28 25
+f 4 25 20
+f 4 20 15
+f 4 15 11
+f 4 11 10
+f 4 10 9
+f 4 9 5
+f 5 9 6
+f 6 10 11
+f 6 11 12
+f 6 9 10
+f 7 13 14
+f 7 14 8
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 22
+f 20 22 21
+f 23 27 24
+f 23 26 27
+f 25 28 26
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_211.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af924d8e05b955accdf944ea1b468639044e1a0
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_211.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00264322 0.00492684 0.00370095
+v 0.00264322 0.01247153 0.00370095
+v 0.00300745 0.00492684 0.00370095
+v 0.00264322 0.00492684 0.01315993
+v 0.00300745 0.01247153 0.00370095
+v 0.00264322 0.01247153 0.00861377
+v 0.00300745 0.00492684 0.01315993
+v 0.00264322 0.00668673 0.01315993
+v 0.00300745 0.01247153 0.00860451
+v 0.00264322 0.01228321 0.00907487
+v 0.00300745 0.01227878 0.00907857
+v 0.00300745 0.00669559 0.01315993
+v 0.00264322 0.00864675 0.01189238
+v 0.00264322 0.01191469 0.00974244
+v 0.00300745 0.01191838 0.00974614
+v 0.00300745 0.00785654 0.01240903
+v 0.00300745 0.01022127 0.01087759
+v 0.00300745 0.01125150 0.01021002
+v 0.00264322 0.00978554 0.01115444
+v 0.00264322 0.01148339 0.01004336
+v 0.00300745 0.01166950 0.00991929
+v 0.00264322 0.01124707 0.01020724
+v 0.00264322 0.01102994 0.01034798
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 22
+f 1 22 20
+f 1 20 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 15
+f 3 15 21
+f 3 21 18
+f 3 18 17
+f 3 17 16
+f 3 16 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 6 11 9
+f 8 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 17 18
+f 13 18 19
+f 13 16 17
+f 14 20 15
+f 15 20 21
+f 18 21 20
+f 18 20 22
+f 18 22 23
+f 18 23 19
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_222.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3a8a29d260f7b3f0f345d7976dba0f3a0c540c
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_222.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00300745 0.00492684 0.01396102
+v 0.00300745 0.00548862 0.01392926
+v 0.00264322 0.00548412 0.01392644
+v 0.00264322 0.00492684 0.01395365
+v 0.00300745 0.00492684 0.01315993
+v 0.00300745 0.00615580 0.01350849
+v 0.00264322 0.00572001 0.01377777
+v 0.00264322 0.00492684 0.01315993
+v 0.00300745 0.00669490 0.01315993
+v 0.00264322 0.00668625 0.01315993
+v 0.00264322 0.00615130 0.01350567
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 10
+f 3 10 8
+f 3 8 4
+f 5 8 10
+f 5 10 9
+f 6 9 10
+f 6 10 11
+f 6 11 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_223.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af662ca2c1f168c6cd2137761f5f804c31f22262
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_223.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.01250604 0.00814941 -0.00809811
+v -0.01250604 0.01285843 -0.00809811
+v -0.01044652 0.00814941 -0.00809811
+v -0.01250604 0.00814941 0.00240222
+v -0.01250604 0.01287185 -0.00807960
+v -0.01246149 0.01286514 -0.00809811
+v -0.01044652 0.01312353 -0.00809811
+v -0.01044652 0.00814941 0.00240222
+v -0.01250604 0.01597932 0.00240222
+v -0.01250604 0.01298595 -0.00791923
+v -0.01117577 0.01454723 -0.00602765
+v -0.01044652 0.01459253 -0.00610681
+v -0.01238285 0.01287604 -0.00809811
+v -0.01044652 0.01580901 0.00240222
+v -0.01250604 0.01598351 0.00240120
+v -0.01190784 0.01595331 0.00240222
+v -0.01250604 0.01357573 -0.00708652
+v -0.01250604 0.01367389 -0.00693952
+v -0.01250604 0.01442894 -0.00580354
+v -0.01117577 0.01495748 -0.00536046
+v -0.01044652 0.01498936 -0.00549821
+v -0.01095258 0.01588032 0.00240222
+v -0.01044652 0.01599442 0.00189438
+v -0.01250604 0.01629644 0.00114288
+v -0.01117577 0.01623268 0.00114288
+v -0.01117577 0.01656490 -0.00019150
+v -0.01044652 0.01600365 0.00186251
+v -0.01117577 0.01602630 0.00196017
+v -0.01250604 0.01479891 -0.00513532
+v -0.01118122 0.01566723 -0.00412168
+v -0.01074008 0.01604224 -0.00362822
+v -0.01044652 0.01595331 -0.00386981
+v -0.01044652 0.01572428 -0.00425840
+v -0.01250604 0.01662447 -0.00019150
+v -0.01044652 0.01616472 0.00115214
+v -0.01044652 0.01645836 -0.00019150
+v -0.01117577 0.01672011 -0.00152589
+v -0.01250604 0.01662531 -0.00019562
+v -0.01250604 0.01619660 -0.00258168
+v -0.01118122 0.01630902 -0.00293738
+v -0.01044652 0.01617144 -0.00335785
+v -0.01044652 0.01604727 -0.00365289
+v -0.01044652 0.01660769 -0.00152589
+v -0.01044652 0.01651876 -0.00225580
+v -0.01250604 0.01659846 -0.00152589
+v -0.01250604 0.01659678 -0.00153103
+v -0.01044652 0.01633251 -0.00289523
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 34
+f 1 34 38
+f 1 38 45
+f 1 45 46
+f 1 46 39
+f 1 39 29
+f 1 29 19
+f 1 19 18
+f 1 18 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 21
+f 3 21 33
+f 3 33 32
+f 3 32 42
+f 3 42 41
+f 3 41 47
+f 3 47 44
+f 3 44 43
+f 3 43 36
+f 3 36 35
+f 3 35 27
+f 3 27 23
+f 3 23 14
+f 3 14 8
+f 4 8 14
+f 4 14 22
+f 4 22 16
+f 4 16 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 13 12
+f 9 16 15
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 14 23 22
+f 15 16 25
+f 15 25 26
+f 15 26 24
+f 16 22 23
+f 16 23 27
+f 16 27 28
+f 16 28 25
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 32
+f 24 26 34
+f 25 28 27
+f 25 27 26
+f 26 27 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 34
+f 29 39 31
+f 29 31 30
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 36 43 37
+f 37 44 40
+f 37 40 45
+f 37 45 38
+f 37 43 44
+f 39 46 40
+f 40 46 45
+f 40 44 47
+f 40 47 41
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_224.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d90ba6a43a4cade364eeb77b38a4b24aca7f5ba
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_224.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00618831 -0.01441786 0.00027632
+v 0.00898304 -0.01448072 0.00027632
+v 0.00618831 -0.01365022 0.00123622
+v 0.00618831 -0.00213080 0.00027632
+v 0.00898304 -0.01352208 0.00123622
+v 0.00898304 -0.00234477 0.00027632
+v 0.00618831 -0.00213080 0.00123622
+v 0.00898249 -0.00213080 0.00027632
+v 0.00898304 -0.00236049 0.00123622
+v 0.00898277 -0.00213080 0.00123622
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 6 8 10
+f 6 10 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_225.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e12c024fa02e35073bb2b52a05196f2d4ce2e41
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_225.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.00286020 0.01324318 -0.00252036
+v -0.00041017 0.01310135 -0.00252036
+v -0.00041017 0.01348531 -0.00332839
+v -0.00041017 0.01389506 -0.00419736
+v -0.00286020 0.01328187 -0.00260779
+v -0.00286020 0.00484896 -0.00252036
+v -0.00041017 0.00485039 -0.00252036
+v -0.00041017 0.01442516 -0.00544782
+v -0.00049843 0.01442230 -0.00543457
+v -0.00286020 0.01472890 -0.00602271
+v -0.00286020 0.00484896 -0.01545813
+v -0.00285996 0.00009381 -0.00252036
+v -0.00041041 0.00009381 -0.00252036
+v -0.00041017 0.00485039 -0.01522499
+v -0.00041017 0.01468592 -0.00610749
+v -0.00286020 0.01472890 -0.00641745
+v -0.00285996 0.00425582 -0.01559324
+v -0.00285996 0.00197352 -0.01605289
+v -0.00285996 0.00170990 -0.01601448
+v -0.00285996 0.00060672 -0.01582770
+v -0.00285996 0.00009381 -0.01555483
+v -0.00286020 0.00731321 -0.01494814
+v -0.00041041 0.00009381 -0.01509385
+v -0.00041017 0.00864706 -0.01451101
+v -0.00041041 0.00100931 -0.01574293
+v -0.00041041 0.00191765 -0.01582903
+v -0.00041041 0.00197352 -0.01583168
+v -0.00041017 0.01468592 -0.00628234
+v -0.00286020 0.01446958 -0.00708507
+v -0.00286020 0.00864706 -0.01467129
+v -0.00183232 0.00864706 -0.01472693
+v -0.00213378 0.00427015 -0.01559324
+v -0.00183208 0.00197352 -0.01598666
+v -0.00183208 0.00082736 -0.01582241
+v -0.00277434 0.00009381 -0.01554291
+v -0.00048716 0.00009381 -0.01511240
+v -0.00120063 0.00864706 -0.01463155
+v -0.00041017 0.00953391 -0.01429509
+v -0.00041041 0.00303086 -0.01563033
+v -0.00183208 0.00009381 -0.01537335
+v -0.00228702 0.00009381 -0.01545813
+v -0.00183232 0.01443233 -0.00702149
+v -0.00209421 0.01444236 -0.00703739
+v -0.00041017 0.01436786 -0.00694201
+v -0.00049843 0.01436786 -0.00695658
+v -0.00286020 0.01433204 -0.00735927
+v -0.00286020 0.00965569 -0.01436795
+v -0.00209421 0.00971013 -0.01439444
+v -0.00183232 0.00972732 -0.01440372
+v -0.00120063 0.00964423 -0.01435470
+v -0.00049843 0.01021588 -0.01386856
+v -0.00041017 0.01019439 -0.01386591
+v -0.00183232 0.01382773 -0.00820307
+v -0.00209421 0.01384635 -0.00820307
+v -0.00041017 0.01363574 -0.00829580
+v -0.00120063 0.01373747 -0.00825473
+v -0.00286020 0.01389506 -0.00820440
+v -0.00286020 0.01016860 -0.01404871
+v -0.00286020 0.01032046 -0.01395069
+v -0.00183232 0.01039067 -0.01396923
+v -0.00041017 0.01083051 -0.01319432
+v -0.00049843 0.01083481 -0.01320094
+v -0.00183232 0.01089355 -0.01330294
+v -0.00049843 0.01363574 -0.00831169
+v -0.00286020 0.01379334 -0.00838057
+v -0.00209421 0.01048952 -0.01383412
+v -0.00209421 0.01037347 -0.01396393
+v -0.00286020 0.01077750 -0.01343673
+v -0.00209421 0.01089355 -0.01329896
+v -0.00286020 0.01138783 -0.01245517
+v -0.00286020 0.01089355 -0.01328439
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 29
+f 1 29 46
+f 1 46 57
+f 1 57 65
+f 1 65 70
+f 1 70 71
+f 1 71 68
+f 1 68 59
+f 1 59 58
+f 1 58 47
+f 1 47 30
+f 1 30 22
+f 1 22 11
+f 1 11 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 24
+f 2 24 38
+f 2 38 52
+f 2 52 61
+f 2 61 55
+f 2 55 44
+f 2 44 28
+f 2 28 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 21
+f 6 21 12
+f 7 13 23
+f 7 23 14
+f 8 15 10
+f 8 10 9
+f 10 15 28
+f 10 28 16
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+f 11 19 20
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+f 11 22 17
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+f 12 41 40
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+f 12 23 13
+f 14 23 25
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 16 28 29
+f 17 22 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 20 34 21
+f 21 34 25
+f 21 25 35
+f 23 36 25
+f 24 37 38
+f 24 27 39
+f 24 39 37
+f 25 36 40
+f 25 40 41
+f 25 41 35
+f 25 34 33
+f 25 33 26
+f 26 33 27
+f 27 33 32
+f 27 32 31
+f 27 31 39
+f 28 42 43
+f 28 43 29
+f 28 44 45
+f 28 45 42
+f 29 43 46
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 38
+f 31 38 37
+f 31 37 39
+f 38 50 51
+f 38 51 52
+f 42 45 53
+f 42 53 54
+f 42 54 46
+f 42 46 43
+f 44 55 56
+f 44 56 53
+f 44 53 45
+f 46 54 57
+f 47 58 48
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 51
+f 49 51 50
+f 51 60 61
+f 51 61 52
+f 53 56 61
+f 53 61 62
+f 53 62 63
+f 53 63 54
+f 54 63 57
+f 55 64 56
+f 55 61 64
+f 56 64 61
+f 57 63 65
+f 59 66 67
+f 59 67 60
+f 59 68 66
+f 60 67 66
+f 60 66 69
+f 60 69 63
+f 60 63 62
+f 60 62 61
+f 63 69 70
+f 63 70 65
+f 66 68 71
+f 66 71 69
+f 69 71 70
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_227.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f40b595b896050ff194e7dce2824c920edf4bb
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_227.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.01517692 0.00956159 0.01227561
+v -0.01517692 0.00994916 0.01209174
+v -0.01526657 0.00956159 0.01229538
+v -0.01517692 0.00956159 0.00240325
+v -0.01555979 0.00956159 0.01235271
+v -0.01517692 0.01131978 0.01142251
+v -0.01518066 0.01131978 0.01142350
+v -0.02471594 0.00956159 0.00240325
+v -0.01517692 0.01131978 0.00240325
+v -0.01651509 0.00956159 0.01249110
+v -0.01641237 0.01131978 0.01155102
+v -0.02458614 0.00956159 0.00339474
+v -0.02443113 0.00998100 0.00381387
+v -0.02463377 0.00990184 0.00240325
+v -0.02379613 0.01131978 0.00240325
+v -0.01726962 0.00956159 0.01250198
+v -0.01651509 0.01010767 0.01220147
+v -0.01779817 0.01131978 0.01144327
+v -0.02426958 0.00956159 0.00513058
+v -0.02413417 0.01002300 0.00512069
+v -0.02390632 0.01072655 0.00465807
+v -0.02399596 0.01085356 0.00381387
+v -0.02460108 0.00998100 0.00247937
+v -0.02460108 0.00998100 0.00240325
+v -0.02402678 0.01097816 0.00240325
+v -0.02379799 0.01131978 0.00243686
+v -0.01752269 0.00956159 0.01247232
+v -0.01781871 0.01131978 0.01143734
+v -0.02401838 0.00956159 0.00614876
+v -0.02400810 0.00960617 0.00612800
+v -0.02377838 0.01049576 0.00554774
+v -0.02305934 0.01131978 0.00648782
+v -0.02337124 0.01131978 0.00526008
+v -0.02367193 0.01131978 0.00381387
+v -0.02375410 0.01131978 0.00299241
+v -0.02379986 0.01131978 0.00247937
+v -0.02405386 0.01094323 0.00247937
+v -0.02408468 0.01088901 0.00240325
+v -0.02043436 0.00956159 0.01162219
+v -0.02039887 0.00999391 0.01139187
+v -0.01934738 0.01131978 0.01096582
+v -0.02346835 0.00956159 0.00739726
+v -0.02242247 0.01131978 0.00820191
+v -0.02257935 0.01131978 0.00782825
+v -0.02265219 0.01131978 0.00763351
+v -0.02076493 0.01044723 0.01101326
+v -0.02133083 0.00956159 0.01128906
+v -0.02041194 0.01131978 0.01062972
+v -0.02326852 0.00956159 0.00782924
+v -0.02253173 0.01068111 0.00850737
+v -0.02208909 0.01120189 0.00903227
+v -0.02218154 0.01131978 0.00872879
+v -0.02141767 0.01131978 0.01009987
+v -0.02133736 0.00956159 0.01128313
+v -0.02296222 0.00956159 0.00845893
+v -0.02203587 0.01131978 0.00903820
+v -0.02251398 0.00956159 0.00935552
+v -0.02232629 0.00998100 0.00942076
+v -0.02239912 0.00956159 0.00957003
+v -0.02198077 0.01131978 0.00914298
+v -0.02184817 0.00956159 0.01051703
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 16
+f 1 16 27
+f 1 27 39
+f 1 39 47
+f 1 47 54
+f 1 54 61
+f 1 61 59
+f 1 59 57
+f 1 57 55
+f 1 55 49
+f 1 49 42
+f 1 42 29
+f 1 29 19
+f 1 19 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 14
+f 4 14 24
+f 4 24 38
+f 4 38 25
+f 4 25 15
+f 4 15 9
+f 5 7 10
+f 6 9 15
+f 6 15 26
+f 6 26 36
+f 6 36 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 45
+f 6 45 44
+f 6 44 43
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+f 6 52 56
+f 6 56 60
+f 6 60 53
+f 6 53 48
+f 6 48 41
+f 6 41 28
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+f 6 18 11
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+f 7 11 10
+f 8 12 13
+f 8 13 14
+f 10 11 17
+f 10 17 16
+f 11 16 17
+f 11 18 16
+f 12 19 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 13 19 20
+f 14 23 24
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+f 16 18 27
+f 18 28 27
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 22 33 34
+f 23 37 24
+f 24 37 38
+f 25 38 37
+f 25 37 26
+f 26 37 36
+f 27 28 39
+f 28 40 39
+f 28 41 40
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 32
+f 30 32 31
+f 39 40 46
+f 39 46 47
+f 40 41 48
+f 40 48 46
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 46 48 53
+f 46 53 47
+f 47 53 54
+f 49 55 51
+f 49 51 50
+f 51 56 52
+f 51 55 57
+f 51 57 58
+f 51 58 59
+f 51 59 60
+f 51 60 56
+f 53 60 61
+f 53 61 54
+f 57 59 58
+f 59 61 60
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_229.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364d4b6b1ca84ae444469d4aada3a2799930bd3b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_229.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00316736 0.00542231 -0.01534305
+v -0.00286020 0.00731169 -0.01494883
+v -0.00286020 0.00597677 -0.01522467
+v -0.00286020 0.00542231 -0.01533327
+v -0.00379905 0.00542231 -0.01518340
+v -0.00316736 0.00864661 -0.01465561
+v -0.00286020 0.00864661 -0.01467190
+v -0.00286020 0.00542231 -0.00424966
+v -0.00379905 0.00597677 -0.01506286
+v -0.00379905 0.00542231 -0.00424966
+v -0.00379905 0.00864661 -0.01447208
+v -0.00379905 0.00926969 -0.01432439
+v -0.00316736 0.00963476 -0.01435914
+v -0.00286020 0.00965580 -0.01437000
+v -0.00286020 0.01392956 -0.00424966
+v -0.00379905 0.01404850 -0.00424966
+v -0.00379905 0.00946092 -0.01426683
+v -0.00379905 0.00977200 -0.01408221
+v -0.00316736 0.01030085 -0.01394755
+v -0.00286020 0.01016909 -0.01405289
+v -0.00379905 0.01434129 -0.00489800
+v -0.00286020 0.01472923 -0.00602091
+v -0.00379905 0.01010688 -0.01387479
+v -0.00379905 0.01054422 -0.01355442
+v -0.00379905 0.01085714 -0.01320365
+v -0.00316736 0.01089374 -0.01327966
+v -0.00286020 0.01077937 -0.01343930
+v -0.00286020 0.01032281 -0.01395298
+v -0.00379905 0.01475485 -0.00582109
+v -0.00286020 0.01472923 -0.00641730
+v -0.00379905 0.01476949 -0.00646834
+v -0.00379905 0.01112980 -0.01277034
+v -0.00316736 0.01153695 -0.01220345
+v -0.00286020 0.01089465 -0.01328618
+v -0.00379905 0.01264496 -0.01026170
+v -0.00379905 0.01362213 -0.00864140
+v -0.00286020 0.01447121 -0.00708409
+v -0.00379905 0.01463590 -0.00682020
+v -0.00316736 0.01235492 -0.01082859
+v -0.00286020 0.01138964 -0.01245648
+v -0.00379905 0.01388473 -0.00819940
+v -0.00316736 0.01391766 -0.00819940
+v -0.00286020 0.01433305 -0.00735559
+v -0.00316736 0.01448311 -0.00710364
+v -0.00379905 0.01417202 -0.00771288
+v -0.00286020 0.01379414 -0.00837859
+v -0.00286020 0.01389753 -0.00819940
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 14
+f 2 14 20
+f 2 20 28
+f 2 28 27
+f 2 27 34
+f 2 34 40
+f 2 40 46
+f 2 46 47
+f 2 47 43
+f 2 43 37
+f 2 37 30
+f 2 30 22
+f 2 22 15
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+f 2 8 4
+f 2 4 3
+f 5 9 6
+f 5 10 16
+f 5 16 21
+f 5 21 29
+f 5 29 31
+f 5 31 38
+f 5 38 45
+f 5 45 41
+f 5 41 36
+f 5 36 35
+f 5 35 32
+f 5 32 25
+f 5 25 24
+f 5 24 23
+f 5 23 18
+f 5 18 17
+f 5 17 12
+f 5 12 11
+f 5 11 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 9 11
+f 8 15 16
+f 8 16 10
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 15 22 21
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 22 29
+f 22 30 31
+f 22 31 29
+f 25 32 26
+f 26 33 34
+f 26 34 27
+f 26 32 35
+f 26 35 36
+f 26 36 33
+f 30 37 38
+f 30 38 31
+f 33 39 40
+f 33 40 34
+f 33 36 39
+f 36 41 42
+f 36 42 39
+f 37 43 44
+f 37 44 38
+f 38 44 42
+f 38 42 45
+f 39 42 40
+f 40 42 46
+f 41 45 42
+f 42 44 43
+f 42 43 47
+f 42 47 46
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_233.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e719c6dc939ad1543133963c16bc0467fc8f5f2
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_233.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01818834 0.01390519 -0.00731456
+v 0.01818834 0.01414315 -0.00686442
+v 0.01859412 0.01390519 -0.00722977
+v 0.01736490 0.01390519 -0.00727886
+v 0.01685372 0.01435520 -0.00646784
+v 0.01754956 0.01435520 -0.00649350
+v 0.01821608 0.01435520 -0.00563953
+v 0.01883188 0.01390519 -0.00686442
+v 0.01612538 0.01390519 -0.00709423
+v 0.01551830 0.01399074 -0.00686442
+v 0.01284746 0.01435520 -0.00587268
+v 0.01685372 0.01411262 -0.00686442
+v 0.01449514 0.01435520 -0.00611755
+v 0.01814713 0.01435520 -0.00424506
+v 0.01901020 0.01390519 -0.00650075
+v 0.01408302 0.01390519 -0.00678912
+v 0.01282765 0.01390519 -0.00660059
+v 0.01151521 0.01390519 -0.00640035
+v 0.01176090 0.01435520 -0.00569809
+v 0.01842689 0.01390519 -0.00428355
+v 0.01769697 0.01435520 -0.00310383
+v 0.01091368 0.01390519 -0.00625644
+v 0.01151521 0.01434397 -0.00567690
+v 0.01151521 0.01435520 -0.00565793
+v 0.01834447 0.01390519 -0.00409669
+v 0.01742434 0.01435520 -0.00248413
+v 0.01091368 0.01390519 -0.00287570
+v 0.01091368 0.01435520 -0.00549171
+v 0.01149065 0.01435520 -0.00565124
+v 0.01780555 0.01390519 -0.00288853
+v 0.01738788 0.01435520 -0.00240381
+v 0.01719609 0.01398329 -0.00161622
+v 0.01091368 0.01391902 -0.00290024
+v 0.01217143 0.01390519 -0.00161622
+v 0.01091368 0.01435520 -0.00378433
+v 0.01723017 0.01390519 -0.00161622
+v 0.01699954 0.01435520 -0.00161622
+v 0.01163647 0.01435520 -0.00298224
+v 0.01299487 0.01435520 -0.00161622
+v 0.01296713 0.01435520 -0.00164411
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 25
+f 1 25 30
+f 1 30 36
+f 1 36 34
+f 1 34 27
+f 1 27 22
+f 1 22 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 11
+f 5 11 19
+f 5 19 24
+f 5 24 29
+f 5 29 28
+f 5 28 35
+f 5 35 38
+f 5 38 40
+f 5 40 39
+f 5 39 37
+f 5 37 31
+f 5 31 26
+f 5 26 21
+f 5 21 14
+f 5 14 7
+f 5 7 6
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 13 12
+f 14 20 15
+f 14 21 20
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 20 21 26
+f 20 26 25
+f 22 27 33
+f 22 33 35
+f 22 35 28
+f 22 28 29
+f 22 29 24
+f 22 24 23
+f 25 26 30
+f 26 31 32
+f 26 32 30
+f 27 34 33
+f 30 32 36
+f 31 37 32
+f 32 37 39
+f 32 39 34
+f 32 34 36
+f 33 38 35
+f 33 34 39
+f 33 39 40
+f 33 40 38
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_235.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83af1a03f98e5580d507e6cedb673082354f0ebe
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_235.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00449696 0.01423661 -0.00070088
+v -0.00449696 0.01423661 -0.00070414
+v -0.00525135 0.01423661 -0.00070088
+v -0.00449696 0.00727315 -0.00070088
+v -0.00449696 0.01384395 -0.00142690
+v -0.00525135 0.01409141 -0.00147663
+v -0.00525135 0.01423661 -0.00110873
+v -0.00525135 0.00727315 -0.00070088
+v -0.00449696 0.00727315 -0.00147663
+v -0.00449696 0.01381669 -0.00147663
+v -0.00525135 0.00727315 -0.00147663
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 8
+f 4 8 11
+f 4 11 9
+f 5 10 6
+f 6 10 9
+f 6 9 11
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_236.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4bc0bcb044e2e4ba7eec153f200b78f58d42ca
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_236.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00300745 0.01247153 0.00370088
+v 0.00300745 0.01247153 0.00306150
+v 0.00264322 0.01247153 0.00370088
+v 0.00300745 0.00492684 0.00370088
+v 0.00264322 0.01247153 0.00306150
+v 0.00300745 0.00492684 0.00306150
+v 0.00264322 0.00492684 0.00370088
+v 0.00264322 0.00492684 0.00306150
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_238.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32203bbcc048face36859c4da05c2d4375e3545d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_238.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02259693 0.00608260 0.00240325
+v -0.02505743 0.00608260 0.00240325
+v -0.02259693 0.00545886 0.00240325
+v -0.02259693 0.00608260 -0.00789631
+v -0.02534380 0.00608260 0.00203025
+v -0.02538182 0.00545886 0.00240325
+v -0.02259693 0.00545886 -0.00830074
+v -0.02352316 0.00608260 -0.00710524
+v -0.02556187 0.00545886 0.00216855
+v -0.02603294 0.00608260 0.00108516
+v -0.02336601 0.00545886 -0.00762074
+v -0.02416845 0.00608260 -0.00651744
+v -0.02620484 0.00545886 0.00126433
+v -0.02626032 0.00608260 -0.00002233
+v -0.02655950 0.00545886 0.00056861
+v -0.02391235 0.00545886 -0.00711153
+v -0.02434423 0.00545886 -0.00668090
+v -0.02497788 0.00545886 -0.00573162
+v -0.02476641 0.00608260 -0.00550320
+v -0.02629059 0.00608260 -0.00017321
+v -0.02656027 0.00545886 0.00056442
+v -0.02522234 0.00545886 -0.00505686
+v -0.02483936 0.00608260 -0.00531042
+v -0.02600849 0.00608260 -0.00142005
+v -0.02602207 0.00597672 -0.00152588
+v -0.02634453 0.00593190 -0.00017007
+v -0.02656027 0.00545886 0.00028676
+v -0.02524834 0.00545886 -0.00498142
+v -0.02492977 0.00608260 -0.00506000
+v -0.02598094 0.00608260 -0.00152797
+v -0.02565927 0.00608260 -0.00271405
+v -0.02566004 0.00597672 -0.00286073
+v -0.02566664 0.00545886 -0.00337728
+v -0.02600811 0.00545886 -0.00204452
+v -0.02533604 0.00591768 -0.00406357
+v -0.02532944 0.00608260 -0.00385926
+v -0.02530344 0.00608260 -0.00394308
+v -0.02522079 0.00608260 -0.00420921
+v -0.02564646 0.00608260 -0.00276120
+v -0.02561775 0.00608260 -0.00286073
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 23
+f 1 23 29
+f 1 29 38
+f 1 38 37
+f 1 37 36
+f 1 36 40
+f 1 40 39
+f 1 39 31
+f 1 31 30
+f 1 30 24
+f 1 24 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 9
+f 3 9 13
+f 3 13 15
+f 3 15 21
+f 3 21 27
+f 3 27 34
+f 3 34 33
+f 3 33 28
+f 3 28 22
+f 3 22 18
+f 3 18 17
+f 3 17 16
+f 3 16 11
+f 3 11 7
+f 4 7 8
+f 5 9 6
+f 5 10 9
+f 7 11 8
+f 8 11 12
+f 9 10 13
+f 10 14 15
+f 10 15 13
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 14 20 15
+f 15 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 29
+f 22 29 23
+f 24 30 25
+f 25 27 26
+f 25 30 31
+f 25 31 32
+f 25 32 28
+f 25 28 33
+f 25 33 34
+f 25 34 27
+f 28 32 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 31 39 32
+f 32 39 40
+f 32 40 36
+f 32 36 35
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_239.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f8b88ad3419c24d835cf727d26ed9d98422fed
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_239.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.01669036 0.00720992 0.00240325
+v -0.02386846 0.00720992 0.00240325
+v -0.01669036 0.00693169 0.00240325
+v -0.01669036 0.00720992 -0.01107098
+v -0.02490326 0.00720992 0.00239926
+v -0.02490326 0.00719949 0.00240325
+v -0.02493967 0.00693169 0.00240325
+v -0.01669036 0.00693169 -0.01118672
+v -0.01773517 0.00720992 -0.01076768
+v -0.02493147 0.00720992 0.00236334
+v -0.02497334 0.00720992 0.00230880
+v -0.02506435 0.00693169 0.00224096
+v -0.01784621 0.00693169 -0.01085016
+v -0.01784894 0.00720992 -0.01073443
+v -0.02559677 0.00720992 0.00124459
+v -0.02570417 0.00693169 0.00120602
+v -0.01853880 0.00693169 -0.01060140
+v -0.01873357 0.00720992 -0.01041782
+v -0.02571327 0.00720992 0.00067258
+v -0.02598812 0.00693169 -0.00018677
+v -0.02578516 0.00693169 0.00080960
+v -0.01894654 0.00693169 -0.01044709
+v -0.01884279 0.00720992 -0.01037526
+v -0.02588801 0.00720992 -0.00019076
+v -0.02589984 0.00693169 -0.00057122
+v -0.01962640 0.00693169 -0.01002673
+v -0.01951354 0.00720992 -0.00993494
+v -0.02586435 0.00720992 -0.00029319
+v -0.02579882 0.00720992 -0.00055259
+v -0.02565320 0.00693169 -0.00154098
+v -0.02000865 0.00693169 -0.00969815
+v -0.02018612 0.00720992 -0.00935760
+v -0.02554580 0.00720992 -0.00154497
+v -0.02553852 0.00693169 -0.00196400
+v -0.02381112 0.00693169 -0.00640176
+v -0.02315674 0.00720992 -0.00679685
+v -0.02550303 0.00720992 -0.00170194
+v -0.02541930 0.00720992 -0.00199327
+v -0.02531099 0.00693169 -0.00275019
+v -0.02399860 0.00693169 -0.00619424
+v -0.02407960 0.00720992 -0.00577254
+v -0.02515900 0.00720992 -0.00286060
+v -0.02527823 0.00693169 -0.00286060
+v -0.02435901 0.00693169 -0.00553177
+v -0.02412966 0.00720992 -0.00571667
+v -0.02481407 0.00720992 -0.00396871
+v -0.02487141 0.00693169 -0.00416825
+v -0.02480679 0.00693169 -0.00434650
+v -0.02478312 0.00720992 -0.00406715
+v -0.02422522 0.00720992 -0.00553975
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 27
+f 1 27 32
+f 1 32 36
+f 1 36 41
+f 1 41 45
+f 1 45 50
+f 1 50 49
+f 1 49 46
+f 1 46 42
+f 1 42 38
+f 1 38 37
+f 1 37 33
+f 1 33 29
+f 1 29 28
+f 1 28 24
+f 1 24 19
+f 1 19 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 16
+f 3 16 21
+f 3 21 20
+f 3 20 25
+f 3 25 30
+f 3 30 34
+f 3 34 39
+f 3 39 43
+f 3 43 47
+f 3 47 48
+f 3 48 44
+f 3 44 40
+f 3 40 35
+f 3 35 31
+f 3 31 26
+f 3 26 22
+f 3 22 17
+f 3 17 13
+f 3 13 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 26 31 32
+f 26 32 27
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 38 42 43
+f 38 43 39
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 43
+f 44 48 49
+f 44 49 50
+f 44 50 45
+f 46 49 47
+f 47 49 48
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_24.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f156ef1f07aab095dfafc0adeeb6f701ad05d42a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00755134 -0.00162083 0.01509415
+v -0.00583676 -0.00336656 0.01477122
+v -0.00525135 -0.00336656 0.01482045
+v -0.00525135 -0.00203276 0.01478425
+v -0.00755134 -0.00111618 0.01501305
+v -0.00755134 -0.00736930 0.01342736
+v -0.00583676 -0.00870443 0.01325938
+v -0.00525135 -0.00870443 0.01332599
+v -0.00525135 -0.00682492 0.01385745
+v -0.00525135 -0.00667789 0.01389873
+v -0.00525135 -0.00470169 0.01444973
+v -0.00725616 -0.00081021 0.01478642
+v -0.00525135 -0.00075458 0.01417459
+v -0.00722599 0.00021630 0.01426944
+v -0.00730615 0.00021630 0.01428465
+v -0.00755134 0.00021630 0.01433026
+v -0.00755134 -0.00872562 0.01300668
+v -0.00717128 -0.00870443 0.01308561
+v -0.00525135 -0.01004750 0.01281988
+v -0.00525135 0.00021630 0.01357797
+v -0.00755134 0.00021630 0.00769715
+v -0.00755134 -0.00901304 0.01288649
+v -0.00755134 -0.00957332 0.01264683
+v -0.00717128 -0.00963557 0.01268665
+v -0.00525135 -0.01065149 0.01252374
+v -0.00525135 0.00021630 0.00769715
+v -0.00755134 -0.01251511 0.00769715
+v -0.00755134 -0.01017466 0.01181126
+v -0.00525135 -0.01073891 0.01242888
+v -0.00525135 -0.01331513 0.00769715
+v -0.00745025 -0.01255220 0.00769715
+v -0.00755134 -0.01068195 0.01093080
+v -0.00755134 -0.01057997 0.01110892
+v -0.00531507 -0.01209788 0.00992219
+v -0.00525135 -0.01207801 0.00999098
+v -0.00586040 -0.01311777 0.00769715
+v -0.00599550 -0.01307009 0.00769715
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 21
+f 1 21 27
+f 1 27 32
+f 1 32 33
+f 1 33 28
+f 1 28 23
+f 1 23 22
+f 1 22 17
+f 1 17 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 19
+f 3 19 25
+f 3 25 29
+f 3 29 35
+f 3 35 30
+f 3 30 26
+f 3 26 20
+f 3 20 13
+f 3 13 4
+f 4 12 5
+f 4 13 12
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 12 13 14
+f 13 20 14
+f 14 20 26
+f 14 26 21
+f 14 21 16
+f 14 16 15
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 21 26 30
+f 21 30 36
+f 21 36 37
+f 21 37 31
+f 21 31 27
+f 23 28 29
+f 23 29 25
+f 23 25 24
+f 27 31 29
+f 27 29 32
+f 28 33 29
+f 29 33 32
+f 29 31 34
+f 29 34 35
+f 30 35 34
+f 30 34 36
+f 31 37 34
+f 34 37 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_242.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b560ea1150405c7b263791b3e726b3c96fc799ba
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_242.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01294742 0.00332775 0.00115375
+v 0.01294742 0.00652256 0.00114980
+v 0.01324088 0.00332775 0.00115375
+v 0.01294742 0.00332775 0.01417218
+v 0.01324088 0.00652256 0.00114980
+v 0.01294742 0.01409684 0.00114980
+v 0.01408656 0.00332885 0.00115375
+v 0.01324088 0.00332775 0.01418271
+v 0.01294742 0.00464280 0.01450373
+v 0.01324088 0.01412888 0.00114980
+v 0.01408678 0.00602306 0.00115243
+v 0.01294742 0.01459081 0.00179973
+v 0.01324088 0.01450461 0.00164186
+v 0.01408656 0.00332885 0.01420902
+v 0.01294742 0.00599654 0.01459056
+v 0.01408678 0.01425707 0.00119848
+v 0.01408678 0.01422171 0.00115243
+v 0.01408678 0.00602306 0.01302230
+v 0.01294742 0.01461733 0.00188920
+v 0.01294787 0.01461733 0.00188657
+v 0.01324088 0.01461733 0.00200103
+v 0.01408656 0.00387919 0.01418271
+v 0.01294742 0.00742873 0.01410640
+v 0.01324088 0.00588271 0.01438795
+v 0.01408678 0.01458971 0.00231021
+v 0.01408678 0.00607058 0.01298151
+v 0.01408656 0.00578105 0.01324464
+v 0.01408656 0.00507821 0.01362224
+v 0.01408656 0.00465607 0.01384853
+v 0.01294742 0.01461733 0.00678871
+v 0.01324088 0.01461733 0.00632954
+v 0.01369149 0.00570700 0.01407482
+v 0.01294742 0.00779231 0.01377748
+v 0.01349596 0.00659771 0.01377485
+v 0.01408678 0.01458971 0.00450736
+v 0.01408678 0.00875815 0.01036204
+v 0.01294742 0.00866754 0.01297230
+v 0.01398138 0.00602306 0.01325648
+v 0.01294742 0.01399959 0.00770967
+v 0.01349072 0.01458971 0.00599274
+v 0.01353746 0.01458971 0.00589011
+v 0.01389538 0.01458971 0.00508888
+v 0.01294742 0.00846089 0.01316833
+v 0.01408678 0.01411231 0.00513756
+v 0.01408678 0.01396975 0.00527833
+v 0.01332475 0.01421508 0.00672687
+v 0.01294742 0.01264917 0.00908585
+v 0.01294742 0.01386256 0.00788071
+v 0.01324088 0.01411010 0.00701106
+v 0.01294742 0.01294423 0.00879509
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 33
+f 1 33 43
+f 1 43 37
+f 1 37 47
+f 1 47 50
+f 1 50 48
+f 1 48 39
+f 1 39 30
+f 1 30 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 7
+f 3 7 14
+f 3 14 8
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 5 11 7
+f 6 12 13
+f 6 13 10
+f 7 11 18
+f 7 18 14
+f 8 14 9
+f 9 14 15
+f 10 13 16
+f 10 16 17
+f 11 17 16
+f 11 16 25
+f 11 25 35
+f 11 35 44
+f 11 44 45
+f 11 45 36
+f 11 36 26
+f 11 26 18
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 16
+f 14 18 22
+f 14 22 15
+f 15 22 24
+f 15 24 23
+f 16 21 25
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 22
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 21 31 35
+f 21 35 25
+f 22 29 32
+f 22 32 24
+f 23 24 32
+f 23 32 34
+f 23 34 33
+f 26 36 37
+f 26 37 34
+f 26 34 38
+f 26 38 27
+f 27 38 34
+f 27 34 32
+f 27 32 28
+f 28 32 29
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 31 42 35
+f 33 34 43
+f 34 37 43
+f 35 42 44
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 39 48 40
+f 40 48 49
+f 40 49 46
+f 40 46 41
+f 41 45 44
+f 41 44 42
+f 41 46 45
+f 46 49 50
+f 46 50 47
+f 48 50 49
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_244.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b346d2ba93ed18d4baf0a3f800be7816cd2a1e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_244.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.00755157 0.00787085 -0.00118471
+v -0.00755157 0.01295876 -0.00118471
+v -0.00710536 0.00787085 -0.00118471
+v -0.00755157 0.00787085 0.01257984
+v -0.00748216 0.01328456 -0.00118471
+v -0.00755157 0.01526979 -0.00118337
+v -0.00710536 0.01130694 -0.00118471
+v -0.00710536 0.00787085 0.01249765
+v -0.00753502 0.00787085 0.01257714
+v -0.00755157 0.00817153 0.01238986
+v -0.00710606 0.01328456 -0.00118471
+v -0.00710654 0.01504447 -0.00118337
+v -0.00755157 0.01550653 -0.00019037
+v -0.00710536 0.01532003 -0.00019037
+v -0.00710536 0.01414701 -0.00052586
+v -0.00710536 0.00849961 0.01210422
+v -0.00755157 0.00860542 0.01211096
+v -0.00710536 0.00861608 0.01203012
+v -0.00710536 0.01528425 -0.00026178
+v -0.00755157 0.01564735 0.00114890
+v -0.00717149 0.01556438 0.00114486
+v -0.00710536 0.01554915 0.00114486
+v -0.00755157 0.00970232 0.01140360
+v -0.00710536 0.00969775 0.01133084
+v -0.00710536 0.01523706 0.00247874
+v -0.00755157 0.01531242 0.00247874
+v -0.00755157 0.01036914 0.01097244
+v -0.00710536 0.01036229 0.01090103
+v -0.00755157 0.01139220 0.01031089
+v -0.00755157 0.01518073 0.00285869
+v -0.00710536 0.01482829 0.00363611
+v -0.00710536 0.01141351 0.01021927
+v -0.00753493 0.01205902 0.00987166
+v -0.00755157 0.01206054 0.00987300
+v -0.00755157 0.01478109 0.00398912
+v -0.00710536 0.01478795 0.00374929
+v -0.00710536 0.01144548 0.01019772
+v -0.00710536 0.01244267 0.00928556
+v -0.00710536 0.01246093 0.00926400
+v -0.00755157 0.01260328 0.00920607
+v -0.00755157 0.01473009 0.00413059
+v -0.00710536 0.01432056 0.00503332
+v -0.00710536 0.01318789 0.00812279
+v -0.00755157 0.01322595 0.00823597
+v -0.00755157 0.01438451 0.00507913
+v -0.00710536 0.01371997 0.00667304
+v -0.00755157 0.01328456 0.00807968
+v -0.00755157 0.01371997 0.00689266
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 23
+f 1 23 27
+f 1 27 29
+f 1 29 34
+f 1 34 40
+f 1 40 44
+f 1 44 47
+f 1 47 48
+f 1 48 45
+f 1 45 41
+f 1 41 35
+f 1 35 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 19
+f 3 19 14
+f 3 14 22
+f 3 22 25
+f 3 25 31
+f 3 31 36
+f 3 36 42
+f 3 42 46
+f 3 46 43
+f 3 43 39
+f 3 39 38
+f 3 38 37
+f 3 37 32
+f 3 32 28
+f 3 28 24
+f 3 24 18
+f 3 18 16
+f 3 16 8
+f 4 9 10
+f 5 6 11
+f 6 12 11
+f 6 13 14
+f 6 14 12
+f 7 11 12
+f 7 12 15
+f 8 16 9
+f 9 16 10
+f 10 16 18
+f 10 18 17
+f 12 14 19
+f 12 19 15
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 17 18 23
+f 18 24 23
+f 20 25 21
+f 20 26 25
+f 21 25 22
+f 23 24 27
+f 24 28 29
+f 24 29 27
+f 25 26 30
+f 25 30 31
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 32 37 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 33 37 38
+f 35 41 36
+f 36 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 43 46 47
+f 45 48 46
+f 46 48 47
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_246.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3addba7ae6f8d968936838bc752a130e71a4d3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_246.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 0.00465607 0.00307132
+v -0.01044652 0.00328464 0.00307132
+v -0.01044652 0.00465607 0.00249256
+v -0.02541154 0.00465607 0.00307132
+v -0.01044652 0.00328464 0.00249256
+v -0.02602571 0.00328464 0.00307132
+v -0.02577756 0.00465607 0.00249256
+v -0.02564883 0.00442878 0.00307132
+v -0.02628782 0.00328464 0.00249256
+v -0.02602726 0.00330733 0.00307132
+v -0.02629092 0.00330733 0.00249256
+v -0.02584425 0.00459217 0.00249256
+v -0.02590939 0.00366069 0.00307132
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 6 11 9
+f 7 12 8
+f 8 12 11
+f 8 11 13
+f 10 13 11
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_249.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ef0443874c3224a6192c105d3ce5d98e3aaf89
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_249.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01404645 0.00022493 0.01142099
+v 0.01352790 0.00022493 0.01142099
+v 0.01404645 -0.01138333 0.01142099
+v 0.01404645 0.00022493 0.00385875
+v 0.01352790 0.00022493 0.00385875
+v 0.01352790 -0.01151721 0.01142099
+v 0.01355759 -0.01150956 0.01142099
+v 0.01352790 -0.01186276 0.01086793
+v 0.01404645 -0.01179518 0.01076131
+v 0.01404645 -0.00130133 0.00385801
+v 0.01352790 -0.00130133 0.00385801
+v 0.01352790 -0.01225676 0.01021343
+v 0.01404645 -0.01279994 0.00913988
+v 0.01404645 -0.01220958 0.01009423
+v 0.01404645 -0.01250284 0.00385801
+v 0.01352790 -0.01269155 0.00385801
+v 0.01352790 -0.01279994 0.00930276
+v 0.01404645 -0.01279994 0.00444439
+v 0.01352790 -0.01279994 0.00406976
+v 0.01352790 -0.01269411 0.00386245
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 18
+f 1 18 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 16
+f 2 16 20
+f 2 20 19
+f 2 19 17
+f 2 17 12
+f 2 12 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 6 8 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 19
+f 13 19 18
+f 15 18 19
+f 15 19 20
+f 15 20 16
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_252.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f0a930a8beff3279636fd1cde8a06715f21f76
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_252.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01324079 0.01459094 0.00193579
+v 0.01294742 0.01461741 0.00188971
+v 0.01294776 0.01461741 0.00188347
+v 0.01294742 0.01518029 0.00253483
+v 0.01391977 0.01501541 0.00272682
+v 0.01408686 0.01481413 0.00256218
+v 0.01408686 0.01459094 0.00230779
+v 0.01324079 0.01459094 0.00636136
+v 0.01294742 0.01461741 0.00678712
+v 0.01294742 0.01578645 0.00365082
+v 0.01324079 0.01555375 0.00337146
+v 0.01352434 0.01599462 0.00444041
+v 0.01388887 0.01540403 0.00392346
+v 0.01408686 0.01506311 0.00391578
+v 0.01408686 0.01459094 0.00450425
+v 0.01326834 0.01459094 0.00632056
+v 0.01349054 0.01459094 0.00598984
+v 0.01352434 0.01599462 0.00449513
+v 0.01294742 0.01503760 0.00622456
+v 0.01294742 0.01582064 0.00375978
+v 0.01324079 0.01599696 0.00442697
+v 0.01389556 0.01459094 0.00508553
+v 0.01353750 0.01459094 0.00588568
+v 0.01352556 0.01467062 0.00583432
+v 0.01365239 0.01519724 0.00502313
+v 0.01324079 0.01599696 0.00450809
+v 0.01294742 0.01599930 0.00452057
+v 0.01294742 0.01599930 0.00441449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 22
+f 1 22 23
+f 1 23 17
+f 1 17 16
+f 1 16 8
+f 1 8 9
+f 1 9 2
+f 2 4 3
+f 2 9 19
+f 2 19 27
+f 2 27 28
+f 2 28 20
+f 2 20 10
+f 2 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 10 20 12
+f 10 12 11
+f 12 18 13
+f 12 20 21
+f 12 21 26
+f 12 26 18
+f 13 18 14
+f 14 18 15
+f 15 18 22
+f 17 23 24
+f 17 24 18
+f 18 25 22
+f 18 26 19
+f 18 24 25
+f 19 26 27
+f 20 28 21
+f 21 28 27
+f 21 27 26
+f 22 24 23
+f 22 25 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_253.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a07b84feaa526ba14932af4db97b7010da68cd3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_253.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01151676 0.00320164 -0.00591239
+v 0.01960047 0.00320164 -0.00591239
+v 0.01151676 0.00320164 -0.00521914
+v 0.01151676 0.01323503 -0.00591239
+v 0.01960047 0.00320164 -0.00521914
+v 0.01960047 0.01281763 -0.00591239
+v 0.01151676 0.01323503 -0.00521914
+v 0.01935120 0.01323503 -0.00591239
+v 0.01960047 0.01222050 -0.00521914
+v 0.01925623 0.01323503 -0.00552990
+v 0.01960047 0.01266147 -0.00565260
+v 0.01911458 0.01323503 -0.00521914
+v 0.01956486 0.01230201 -0.00521914
+v 0.01960047 0.01252790 -0.00551911
+v 0.01955220 0.01264968 -0.00552990
+v 0.01920084 0.01323503 -0.00540747
+v 0.01942163 0.01262611 -0.00521914
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 16
+f 4 16 10
+f 4 10 8
+f 6 8 10
+f 6 10 11
+f 9 14 15
+f 9 15 13
+f 10 16 15
+f 10 15 11
+f 11 15 14
+f 12 17 15
+f 12 15 16
+f 13 15 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_254.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993569cd0ec22219bd231e1e1bf0e199a885507e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_254.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00752363 -0.01415118 -0.00314219
+v 0.00898317 -0.01415118 -0.00314219
+v 0.00752363 -0.01415118 -0.00265397
+v 0.00752363 -0.00213080 -0.00314219
+v 0.00898317 -0.01415118 -0.00265397
+v 0.00898317 -0.00228494 -0.00314219
+v 0.00752363 -0.00213080 -0.00265397
+v 0.00898089 -0.00213080 -0.00314219
+v 0.00898317 -0.00229318 -0.00265397
+v 0.00898189 -0.00213668 -0.00314219
+v 0.00898189 -0.00213433 -0.00265397
+v 0.00898117 -0.00213080 -0.00265397
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 6 11 9
+f 8 12 11
+f 8 11 10
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_256.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eedaa74f1c2ec7c32ed986aeb743561f9096cf8e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_256.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01356797 -0.00372364 0.01377255
+v -0.01384547 -0.00372364 0.01374008
+v -0.01433875 -0.00410873 0.01355879
+v -0.01384547 -0.00410873 0.01361561
+v -0.01356797 -0.00410873 0.01364538
+v -0.01356797 -0.00372364 -0.01255207
+v -0.01559117 -0.00372364 0.01351550
+v -0.01573080 -0.00410873 0.01338562
+v -0.01356797 -0.00410873 -0.01255207
+v -0.01356833 -0.00372364 -0.01386979
+v -0.01595470 -0.00410873 0.01335586
+v -0.01639227 -0.00372364 0.01339104
+v -0.01356833 -0.00410873 -0.01363709
+v -0.01484331 -0.00410873 -0.01304182
+v -0.01384053 -0.00372364 -0.01373991
+v -0.01717009 -0.00410873 0.01316645
+v -0.01687145 -0.00372364 0.01331257
+v -0.01505240 -0.00410873 -0.01293629
+v -0.01559752 -0.00372364 -0.01283077
+v -0.01566275 -0.00378504 -0.01277124
+v -0.01717009 -0.00402177 0.01318810
+v -0.01717009 -0.00410873 -0.01179716
+v -0.01717009 -0.00372364 0.01325845
+v -0.01577663 -0.00372364 -0.01273336
+v -0.01717009 -0.00372364 -0.01195950
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 25
+f 1 25 23
+f 1 23 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 11
+f 3 11 16
+f 3 16 22
+f 3 22 18
+f 3 18 14
+f 3 14 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 6 9 10
+f 7 11 8
+f 7 12 11
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 12 16
+f 12 17 16
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 17 21
+f 16 21 23
+f 16 23 25
+f 16 25 22
+f 17 23 21
+f 18 22 20
+f 19 20 24
+f 20 22 25
+f 20 25 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_257.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1623c3371269d9477bc750171201bd1fb1ecc880
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_257.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.01044653 -0.00523052 -0.01418885
+v -0.01044653 -0.00525018 -0.01417789
+v -0.01046645 -0.00523052 -0.01418474
+v -0.01044653 -0.00523052 -0.00980596
+v -0.01044653 -0.00529479 -0.01414638
+v -0.01055678 -0.00523052 -0.01415049
+v -0.01044653 -0.00580748 -0.00980596
+v -0.01044785 -0.00523052 -0.00719116
+v -0.01044653 -0.00562422 -0.01387922
+v -0.01101504 -0.00523052 -0.01396895
+v -0.01071219 -0.00523052 -0.01409089
+v -0.01044785 -0.00580748 -0.00719116
+v -0.01044653 -0.00580748 -0.01372645
+v -0.02398997 -0.00523052 -0.00719116
+v -0.01288796 -0.00580748 -0.01270505
+v -0.01360790 -0.00580748 -0.01240364
+v -0.01636813 -0.00580748 -0.01124660
+v -0.01607856 -0.00548354 -0.01163433
+v -0.01116514 -0.00523052 -0.01390525
+v -0.02388503 -0.00580748 -0.00719116
+v -0.02385448 -0.00523052 -0.00750148
+v -0.02401521 -0.00523278 -0.00719116
+v -0.01793022 -0.00580748 -0.01054786
+v -0.01383371 -0.00523052 -0.01277219
+v -0.01681710 -0.00523052 -0.01147746
+v -0.02384120 -0.00524679 -0.00751929
+v -0.02372165 -0.00580748 -0.00742955
+v -0.02384120 -0.00523052 -0.00751998
+v -0.01876573 -0.00555701 -0.01033687
+v -0.01900350 -0.00580748 -0.01004093
+v -0.01694860 -0.00523052 -0.01141512
+v -0.02382260 -0.00523052 -0.00753710
+v -0.02312524 -0.00523052 -0.00802691
+v -0.02304023 -0.00580748 -0.00789744
+v -0.02160964 -0.00580748 -0.00872908
+v -0.01940863 -0.00523052 -0.01016355
+v -0.02217019 -0.00523052 -0.00868249
+v -0.02192312 -0.00580748 -0.00855645
+v -0.02192179 -0.00523052 -0.00881950
+v -0.02137054 -0.00557220 -0.00896747
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 10
+f 1 10 19
+f 1 19 24
+f 1 24 25
+f 1 25 31
+f 1 31 36
+f 1 36 39
+f 1 39 37
+f 1 37 33
+f 1 33 32
+f 1 32 28
+f 1 28 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 12
+f 4 12 7
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 20
+f 7 20 27
+f 7 27 34
+f 7 34 38
+f 7 38 35
+f 7 35 30
+f 7 30 23
+f 7 23 17
+f 7 17 16
+f 7 16 15
+f 7 15 13
+f 8 14 22
+f 8 22 20
+f 8 20 12
+f 9 13 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 14 21 22
+f 17 23 18
+f 18 24 19
+f 18 23 25
+f 18 25 24
+f 20 22 21
+f 20 21 26
+f 20 26 27
+f 21 28 26
+f 23 29 25
+f 23 30 29
+f 25 29 31
+f 26 28 32
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 29 30 35
+f 29 35 36
+f 29 36 31
+f 33 37 34
+f 34 37 38
+f 35 38 39
+f 35 39 40
+f 35 40 36
+f 36 40 39
+f 37 39 38
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_26.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48dc935909c8307dc54e511e30126bca6d89367e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 0.00021630 -0.01561944
+v -0.00583676 0.00021630 -0.01556675
+v -0.00525135 0.00062404 -0.01579103
+v -0.00525135 0.00021630 -0.00201373
+v -0.00717128 0.00021630 -0.01543974
+v -0.00583676 0.00072671 -0.01577212
+v -0.00525135 0.00195752 -0.01581671
+v -0.00525135 0.00453280 -0.00201373
+v -0.00755134 0.00021630 -0.00201373
+v -0.00755134 0.00021630 -0.01539786
+v -0.00755134 0.00029489 -0.01542759
+v -0.00717128 0.00089530 -0.01568430
+v -0.00755134 0.00096248 -0.01565862
+v -0.00755134 0.00156584 -0.01565862
+v -0.00525135 0.00453280 -0.01497631
+v -0.00755134 0.00453280 -0.00201373
+v -0.00755134 0.00453280 -0.01430481
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 16
+f 4 16 9
+f 5 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 15 17
+f 8 17 16
+f 9 16 17
+f 9 17 14
+f 9 14 13
+f 9 13 11
+f 9 11 10
+f 11 13 12
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_260.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e0ea252e6b6210e6267c838ad0c6ce903f9067
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_260.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02198346 0.00721124 -0.00776116
+v -0.02182731 0.00744576 -0.00776116
+v -0.02178286 0.00720992 -0.00776116
+v -0.02227753 0.00720992 -0.00752025
+v -0.02312668 0.00720992 -0.00682377
+v -0.02300586 0.00768828 -0.00667182
+v -0.02182731 0.00768828 -0.00762830
+v -0.02165862 0.00768828 -0.00776116
+v -0.01284348 0.00720992 -0.00776116
+v -0.02315631 0.00720992 -0.00679868
+v -0.02363730 0.00768828 -0.00610163
+v -0.01284348 0.00768828 -0.00776116
+v -0.01284348 0.00720992 -0.00484893
+v -0.02412969 0.00720992 -0.00571789
+v -0.02377978 0.00768828 -0.00593114
+v -0.01284348 0.00768828 -0.00484893
+v -0.02448759 0.00720992 -0.00484893
+v -0.02422543 0.00720992 -0.00554142
+v -0.02417756 0.00731079 -0.00554484
+v -0.02409550 0.00768828 -0.00537037
+v -0.02428356 0.00768828 -0.00484893
+f 1 2 8
+f 1 8 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 13
+f 3 13 17
+f 3 17 18
+f 3 18 14
+f 3 14 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 15
+f 6 15 20
+f 6 20 21
+f 6 21 16
+f 6 16 12
+f 6 12 8
+f 6 8 7
+f 9 12 16
+f 9 16 13
+f 10 14 11
+f 11 14 15
+f 13 16 21
+f 13 21 17
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 17 21 20
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_261.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b0dd2abf420a52a668d4e846822cb689e6a307
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_261.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.01331853 0.01258222 0.00240325
+v -0.02020325 0.01258222 0.00240325
+v -0.01331853 0.00908835 0.00240325
+v -0.01331853 0.01258222 -0.00834558
+v -0.02020325 0.00908835 0.00240325
+v -0.02020325 0.01258222 -0.00479188
+v -0.01331853 0.00908835 -0.01117870
+v -0.01331853 0.01192695 -0.00930812
+v -0.01384620 0.01258222 -0.00824188
+v -0.02020325 0.00908835 -0.00818604
+v -0.02020325 0.01222928 -0.00546859
+v -0.01918361 0.01258222 -0.00559090
+v -0.01516303 0.00908835 -0.01070939
+v -0.01331853 0.00994540 -0.01092211
+v -0.01553975 0.01193584 -0.00879760
+v -0.01331853 0.01161812 -0.00971228
+v -0.01512934 0.01234179 -0.00829107
+v -0.01398773 0.01258222 -0.00820731
+v -0.02020325 0.00998097 -0.00769413
+v -0.01912363 0.00908835 -0.00908743
+v -0.02020325 0.01215335 -0.00561350
+v -0.01899761 0.01258222 -0.00573581
+v -0.01985820 0.01198543 -0.00620246
+v -0.01635182 0.00908835 -0.01039430
+v -0.01655130 0.00908835 -0.01033847
+v -0.01465019 0.01072277 -0.01024806
+v -0.01331853 0.01051688 -0.01069610
+v -0.01651491 0.01183871 -0.00866199
+v -0.01331853 0.01135478 -0.01002737
+v -0.01514619 0.01258222 -0.00790951
+v -0.02020325 0.01106442 -0.00694032
+v -0.01989055 0.01069506 -0.00756119
+v -0.01891270 0.00908835 -0.00926159
+v -0.02020325 0.01209795 -0.00571853
+v -0.01792406 0.01258222 -0.00657205
+v -0.01792406 0.01239002 -0.00693766
+v -0.01792406 0.01238078 -0.00695494
+v -0.01839850 0.01192661 -0.00743887
+v -0.01918361 0.01164138 -0.00713176
+v -0.02020325 0.01124739 -0.00675153
+v -0.02020325 0.01140027 -0.00658003
+v -0.01691252 0.00908835 -0.01023078
+v -0.01384620 0.01088009 -0.01038633
+v -0.01702034 0.00920087 -0.01015234
+v -0.01655130 0.00996318 -0.00997153
+v -0.01753589 0.01094780 -0.00907945
+v -0.01651491 0.01117079 -0.00928153
+v -0.01331853 0.01095088 -0.01047141
+v -0.01792406 0.01144917 -0.00829772
+v -0.01750826 0.01211402 -0.00777257
+v -0.01651491 0.01226108 -0.00799593
+v -0.01649469 0.01258222 -0.00743223
+v -0.02020325 0.01117899 -0.00682333
+v -0.01918361 0.01097414 -0.00783772
+v -0.01842613 0.01053432 -0.00879760
+v -0.01874894 0.00964410 -0.00907147
+v -0.01792406 0.01005552 -0.00935465
+v -0.01792406 0.00998644 -0.00939055
+v -0.01792406 0.00908835 -0.00984922
+v -0.01792002 0.01258222 -0.00657471
+v -0.01792406 0.01150082 -0.00823789
+v -0.01796720 0.01143720 -0.00828575
+v -0.01733843 0.00908835 -0.01008852
+v -0.01786139 0.00908835 -0.00988644
+v -0.01742941 0.01258222 -0.00688448
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 27
+f 1 27 48
+f 1 48 29
+f 1 29 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 52
+f 1 52 65
+f 1 65 60
+f 1 60 35
+f 1 35 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 21
+f 2 21 34
+f 2 34 41
+f 2 41 40
+f 2 40 53
+f 2 53 31
+f 2 31 19
+f 2 19 10
+f 2 10 5
+f 3 5 10
+f 3 10 20
+f 3 20 33
+f 3 33 59
+f 3 59 64
+f 3 64 63
+f 3 63 42
+f 3 42 25
+f 3 25 24
+f 3 24 13
+f 3 13 7
+f 4 8 9
+f 6 12 11
+f 7 13 14
+f 8 15 9
+f 8 16 15
+f 9 15 17
+f 9 17 18
+f 10 19 20
+f 11 12 21
+f 12 22 23
+f 12 23 21
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 15 28 17
+f 15 16 29
+f 15 29 28
+f 17 28 30
+f 17 30 18
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 23 34
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 34
+f 25 42 26
+f 26 43 27
+f 26 42 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 43
+f 27 43 48
+f 28 29 48
+f 28 48 43
+f 28 43 47
+f 28 47 46
+f 28 46 49
+f 28 49 50
+f 28 50 51
+f 28 51 30
+f 30 51 52
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 35 60 50
+f 35 50 36
+f 36 50 37
+f 37 50 38
+f 38 54 39
+f 38 50 61
+f 38 61 62
+f 38 62 54
+f 39 54 40
+f 40 54 53
+f 42 63 44
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 58
+f 46 58 57
+f 46 57 55
+f 46 55 54
+f 46 54 62
+f 46 62 49
+f 49 62 61
+f 49 61 50
+f 50 60 65
+f 50 65 52
+f 50 52 51
+f 55 57 56
+f 58 64 59
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_262.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec185882f2a803677a4a074c897a5dfc661a829
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_262.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01633026 0.00608260 0.00240325
+v -0.02259654 0.00608260 0.00240325
+v -0.01633026 0.00545886 0.00240325
+v -0.01633026 0.00608260 -0.01163783
+v -0.02259654 0.00545886 0.00240325
+v -0.02259654 0.00608260 -0.00789662
+v -0.01633026 0.00545886 -0.01189536
+v -0.01633026 0.00592952 -0.01170222
+v -0.01638916 0.00608260 -0.01162104
+v -0.02259654 0.00545886 -0.00829972
+v -0.02254501 0.00545886 -0.00834730
+v -0.02066053 0.00608260 -0.00966715
+v -0.02086787 0.00545886 -0.00988830
+v -0.01783564 0.00545886 -0.01145868
+v -0.01783748 0.00608260 -0.01120115
+v -0.02056913 0.00608260 -0.00974693
+v -0.02011273 0.00567447 -0.01041176
+v -0.02020106 0.00545886 -0.01046214
+v -0.01809452 0.00545886 -0.01138310
+v -0.01794484 0.00608260 -0.01116336
+v -0.01929317 0.00608260 -0.01064549
+v -0.01926496 0.00608260 -0.01066089
+v -0.01927784 0.00545886 -0.01096041
+v -0.01993483 0.00545886 -0.01061190
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 11
+f 3 11 13
+f 3 13 18
+f 3 18 24
+f 3 24 23
+f 3 23 19
+f 3 19 14
+f 3 14 7
+f 4 8 9
+f 6 11 10
+f 6 12 13
+f 6 13 11
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 23 20
+f 20 23 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_263.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26994d3dbf74d68077182a2b63b220b1805cb1cb
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_263.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.01332049 0.00908835 0.00240325
+v -0.02483163 0.00908835 0.00240325
+v -0.01332049 0.00814941 0.00240325
+v -0.01332049 0.00908835 -0.01117765
+v -0.02497185 0.00908835 0.00163027
+v -0.02536399 0.00831043 0.00091298
+v -0.02539251 0.00814941 0.00097683
+v -0.02493738 0.00865022 0.00240325
+v -0.02493025 0.00814941 0.00240325
+v -0.01332049 0.00814941 -0.01147516
+v -0.01332049 0.00852706 -0.01136376
+v -0.01374234 0.00814941 -0.01141538
+v -0.01452068 0.00814941 -0.01124421
+v -0.01518138 0.00814941 -0.01109478
+v -0.01516356 0.00908835 -0.01071032
+v -0.02498967 0.00908835 -0.00007193
+v -0.02537230 0.00833276 -0.00019148
+v -0.02544241 0.00814941 0.00073502
+v -0.02545905 0.00814941 -0.00019148
+v -0.02510137 0.00814941 0.00202287
+v -0.02495402 0.00856419 0.00240325
+v -0.01588724 0.00814941 -0.01091274
+v -0.01635186 0.00908835 -0.01039515
+v -0.02497303 0.00908835 -0.00019148
+v -0.02502651 0.00900002 -0.00019148
+v -0.02491243 0.00859709 -0.00154726
+v -0.02527486 0.00814941 -0.00098484
+v -0.01649327 0.00814941 -0.01074429
+v -0.01655269 0.00871143 -0.01049568
+v -0.01655269 0.00908835 -0.01033810
+v -0.02465457 0.00908835 -0.00151058
+v -0.02432184 0.00908835 -0.00285957
+v -0.02523684 0.00814941 -0.00114243
+v -0.01784913 0.00814941 -0.01034761
+v -0.01784913 0.00824168 -0.01030957
+v -0.01691512 0.00908835 -0.01023213
+v -0.02453098 0.00864617 -0.00285957
+v -0.02505027 0.00814941 -0.00182575
+v -0.02401288 0.00908835 -0.00395044
+v -0.01810699 0.00814941 -0.01027153
+v -0.01733935 0.00908835 -0.01008949
+v -0.02474963 0.00814941 -0.00285957
+v -0.02382038 0.00908835 -0.00457535
+v -0.02411745 0.00867687 -0.00418818
+v -0.01869520 0.00814941 -0.00998760
+v -0.01786220 0.00908835 -0.00988708
+v -0.01784913 0.00890885 -0.00998625
+v -0.02435749 0.00814941 -0.00414335
+v -0.02374432 0.00908835 -0.00473294
+v -0.02397248 0.00825271 -0.00510788
+v -0.01920024 0.00814941 -0.00959364
+v -0.01891267 0.00908835 -0.00926353
+v -0.02399387 0.00814941 -0.00515543
+v -0.02325236 0.00908835 -0.00553852
+v -0.02391782 0.00814941 -0.00529399
+v -0.02288399 0.00814941 -0.00652887
+v -0.02260949 0.00908835 -0.00626532
+v -0.02279130 0.00908835 -0.00606698
+v -0.02360410 0.00814941 -0.00580343
+v -0.02275327 0.00864617 -0.00637672
+f 1 2 8
+f 1 8 21
+f 1 21 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 15
+f 1 15 23
+f 1 23 30
+f 1 30 36
+f 1 36 41
+f 1 41 46
+f 1 46 52
+f 1 52 57
+f 1 57 58
+f 1 58 54
+f 1 54 49
+f 1 49 43
+f 1 43 39
+f 1 39 32
+f 1 32 31
+f 1 31 24
+f 1 24 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
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+f 3 7 18
+f 3 18 19
+f 3 19 27
+f 3 27 33
+f 3 33 38
+f 3 38 42
+f 3 42 48
+f 3 48 53
+f 3 53 55
+f 3 55 59
+f 3 59 56
+f 3 56 51
+f 3 51 45
+f 3 45 40
+f 3 40 34
+f 3 34 28
+f 3 28 22
+f 3 22 14
+f 3 14 13
+f 3 13 12
+f 3 12 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 19
+f 6 19 18
+f 7 20 21
+f 7 21 8
+f 9 21 20
+f 10 12 11
+f 14 22 15
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 17 26 27
+f 17 27 19
+f 17 25 26
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 24 31 25
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 32 37 38
+f 32 38 33
+f 32 39 37
+f 34 40 35
+f 35 40 36
+f 36 40 41
+f 37 39 42
+f 37 42 38
+f 39 43 44
+f 39 44 42
+f 40 45 46
+f 40 46 47
+f 40 47 41
+f 41 47 46
+f 42 44 48
+f 43 48 44
+f 43 49 50
+f 43 50 48
+f 45 51 52
+f 45 52 46
+f 48 50 53
+f 49 54 55
+f 49 55 50
+f 50 55 53
+f 51 56 57
+f 51 57 52
+f 54 58 59
+f 54 59 55
+f 56 59 60
+f 56 60 57
+f 57 60 59
+f 57 59 58
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_264.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd1f67486ecbd6ab5dd04f9c9157d61c9b98c43
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_264.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01284348 0.00720992 -0.01201543
+v -0.01284348 0.00814931 -0.01161603
+v -0.01284348 0.00720992 -0.00776116
+v -0.01374087 0.00720992 -0.01184634
+v -0.01284348 0.00814931 -0.00776116
+v -0.01452016 0.00814931 -0.01124453
+v -0.02178252 0.00720992 -0.00776116
+v -0.01518046 0.00720992 -0.01150983
+v -0.01518046 0.00814931 -0.01109502
+v -0.02134501 0.00814931 -0.00776116
+v -0.02198383 0.00721130 -0.00776116
+v -0.02183442 0.00720992 -0.00788443
+v -0.01642589 0.00720992 -0.01115083
+v -0.01649210 0.00814931 -0.01074477
+v -0.01588638 0.00814931 -0.01091344
+v -0.02131638 0.00814931 -0.00778656
+v -0.02182726 0.00744581 -0.00776116
+v -0.02018547 0.00720992 -0.00935875
+v -0.01668804 0.00720992 -0.01107420
+v -0.01784848 0.00814931 -0.01034787
+v -0.02041720 0.00814931 -0.00856995
+v -0.01951264 0.00720992 -0.00993473
+v -0.01784759 0.00720992 -0.01073477
+v -0.01784848 0.00731154 -0.01069271
+v -0.01853025 0.00799776 -0.01020960
+v -0.01810616 0.00814931 -0.01027165
+v -0.01920039 0.00814931 -0.00959489
+v -0.01884161 0.00720992 -0.01037661
+v -0.01854725 0.00720992 -0.01048447
+v -0.01873246 0.00720992 -0.01041784
+v -0.01869488 0.00814931 -0.00998762
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 22
+f 1 22 28
+f 1 28 30
+f 1 30 29
+f 1 29 23
+f 1 23 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 15
+f 2 15 14
+f 2 14 20
+f 2 20 26
+f 2 26 31
+f 2 31 27
+f 2 27 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 11
+f 3 11 7
+f 4 8 9
+f 4 9 6
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 16 21 18
+f 16 18 17
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 21 27 22
+f 22 27 25
+f 22 25 28
+f 23 29 25
+f 23 25 24
+f 25 29 30
+f 25 30 28
+f 25 27 31
+f 25 31 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_266.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcea25d974d8eee5e3270d8fc574f0c5dd23e05
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_266.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00844657 0.00142977 0.01435349
+v -0.00755167 0.00142977 0.01390729
+v -0.00854616 0.00142977 0.01435349
+v -0.00755167 0.00016961 0.01435349
+v -0.00755167 0.00060882 0.01421477
+v -0.00755167 0.00142977 0.00923805
+v -0.00854616 0.00142977 0.00923805
+v -0.00854616 -0.00373726 0.01435349
+v -0.00755167 -0.00412157 0.01435349
+v -0.00755167 -0.01161229 0.00923805
+v -0.00854616 -0.01123182 0.00923805
+v -0.00852854 -0.00374492 0.01435349
+v -0.00854616 -0.00736963 0.01330686
+v -0.00755167 -0.00736963 0.01342755
+v -0.00755167 -0.01098541 0.01037882
+v -0.00755167 -0.01068154 0.01093067
+v -0.00761465 -0.01062025 0.01099778
+v -0.00854616 -0.01049896 0.01056661
+v -0.00850615 -0.00736963 0.01331187
+v -0.00854616 -0.00878173 0.01280058
+v -0.00854587 -0.00878173 0.01280108
+v -0.00755167 -0.00872555 0.01300690
+v -0.00755167 -0.01057940 0.01110895
+v -0.00854587 -0.00976483 0.01189217
+v -0.00854616 -0.00976483 0.01189116
+v -0.00812743 -0.00948011 0.01258574
+v -0.00755167 -0.00901282 0.01288671
+v -0.00755167 -0.01017467 0.01181154
+v -0.00755167 -0.00957331 0.01264684
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 4
+f 2 4 9
+f 2 9 14
+f 2 14 22
+f 2 22 27
+f 2 27 29
+f 2 29 28
+f 2 28 23
+f 2 23 16
+f 2 16 15
+f 2 15 10
+f 2 10 6
+f 3 7 11
+f 3 11 18
+f 3 18 25
+f 3 25 20
+f 3 20 13
+f 3 13 8
+f 6 10 11
+f 6 11 7
+f 8 13 12
+f 9 12 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 13 19
+f 12 19 14
+f 13 20 21
+f 13 21 22
+f 13 22 19
+f 14 19 22
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 20 25 24
+f 20 24 21
+f 21 24 26
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 26
+f 26 29 27
+f 26 28 29
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_268.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd01d9d86830cfd00c5060b1456a7daa2371e850
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_268.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02339167 0.00612622 0.00978409
+v -0.02339167 0.00635476 0.00971357
+v -0.02396612 0.00689895 0.00868690
+v -0.02397270 0.00664414 0.00869966
+v -0.02398612 0.00612622 0.00872397
+v -0.02339167 0.00612622 0.00357417
+v -0.02339167 0.00664414 0.00961753
+v -0.02385990 0.00733532 0.00852703
+v -0.02422823 0.00733083 0.00785595
+v -0.02410348 0.00664414 0.00844679
+v -0.02350688 0.00732941 0.00917440
+v -0.02438292 0.00612622 0.00795807
+v -0.02435365 0.00612622 0.00801460
+v -0.02458514 0.00612622 0.00357417
+v -0.02339167 0.00664414 0.00357417
+v -0.02350688 0.00733532 0.00916954
+v -0.02422366 0.00733532 0.00786020
+v -0.02422729 0.00733532 0.00785352
+v -0.02461911 0.00733532 0.00648461
+v -0.02462636 0.00731142 0.00648340
+v -0.02443757 0.00612622 0.00782130
+v -0.02476346 0.00612622 0.00648340
+v -0.02457292 0.00664414 0.00357417
+v -0.02350688 0.00733532 0.00357478
+v -0.02455493 0.00733532 0.00357478
+v -0.02470358 0.00664414 0.00648340
+v -0.02456379 0.00703175 0.00357478
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 21
+f 1 21 22
+f 1 22 14
+f 1 14 6
+f 1 6 15
+f 1 15 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 23
+f 6 23 15
+f 7 16 11
+f 7 15 24
+f 7 24 16
+f 8 17 9
+f 8 11 16
+f 8 16 24
+f 8 24 25
+f 8 25 19
+f 8 19 18
+f 8 18 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 12
+f 9 12 10
+f 14 22 23
+f 15 23 25
+f 15 25 24
+f 19 25 20
+f 20 25 26
+f 20 26 21
+f 21 26 22
+f 22 26 25
+f 22 25 27
+f 22 27 23
+f 23 27 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_269.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7748a2308a555e70d5dfe2856897fc9b3821a3cf
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_269.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v -0.02558355 0.00323261 0.00424471
+v -0.02535538 0.00323261 0.00504661
+v -0.02520425 0.00388311 0.00584527
+v -0.02520425 0.00403895 0.00584527
+v -0.02557911 0.00333203 0.00424471
+v -0.01044700 0.00323261 0.00424471
+v -0.02523833 0.00323261 0.00538271
+v -0.02495978 0.00323261 0.00609708
+v -0.02487681 0.00323261 0.00627756
+v -0.02405301 0.00323261 0.00800781
+v -0.02360407 0.00323261 0.00893291
+v -0.02387965 0.00376449 0.00853520
+v -0.02392559 0.00464183 0.00861734
+v -0.02392855 0.00470662 0.00862274
+v -0.02431674 0.00470662 0.00781868
+v -0.02485606 0.00470662 0.00653045
+v -0.02489162 0.00470662 0.00638023
+v -0.02534945 0.00417791 0.00424471
+v -0.02555392 0.00356089 0.00424471
+v -0.01044700 0.00470662 0.00424471
+v -0.01044700 0.00323261 0.01484775
+v -0.02354184 0.00323261 0.00905504
+v -0.02282916 0.00323261 0.01038757
+v -0.02250765 0.00409941 0.01113112
+v -0.02351517 0.00470662 0.00938358
+v -0.02498793 0.00470662 0.00514928
+v -0.02499089 0.00470662 0.00424471
+v -0.01044700 0.00470662 0.01402639
+v -0.01117597 0.00323261 0.01514279
+v -0.01044700 0.00338917 0.01476777
+v -0.02247949 0.00323261 0.01101872
+v -0.02246320 0.00330750 0.01106303
+v -0.02214612 0.00470662 0.01174065
+v -0.02226762 0.00470662 0.01156449
+v -0.02275064 0.00470662 0.01078961
+v -0.01044700 0.00403072 0.01443167
+v -0.01254353 0.00470662 0.01451596
+v -0.01302359 0.00401298 0.01518710
+v -0.01213312 0.00385165 0.01509199
+v -0.01117597 0.00361471 0.01494609
+v -0.01211237 0.00323261 0.01528544
+v -0.02245727 0.00323261 0.01105547
+v -0.02214316 0.00458325 0.01172011
+v -0.02139196 0.00464183 0.01266359
+v -0.02139641 0.00470662 0.01266683
+v -0.01364440 0.00470662 0.01471266
+v -0.01384591 0.00470662 0.01474616
+v -0.01384591 0.00407171 0.01521844
+v -0.01254946 0.00323261 0.01528436
+v -0.01255242 0.00336709 0.01528220
+v -0.02172978 0.00323261 0.01192653
+v -0.02127047 0.00364703 0.01256200
+v -0.02051779 0.00464183 0.01321584
+v -0.02051779 0.00470662 0.01321909
+v -0.01525496 0.00470662 0.01483370
+v -0.01527866 0.00470547 0.01483586
+v -0.01651584 0.00470662 0.01485964
+v -0.01486973 0.00406565 0.01520979
+v -0.01486973 0.00368094 0.01520979
+v -0.01388295 0.00326464 0.01523789
+v -0.01386813 0.00323261 0.01523681
+v -0.02171052 0.00323261 0.01194707
+v -0.02064076 0.00323261 0.01288406
+v -0.01964361 0.00464183 0.01370866
+v -0.01943914 0.00323261 0.01360599
+v -0.01959620 0.00470662 0.01372811
+v -0.01785526 0.00470662 0.01457108
+v -0.01651584 0.00464183 0.01488233
+v -0.01651584 0.00330750 0.01485747
+v -0.01527866 0.00326421 0.01506605
+v -0.01520014 0.00323261 0.01507254
+v -0.01880648 0.00323261 0.01395182
+v -0.01897539 0.00464183 0.01406746
+v -0.01897094 0.00470662 0.01406422
+v -0.01785081 0.00464183 0.01458837
+v -0.01785081 0.00330750 0.01442842
+v -0.01785674 0.00323261 0.01441221
+v -0.01659141 0.00323261 0.01481857
+v -0.01651584 0.00323261 0.01484126
+v -0.01527866 0.00323261 0.01505957
+v -0.01525940 0.00323261 0.01506281
+v -0.01877981 0.00323261 0.01396587
+v -0.01790415 0.00323261 0.01439168
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 19
+f 1 19 18
+f 1 18 27
+f 1 27 20
+f 1 20 6
+f 1 6 21
+f 1 21 29
+f 1 29 41
+f 1 41 49
+f 1 49 61
+f 1 61 71
+f 1 71 81
+f 1 81 80
+f 1 80 79
+f 1 79 78
+f 1 78 77
+f 1 77 83
+f 1 83 82
+f 1 82 72
+f 1 72 65
+f 1 65 63
+f 1 63 62
+f 1 62 51
+f 1 51 42
+f 1 42 31
+f 1 31 23
+f 1 23 22
+f 1 22 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 6 20 28
+f 6 28 36
+f 6 36 30
+f 6 30 21
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 35
+f 14 35 34
+f 14 34 33
+f 14 33 45
+f 14 45 54
+f 14 54 66
+f 14 66 74
+f 14 74 67
+f 14 67 57
+f 14 57 55
+f 14 55 47
+f 14 47 46
+f 14 46 37
+f 14 37 28
+f 14 28 20
+f 14 20 27
+f 14 27 26
+f 14 26 17
+f 14 17 16
+f 14 16 15
+f 17 26 18
+f 18 26 27
+f 21 30 29
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 36
+f 29 40 39
+f 29 39 38
+f 29 38 41
+f 29 30 40
+f 30 36 40
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 41
+f 41 48 50
+f 41 50 49
+f 42 51 44
+f 42 44 43
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 48 58 50
+f 49 59 60
+f 49 60 61
+f 49 50 58
+f 49 58 59
+f 51 62 52
+f 52 63 53
+f 52 62 63
+f 53 64 54
+f 53 63 65
+f 53 65 64
+f 54 64 66
+f 55 57 56
+f 57 67 68
+f 57 68 58
+f 58 68 59
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 61
+f 59 61 60
+f 64 65 72
+f 64 72 73
+f 64 73 74
+f 64 74 66
+f 67 75 68
+f 67 74 75
+f 68 75 69
+f 69 75 76
+f 69 76 77
+f 69 77 78
+f 69 78 79
+f 69 79 80
+f 69 80 70
+f 70 80 81
+f 70 81 71
+f 72 82 73
+f 73 82 76
+f 73 76 75
+f 73 75 74
+f 76 82 83
+f 76 83 77
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_272.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781345836c843da586ef960695f75b2ad00d4165
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_272.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01494225 -0.00267067 0.00385801
+v 0.01494225 0.00022621 0.00385801
+v 0.01548031 -0.00267067 0.00385801
+v 0.01494225 -0.00267067 0.01665038
+v 0.01548031 0.00022621 0.00385801
+v 0.01494225 0.00022621 0.01655167
+v 0.01548031 -0.00267067 0.01670226
+v 0.01494530 -0.00267067 0.01665164
+v 0.01494225 -0.00206214 0.01676680
+v 0.01548031 0.00022621 0.01555577
+v 0.01494225 0.00017999 0.01662634
+v 0.01496389 0.00017715 0.01662380
+v 0.01498712 0.00022621 0.01653649
+v 0.01548031 -0.00208398 0.01671871
+v 0.01494225 -0.00069707 0.01678578
+v 0.01536249 0.00022621 0.01580633
+v 0.01548031 -0.00002957 0.01579874
+v 0.01494225 0.00015276 0.01663266
+v 0.01514581 -0.00069707 0.01674149
+v 0.01548031 -0.00072004 0.01625430
+v 0.01548031 -0.00183728 0.01671745
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 20
+f 3 20 21
+f 3 21 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 10 16 17
+f 11 18 12
+f 12 18 15
+f 12 15 19
+f 12 19 20
+f 12 20 17
+f 12 17 13
+f 13 17 16
+f 14 21 15
+f 15 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_276.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a93b08d8b6c57c7b4308876ac141746bc19de1
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_276.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.02475438 0.00390738 -0.00694149
+v -0.02512312 0.00390738 -0.00656841
+v -0.02453186 0.00465027 -0.00694149
+v -0.01044810 0.00390738 -0.00694149
+v -0.02515173 0.00390738 -0.00653055
+v -0.02526617 0.00419449 -0.00633386
+v -0.02453981 0.00465621 -0.00692856
+v -0.02452709 0.00465621 -0.00694149
+v -0.02459702 0.00465621 -0.00686207
+v -0.01044810 0.00465621 -0.00694149
+v -0.01044810 0.00390738 -0.00054750
+v -0.02528047 0.00390738 -0.00635232
+v -0.02550617 0.00390738 -0.00551475
+v -0.02564603 0.00390738 -0.00492928
+v -0.02582087 0.00390738 -0.00419421
+v -0.02567623 0.00464191 -0.00419421
+v -0.02567623 0.00465621 -0.00418036
+v -0.02536471 0.00465621 -0.00547135
+v -0.02535994 0.00465621 -0.00548890
+v -0.02535199 0.00465621 -0.00551291
+v -0.01044810 0.00465621 -0.00054750
+v -0.01044969 0.00390738 0.00249251
+v -0.02595915 0.00390738 -0.00359489
+v -0.02598617 0.00464191 -0.00285983
+v -0.02598617 0.00465621 -0.00284597
+v -0.01044969 0.00465621 0.00249251
+v -0.02607835 0.00390738 0.00249251
+v -0.02622458 0.00390738 -0.00226050
+v -0.02646617 0.00464191 -0.00055858
+v -0.02626908 0.00465621 -0.00151158
+v -0.02577637 0.00465621 0.00249251
+v -0.02586538 0.00452742 0.00249251
+v -0.02659332 0.00411459 0.00194121
+v -0.02659173 0.00390738 0.00193936
+v -0.02644233 0.00390738 -0.00114682
+v -0.02659332 0.00465621 0.00011277
+v -0.02646617 0.00465621 -0.00054750
+v -0.02582564 0.00465621 0.00244726
+v -0.02584312 0.00459207 0.00249251
+v -0.02661716 0.00465621 0.00102791
+v -0.02662193 0.00459236 0.00106393
+v -0.02668551 0.00390738 0.00110641
+v -0.02662988 0.00390738 0.00173620
+v -0.02642167 0.00465621 0.00164570
+v -0.02664259 0.00390738 -0.00008947
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 27
+f 1 27 34
+f 1 34 43
+f 1 43 42
+f 1 42 45
+f 1 45 35
+f 1 35 28
+f 1 28 23
+f 1 23 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 6 9
+f 3 9 7
+f 4 10 21
+f 4 21 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 9
+f 7 9 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 25
+f 7 25 30
+f 7 30 37
+f 7 37 36
+f 7 36 40
+f 7 40 44
+f 7 44 38
+f 7 38 31
+f 7 31 26
+f 7 26 21
+f 7 21 10
+f 7 10 8
+f 11 21 26
+f 11 26 22
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 22 26 31
+f 22 31 39
+f 22 39 32
+f 22 32 27
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 25
+f 27 32 33
+f 27 33 34
+f 28 35 29
+f 29 36 37
+f 29 37 30
+f 29 35 36
+f 31 38 39
+f 32 39 33
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 33 39 44
+f 33 44 40
+f 35 45 36
+f 36 45 42
+f 36 42 40
+f 38 44 39
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_277.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624071ae4004659561f2dd67f178c0b100ef80f7
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_277.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00851668 0.00341694 0.01390425
+v -0.00851668 0.00341694 0.01333406
+v -0.00802569 0.00341694 0.01377023
+v -0.00802569 0.00343947 0.01377263
+v -0.00802569 0.00441651 0.01379261
+v -0.00802569 0.00463727 0.01379708
+v -0.00851668 0.00460693 0.01380015
+v -0.00802569 0.00341694 0.01333406
+v -0.00851668 0.00648414 0.01333406
+v -0.00802569 0.00464538 0.01379580
+v -0.00851668 0.00462315 0.01379753
+v -0.00802569 0.00638953 0.01333406
+v -0.00851668 0.00597654 0.01354735
+v -0.00851028 0.00648474 0.01333406
+v -0.00802569 0.00512024 0.01371810
+v -0.00851668 0.00596933 0.01354958
+v -0.00850620 0.00648504 0.01333406
+v -0.00802569 0.00593329 0.01356794
+v -0.00850620 0.00597654 0.01354774
+v -0.00802569 0.00578732 0.01359490
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 13
+f 1 13 9
+f 1 9 2
+f 2 9 14
+f 2 14 17
+f 2 17 12
+f 2 12 8
+f 3 8 12
+f 3 12 18
+f 3 18 20
+f 3 20 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 13 16 19
+f 13 19 14
+f 14 19 17
+f 15 20 16
+f 16 20 18
+f 16 18 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_278.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a816d99cfe4c4397e982649e628d9df8abe1129
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_278.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02269069 -0.00454498 0.00745267
+v -0.02270361 -0.00454498 0.00743390
+v -0.02269069 -0.00461786 0.00740761
+v -0.02269069 -0.00454498 -0.00021624
+v -0.02269069 -0.00471985 0.00734453
+v -0.02414525 -0.00454498 0.00531766
+v -0.02269069 -0.00460786 -0.00021774
+v -0.02272737 -0.00454498 -0.00021774
+v -0.02272452 -0.00523052 0.00697806
+v -0.02269069 -0.00523052 0.00702762
+v -0.02420749 -0.00464597 0.00516371
+v -0.02418450 -0.00454498 0.00525909
+v -0.02269069 -0.00523052 -0.00021774
+v -0.02532888 -0.00454498 -0.00021774
+v -0.02411348 -0.00523052 0.00493842
+v -0.02419638 -0.00454498 0.00524106
+v -0.02424959 -0.00454498 0.00515470
+v -0.02493089 -0.00523052 -0.00021774
+v -0.02531752 -0.00454498 0.00015023
+v -0.02488673 -0.00523052 0.00247899
+v -0.02492056 -0.00454498 0.00382924
+v -0.02464318 -0.00523052 0.00384050
+v -0.02524081 -0.00454498 0.00160862
+v -0.02476147 -0.00523052 0.00323447
+v -0.02517754 -0.00454498 0.00247899
+v -0.02490016 -0.00464134 0.00378718
+v -0.02496808 -0.00454498 0.00369557
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 23
+f 1 23 25
+f 1 25 27
+f 1 27 21
+f 1 21 17
+f 1 17 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 5 9 10
+f 5 6 11
+f 5 11 9
+f 6 12 11
+f 7 13 18
+f 7 18 14
+f 7 14 8
+f 9 11 15
+f 9 15 22
+f 9 22 24
+f 9 24 20
+f 9 20 18
+f 9 18 13
+f 9 13 10
+f 11 16 17
+f 11 17 15
+f 11 12 16
+f 14 18 20
+f 14 20 19
+f 15 17 21
+f 15 21 22
+f 19 20 23
+f 20 24 25
+f 20 25 23
+f 21 26 22
+f 21 27 26
+f 22 26 27
+f 22 27 24
+f 24 27 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_284.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53dffeb063af357298c71538c7c14921524048c4
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_284.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01939845 -0.00523052 0.01170215
+v -0.01909088 -0.00566092 0.01170215
+v -0.01858878 -0.00542768 0.01253627
+v -0.01863522 -0.00523052 0.01256493
+v -0.01044740 -0.00523052 0.01170215
+v -0.01884728 -0.00580748 0.01170215
+v -0.01787462 -0.00580748 0.01231786
+v -0.01651378 -0.00580748 0.01268826
+v -0.01784921 -0.00554504 0.01260830
+v -0.01838811 -0.00523052 0.01263753
+v -0.01044740 -0.00523052 0.01367999
+v -0.01044740 -0.00580748 0.01170215
+v -0.01646471 -0.00580748 0.01270027
+v -0.01784921 -0.00523052 0.01272040
+v -0.01524145 -0.00580748 0.01289137
+v -0.01384556 -0.00580748 0.01310668
+v -0.01735149 -0.00523052 0.01279611
+v -0.01384556 -0.00523052 0.01327590
+v -0.01044740 -0.00580748 0.01351677
+v -0.01520902 -0.00523052 0.01309274
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 17
+f 1 17 20
+f 1 20 18
+f 1 18 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 7
+f 5 11 19
+f 5 19 12
+f 6 12 19
+f 6 19 16
+f 6 16 15
+f 6 15 13
+f 6 13 8
+f 6 8 7
+f 8 13 9
+f 9 14 10
+f 9 13 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 11 18 19
+f 16 18 20
+f 16 20 17
+f 16 19 18
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_285.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039930c6b6f602898e235bf19fecd5a271a25a02
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_285.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01953111 0.00071015 0.00615816
+v 0.01953111 0.00071015 -0.00943815
+v 0.01953111 0.00127518 0.00560726
+v 0.01931068 0.00075612 0.00660122
+v 0.01597123 0.00085586 0.01389419
+v 0.01603509 0.00071015 0.01389419
+v 0.01953008 0.00071015 -0.00947331
+v 0.01953111 0.00072000 -0.00947566
+v 0.01953111 0.00127518 -0.00971712
+v 0.01820028 0.00127518 0.00855164
+v 0.01583732 0.00127518 0.01377932
+v 0.01583629 0.00116000 0.01389419
+v 0.00975482 0.00071015 0.01389419
+v 0.01944871 0.00071015 -0.00951551
+v 0.01888732 0.00126113 -0.01005234
+v 0.01889351 0.00126837 -0.01005234
+v 0.01890174 0.00127518 -0.01004766
+v 0.01578478 0.00127518 0.01389419
+v 0.01047277 0.00127518 0.01389419
+v 0.00900802 0.00127518 0.01328468
+v 0.00900802 0.00071054 0.01343471
+v 0.00953026 0.00071015 0.01374416
+v 0.01832182 0.00071015 -0.01005234
+v 0.00996804 0.00071015 -0.01005469
+v 0.00996804 0.00127518 -0.01005469
+v 0.01886775 0.00127518 -0.01005234
+v 0.00900802 0.00127518 -0.01005469
+v 0.00900802 0.00071015 0.01208677
+v 0.00900802 0.00071015 -0.01005469
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 28
+f 1 28 29
+f 1 29 24
+f 1 24 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 3 9 17
+f 3 17 26
+f 3 26 25
+f 3 25 27
+f 3 27 20
+f 3 20 19
+f 3 19 18
+f 3 18 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 12
+f 5 12 18
+f 5 18 19
+f 5 19 13
+f 5 13 6
+f 7 9 8
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 9 16 17
+f 11 18 12
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 20 27 29
+f 20 29 28
+f 20 28 21
+f 21 28 22
+f 24 29 27
+f 24 27 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_287.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86305f088db702634ce8e56d44e093096c2fc19c
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_287.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.02058755 0.00208617 0.00307137
+v -0.02599421 0.00208617 0.00307137
+v -0.02058755 0.00124021 0.00307137
+v -0.02058755 0.00208617 -0.01189677
+v -0.02599544 0.00202331 0.00307137
+v -0.02624943 0.00208617 0.00234988
+v -0.02589966 0.00124021 0.00307137
+v -0.02058755 0.00124021 -0.01188944
+v -0.02058755 0.00208244 -0.01189824
+v -0.02061536 0.00208617 -0.01188650
+v -0.02666657 0.00208617 0.00115618
+v -0.02611719 0.00124021 0.00243053
+v -0.02128525 0.00124021 -0.01162987
+v -0.02058755 0.00202240 -0.01190997
+v -0.02058755 0.00205478 -0.01190704
+v -0.02065368 0.00208617 -0.01187037
+v -0.02062587 0.00205909 -0.01189090
+v -0.02666966 0.00208617 0.00114591
+v -0.02662949 0.00124021 0.00082476
+v -0.02128525 0.00167184 -0.01162987
+v -0.02248350 0.00124021 -0.01014875
+v -0.02250080 0.00172029 -0.01017221
+v -0.02251007 0.00208617 -0.01018395
+v -0.02182165 0.00208617 -0.01094650
+v -0.02667151 0.00208617 0.00113565
+v -0.02672033 0.00124021 0.00049774
+v -0.02326709 0.00124021 -0.00906797
+v -0.02366692 0.00197247 -0.00860164
+v -0.02290248 0.00208617 -0.00965309
+v -0.02684825 0.00208617 -0.00007858
+v -0.02681117 0.00124021 -0.00012697
+v -0.02499186 0.00124021 -0.00665271
+v -0.02481079 0.00197247 -0.00700173
+v -0.02481264 0.00208617 -0.00700613
+v -0.02420208 0.00208617 -0.00785961
+v -0.02370894 0.00208617 -0.00854151
+v -0.02684392 0.00208617 -0.00019590
+v -0.02685814 0.00197247 -0.00019150
+v -0.02690016 0.00124021 -0.00092472
+v -0.02525326 0.00124021 -0.00628610
+v -0.02528725 0.00197247 -0.00633449
+v -0.02528910 0.00208617 -0.00633889
+v -0.02669684 0.00208617 -0.00153917
+v -0.02683280 0.00124021 -0.00155237
+v -0.02572415 0.00124021 -0.00552941
+v -0.02573033 0.00197247 -0.00552941
+v -0.02572106 0.00208617 -0.00552941
+v -0.02643915 0.00208617 -0.00290591
+v -0.02670797 0.00124021 -0.00242491
+v -0.02630938 0.00124021 -0.00418613
+v -0.02621050 0.00197247 -0.00419639
+v -0.02618764 0.00208617 -0.00419639
+v -0.02651207 0.00124319 -0.00345877
+v -0.02651269 0.00124021 -0.00345583
+v -0.02651084 0.00124021 -0.00346317
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 24
+f 1 24 23
+f 1 23 29
+f 1 29 36
+f 1 36 35
+f 1 35 34
+f 1 34 42
+f 1 42 47
+f 1 47 52
+f 1 52 48
+f 1 48 43
+f 1 43 37
+f 1 37 30
+f 1 30 25
+f 1 25 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 19
+f 3 19 26
+f 3 26 31
+f 3 31 39
+f 3 39 44
+f 3 44 49
+f 3 49 54
+f 3 54 55
+f 3 55 50
+f 3 50 45
+f 3 45 40
+f 3 40 32
+f 3 32 27
+f 3 27 21
+f 3 21 13
+f 3 13 8
+f 4 9 10
+f 5 6 11
+f 5 11 7
+f 7 11 12
+f 8 13 14
+f 9 15 10
+f 10 15 17
+f 10 17 16
+f 11 18 19
+f 11 19 12
+f 13 20 14
+f 13 21 22
+f 13 22 23
+f 13 23 20
+f 14 17 15
+f 14 20 17
+f 16 17 20
+f 16 20 24
+f 18 25 26
+f 18 26 19
+f 20 23 24
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 25 30 26
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 38
+f 30 38 31
+f 31 38 39
+f 32 40 41
+f 32 41 33
+f 33 41 42
+f 33 42 34
+f 37 43 44
+f 37 44 39
+f 37 39 38
+f 40 45 41
+f 41 45 42
+f 42 45 46
+f 42 46 47
+f 43 48 49
+f 43 49 44
+f 45 50 46
+f 46 50 47
+f 47 50 51
+f 47 51 52
+f 48 52 53
+f 48 53 49
+f 49 53 54
+f 50 55 53
+f 50 53 51
+f 51 53 52
+f 53 55 54
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_288.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5dcd6493342ee2f939d2d3520f111c074c9853
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_288.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.02622132 -0.00358724 -0.00286417
+v -0.02622132 -0.00358709 -0.00286023
+v -0.02622329 -0.00358429 -0.00286023
+v -0.02666187 -0.00291691 -0.00286023
+v -0.02662136 -0.00286422 -0.00368180
+v -0.02622132 -0.00326506 -0.00408668
+v -0.02622132 -0.00341103 -0.00152590
+v -0.02661783 -0.00283854 -0.00152590
+v -0.02691463 -0.00207966 -0.00286023
+v -0.02691144 -0.00207966 -0.00290751
+v -0.02669832 -0.00207966 -0.00379657
+v -0.02622132 -0.00208836 -0.00450781
+v -0.02622132 -0.00317858 -0.00029550
+v -0.02656271 -0.00275973 -0.00067378
+v -0.02683352 -0.00207966 -0.00152590
+v -0.02622607 -0.00207966 -0.00450240
+v -0.02622132 -0.00207966 -0.00450929
+v -0.02622132 -0.00251459 0.00052263
+v -0.02636928 -0.00207966 0.00052263
+v -0.02647136 -0.00207966 0.00014484
+v -0.02661715 -0.00207966 -0.00047824
+v -0.02622132 -0.00207966 0.00052263
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 21
+f 9 21 20
+f 9 20 19
+f 9 19 22
+f 9 22 17
+f 9 17 16
+f 9 16 11
+f 9 11 10
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 18 22 19
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_29.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b4a26a7a07f642e10158ceec9c2e44933499c3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01044825 -0.00867383 -0.01190748
+v -0.01044825 -0.00867383 -0.00559473
+v -0.01044825 -0.01133188 -0.01060662
+v -0.01657527 -0.00867383 -0.00932985
+v -0.01044825 -0.01379394 -0.00559473
+v -0.01657527 -0.00867383 -0.00559412
+v -0.01044825 -0.01207772 -0.01023026
+v -0.01053433 -0.01205466 -0.01021234
+v -0.01669645 -0.00867383 -0.00927856
+v -0.01044825 -0.01295488 -0.00826568
+v -0.01657527 -0.01107174 -0.00559412
+v -0.01658320 -0.01111134 -0.00559412
+v -0.01917104 -0.01002917 -0.00559412
+v -0.02201710 -0.00867383 -0.00559412
+v -0.01044825 -0.01214087 -0.01012706
+v -0.01464769 -0.01077150 -0.00893929
+v -0.01707132 -0.00927782 -0.00879653
+v -0.01742127 -0.00867383 -0.00896092
+v -0.01190583 -0.01206970 -0.00892693
+v -0.01044825 -0.01247469 -0.00948559
+v -0.02051762 -0.00939310 -0.00559412
+v -0.02197746 -0.00867383 -0.00566457
+v -0.02190838 -0.00873498 -0.00559412
+v -0.02122659 -0.00867383 -0.00640306
+v -0.02076225 -0.00867383 -0.00685296
+v -0.02062974 -0.00867383 -0.00697038
+v -0.02010198 -0.00867383 -0.00737145
+v -0.01926164 -0.00867383 -0.00794494
+v -0.01808834 -0.00867383 -0.00859692
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 14 23
+f 6 23 21
+f 6 21 13
+f 6 13 12
+f 6 12 11
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 10 19 20
+f 10 13 19
+f 13 21 16
+f 13 16 19
+f 14 22 23
+f 15 20 16
+f 16 20 19
+f 16 21 22
+f 16 22 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_291.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2044e44cbd24427e57379ffc09c4e17adc720d36
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_291.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00370977 0.00652474 -0.00147663
+v -0.00370981 0.00688925 -0.00147663
+v -0.00334756 0.00652474 -0.00147663
+v -0.00370995 0.00652474 0.00060389
+v -0.00370995 0.00854513 -0.00147663
+v -0.00370995 0.00688925 0.00022678
+v -0.00334756 0.01357438 -0.00147663
+v -0.00334756 0.00652474 0.01317161
+v -0.00370995 0.00652474 0.01316301
+v -0.00370995 0.01364974 -0.00147663
+v -0.00369945 0.01364757 -0.00147663
+v -0.00334756 0.01392802 -0.00086151
+v -0.00334756 0.01014956 0.01083013
+v -0.00370995 0.00993579 0.01096348
+v -0.00361275 0.00652474 0.01316731
+v -0.00370995 0.00668852 0.01305977
+v -0.00370995 0.01392802 -0.00096905
+v -0.00334756 0.01392802 0.00505600
+v -0.00334756 0.01118078 0.01016339
+v -0.00370995 0.01117643 0.01016052
+v -0.00370995 0.01392802 0.00452978
+v -0.00370995 0.01392729 0.00508468
+v -0.00334756 0.01345915 0.00640096
+v -0.00334756 0.01184748 0.00970312
+v -0.00370995 0.01184313 0.00970169
+v -0.00370995 0.01347365 0.00638518
+v -0.00370995 0.01297362 0.00781617
+v -0.00334756 0.01322001 0.00708490
+v -0.00334756 0.01235692 0.00903638
+v -0.00370995 0.01236127 0.00903495
+v -0.00334756 0.01296420 0.00781617
+f 1 2 5
+f 1 5 10
+f 1 10 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 12
+f 3 12 18
+f 3 18 23
+f 3 23 28
+f 3 28 31
+f 3 31 29
+f 3 29 24
+f 3 24 19
+f 3 19 13
+f 3 13 8
+f 4 9 16
+f 4 16 14
+f 4 14 20
+f 4 20 25
+f 4 25 30
+f 4 30 27
+f 4 27 26
+f 4 26 22
+f 4 22 21
+f 4 21 17
+f 4 17 10
+f 4 10 5
+f 4 5 6
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 9 15 16
+f 10 17 12
+f 10 12 11
+f 12 17 21
+f 12 21 18
+f 13 19 14
+f 14 16 15
+f 14 19 20
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 29 30
+f 24 30 25
+f 27 30 29
+f 27 29 31
+f 27 31 28
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_292.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f9f121a8e121e35d56aacf035acce7115210ef
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_292.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02299784 -0.00207966 0.00052263
+v -0.02622132 -0.00207966 0.00052263
+v -0.02299784 -0.00286856 0.00052263
+v -0.02299784 -0.00207966 -0.00901650
+v -0.02622132 -0.00251454 0.00052263
+v -0.02622132 -0.00207966 -0.00450839
+v -0.02611939 -0.00286856 0.00052263
+v -0.02299784 -0.00286856 -0.00879240
+v -0.02341817 -0.00286856 -0.00831619
+v -0.02393884 -0.00286856 -0.00764857
+v -0.02349390 -0.00207966 -0.00835915
+v -0.02622132 -0.00286856 0.00003708
+v -0.02622132 -0.00208838 -0.00450745
+v -0.02558262 -0.00207966 -0.00541599
+v -0.02396945 -0.00207966 -0.00769152
+v -0.02449487 -0.00286856 -0.00686422
+v -0.02455609 -0.00207966 -0.00686422
+v -0.02622132 -0.00286856 -0.00421986
+v -0.02525538 -0.00286856 -0.00579042
+v -0.02579815 -0.00286856 -0.00501914
+v -0.02507898 -0.00286856 -0.00603973
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 15
+f 1 15 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 6 13
+f 2 13 18
+f 2 18 12
+f 2 12 5
+f 3 7 12
+f 3 12 18
+f 3 18 20
+f 3 20 19
+f 3 19 21
+f 3 21 16
+f 3 16 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 6 14 13
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 13 14 19
+f 13 19 20
+f 13 20 18
+f 14 17 16
+f 14 16 21
+f 14 21 19
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_293.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bb7dbb6e04a7e5f3f259acccd1d0a9e20edc7d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_293.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01091368 0.00201737 -0.00889639
+v 0.01311571 0.00201737 -0.00889639
+v 0.01091368 0.00201737 -0.00841337
+v 0.01091368 0.01239520 -0.00889639
+v 0.01311571 0.00201737 -0.00841337
+v 0.01311571 0.01251144 -0.00889639
+v 0.01091368 0.01267734 -0.00841337
+v 0.01311571 0.01281154 -0.00841337
+v 0.01311571 0.01270799 -0.00858029
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_296.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61a035d8a45f40b20207dc45e7358a20fc1c298
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_296.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00079983 0.01249715 0.00863064
+v 0.00006245 0.01256479 0.00849839
+v 0.00073766 0.01249715 0.00863064
+v 0.00134793 0.01248462 0.00863064
+v 0.00006245 0.01288045 0.00781585
+v 0.00006245 0.00197133 0.00849839
+v 0.00073766 0.00196882 0.00863064
+v 0.00134793 0.01284788 0.00781585
+v 0.00073766 0.01286417 0.00781585
+v 0.00134793 0.00196882 0.00863064
+v 0.00006245 0.01343787 0.00621114
+v 0.00006245 0.00197133 -0.00043670
+v 0.00073766 0.00196882 0.00346325
+v 0.00134793 0.01319737 0.00679871
+v 0.00073766 0.01343662 0.00616144
+v 0.00083696 0.01320488 0.00682533
+v 0.00073766 0.01318233 0.00689900
+v 0.00134793 0.00196882 0.00346325
+v 0.00006245 0.01379988 0.00514784
+v 0.00073766 0.00197133 -0.00043670
+v 0.00073766 0.00197007 -0.00043493
+v 0.00006245 0.01368464 -0.00043670
+v 0.00134793 0.01342409 0.00613215
+v 0.00134793 0.00197007 -0.00043493
+v 0.00073766 0.01377483 0.00514784
+v 0.00006245 0.01423830 0.00381472
+v 0.00073766 0.01358819 -0.00043670
+v 0.00006245 0.01376731 -0.00030534
+v 0.00134793 0.01367086 -0.00017398
+v 0.00069248 0.01359570 -0.00043670
+v 0.00134793 0.01374852 0.00514695
+v 0.00083696 0.01377107 0.00514695
+v 0.00134793 0.01348797 -0.00043493
+v 0.00073766 0.01420824 0.00381472
+v 0.00006245 0.01455271 0.00283929
+v 0.00006245 0.01381366 -0.00022990
+v 0.00134793 0.01438110 0.00096210
+v 0.00134793 0.01417942 0.00381384
+v 0.00073766 0.01453768 0.00279136
+v 0.00006245 0.01476565 0.00217185
+v 0.00006245 0.01446252 0.00085914
+v 0.00134793 0.01472933 0.00162866
+v 0.00134793 0.01452390 0.00274077
+v 0.00073766 0.01474937 0.00212303
+v 0.00006245 0.01476565 0.00152570
+v 0.00073766 0.01474937 0.00158339
+v 0.00134793 0.01472933 0.00207333
+v 0.00134793 0.01472682 0.00208841
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 11
+f 2 11 19
+f 2 19 26
+f 2 26 35
+f 2 35 40
+f 2 40 45
+f 2 45 41
+f 2 41 36
+f 2 36 28
+f 2 28 22
+f 2 22 12
+f 2 12 6
+f 4 8 9
+f 4 9 5
+f 4 10 18
+f 4 18 24
+f 4 24 33
+f 4 33 29
+f 4 29 37
+f 4 37 42
+f 4 42 47
+f 4 47 48
+f 4 48 43
+f 4 43 38
+f 4 38 31
+f 4 31 23
+f 4 23 14
+f 4 14 8
+f 5 9 11
+f 6 12 13
+f 6 13 7
+f 7 13 18
+f 7 18 10
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 11
+f 11 17 15
+f 11 15 19
+f 12 20 24
+f 12 24 21
+f 12 21 13
+f 12 22 30
+f 12 30 27
+f 12 27 20
+f 13 21 24
+f 13 24 18
+f 14 23 15
+f 15 17 16
+f 15 23 19
+f 19 25 26
+f 19 23 25
+f 20 27 33
+f 20 33 24
+f 22 28 29
+f 22 29 30
+f 23 31 32
+f 23 32 25
+f 25 32 26
+f 26 32 31
+f 26 31 34
+f 26 34 35
+f 27 30 33
+f 28 36 37
+f 28 37 29
+f 29 33 30
+f 31 38 34
+f 34 38 39
+f 34 39 35
+f 35 39 40
+f 36 41 37
+f 37 41 42
+f 38 43 39
+f 39 43 44
+f 39 44 40
+f 40 44 46
+f 40 46 45
+f 41 45 46
+f 41 46 42
+f 42 46 44
+f 42 44 47
+f 43 48 44
+f 44 48 47
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_304.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5c3a82064245cc42f56a72effefdcaa0701045
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_304.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02253735 -0.00410873 0.00795107
+v -0.02386612 -0.00410873 0.00599699
+v -0.02414535 -0.00454494 0.00531720
+v -0.02253735 -0.00454494 0.00768099
+v -0.02253735 -0.00410873 -0.00059102
+v -0.02392227 -0.00410873 0.00591337
+v -0.02414899 -0.00410873 0.00557557
+v -0.02419634 -0.00454494 0.00524111
+v -0.02253735 -0.00454494 -0.00059102
+v -0.02563801 -0.00410873 -0.00059102
+v -0.02443095 -0.00410873 0.00511234
+v -0.02424945 -0.00454494 0.00515415
+v -0.02535939 -0.00454494 -0.00059102
+v -0.02560493 -0.00410873 -0.00019636
+v -0.02524072 -0.00454494 0.00160888
+v -0.02517759 -0.00454494 0.00247931
+v -0.02501248 -0.00410873 0.00402117
+v -0.02492051 -0.00454494 0.00382969
+v -0.02548626 -0.00410873 0.00114398
+v -0.02530354 -0.00426536 0.00247931
+v -0.02524193 -0.00415656 0.00332550
+v -0.02496816 -0.00454494 0.00369507
+v -0.02503494 -0.00410873 0.00395846
+v -0.02522554 -0.00410873 0.00342165
+v -0.02536060 -0.00410873 0.00247931
+v -0.02522858 -0.00410873 0.00341246
+v -0.02524648 -0.00410873 0.00335058
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 25
+f 1 25 27
+f 1 27 26
+f 1 26 24
+f 1 24 23
+f 1 23 17
+f 1 17 11
+f 1 11 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 12
+f 3 12 18
+f 3 18 22
+f 3 22 16
+f 3 16 15
+f 3 15 13
+f 3 13 9
+f 3 9 4
+f 3 6 7
+f 5 9 13
+f 5 13 10
+f 7 11 12
+f 7 12 8
+f 10 13 15
+f 10 15 16
+f 10 16 14
+f 11 17 12
+f 12 17 18
+f 14 16 20
+f 14 20 19
+f 16 21 20
+f 16 22 21
+f 17 23 18
+f 18 23 24
+f 18 24 22
+f 19 20 25
+f 20 21 25
+f 21 26 27
+f 21 27 25
+f 21 22 24
+f 21 24 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_305.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07bdafcdf1b124dc312fdb2976c3fc4e6c8d3139
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_305.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01725941 -0.00580754 0.01248312
+v -0.01787534 -0.00580754 0.01231761
+v -0.01725941 -0.00637032 0.01199942
+v -0.01725941 -0.00580754 -0.00062437
+v -0.01882288 -0.00580754 0.01171715
+v -0.01814513 -0.00645985 0.01147851
+v -0.01792261 -0.00628916 0.01178387
+v -0.01725941 -0.00645985 0.01189036
+v -0.01725941 -0.00645985 -0.00062437
+v -0.02468769 -0.00580754 -0.00062437
+v -0.01911303 -0.00580754 0.01152983
+v -0.01935664 -0.00645985 0.01068944
+v -0.02441863 -0.00645985 -0.00062437
+v -0.02466078 -0.00580754 0.00247929
+v -0.02441863 -0.00645985 -0.00062309
+v -0.02441572 -0.00645985 0.00247929
+v -0.01967878 -0.00580754 0.01097427
+v -0.02002202 -0.00645985 0.01015313
+v -0.02462515 -0.00580754 0.00269356
+v -0.02417065 -0.00645985 0.00380595
+v -0.02005911 -0.00580754 0.01058936
+v -0.02011001 -0.00591495 0.01044053
+v -0.02106336 -0.00645985 0.00870073
+v -0.02459170 -0.00580754 0.00286549
+v -0.02399540 -0.00645985 0.00424090
+v -0.02439099 -0.00580754 0.00389320
+v -0.02084666 -0.00580754 0.00942822
+v -0.02342819 -0.00645985 0.00518008
+v -0.02398158 -0.00580754 0.00477336
+v -0.02373434 -0.00645985 0.00472332
+v -0.02404776 -0.00580754 0.00465147
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 26
+f 1 26 31
+f 1 31 29
+f 1 29 27
+f 1 27 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 8
+f 4 9 13
+f 4 13 10
+f 5 11 6
+f 6 11 12
+f 6 12 18
+f 6 18 23
+f 6 23 28
+f 6 28 30
+f 6 30 25
+f 6 25 20
+f 6 20 16
+f 6 16 15
+f 6 15 13
+f 6 13 9
+f 6 9 8
+f 10 13 15
+f 10 15 16
+f 10 16 14
+f 11 17 18
+f 11 18 12
+f 14 16 19
+f 16 20 19
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 20 24
+f 20 25 26
+f 20 26 24
+f 21 27 23
+f 21 23 22
+f 23 27 29
+f 23 29 28
+f 25 30 31
+f 25 31 26
+f 28 29 30
+f 29 31 30
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_308.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb48bf13574e79405b58a4b4712127be40aab3d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_308.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01169705 -0.00372364 0.01398080
+v -0.01243168 -0.00372364 0.01390519
+v -0.01243168 -0.00410873 0.01378127
+v -0.01169705 -0.00410873 0.01385058
+v -0.01169705 -0.00372364 -0.00747625
+v -0.01356797 -0.00372364 0.01377077
+v -0.01356797 -0.00405787 0.01366365
+v -0.01356797 -0.00410873 0.01364685
+v -0.01169705 -0.00410873 -0.00747625
+v -0.01356797 -0.00372364 -0.00747625
+v -0.01356797 -0.00410873 -0.00747625
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 11
+f 3 11 9
+f 3 9 4
+f 5 9 11
+f 5 11 10
+f 6 10 11
+f 6 11 8
+f 6 8 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_309.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d2c31f213f14c2501ea8d4315d7dc5e749f702
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_309.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.01044776 -0.00454498 -0.01455158
+v -0.01044776 -0.00465027 -0.01451176
+v -0.01050718 -0.00454498 -0.01454178
+v -0.01044776 -0.00454498 -0.00829487
+v -0.01044776 -0.00523052 -0.01418895
+v -0.01046509 -0.00523052 -0.01418527
+v -0.01109027 -0.00454498 -0.01442968
+v -0.01083277 -0.00454498 -0.01448604
+v -0.01044776 -0.00523052 -0.00829487
+v -0.02309366 -0.00454498 -0.00829487
+v -0.02264923 -0.00523052 -0.00829426
+v -0.01071269 -0.00523052 -0.01409155
+v -0.01178230 -0.00454498 -0.01420548
+v -0.02304414 -0.00454498 -0.00834265
+v -0.02308500 -0.00458048 -0.00829487
+v -0.02296863 -0.00477233 -0.00829487
+v -0.02264923 -0.00523052 -0.00829487
+v -0.01101475 -0.00523052 -0.01396904
+v -0.01117693 -0.00511839 -0.01399476
+v -0.01383238 -0.00523052 -0.01277209
+v -0.01244214 -0.00454498 -0.01392371
+v -0.02242887 -0.00454498 -0.00882290
+v -0.02226174 -0.00502008 -0.00872795
+v -0.02217137 -0.00523052 -0.00868201
+v -0.01108656 -0.00523052 -0.01393902
+v -0.01681590 -0.00523052 -0.01147775
+v -0.01696817 -0.00517845 -0.01144589
+v -0.01505178 -0.00454498 -0.01268449
+v -0.02182598 -0.00454498 -0.00915185
+v -0.02192254 -0.00523052 -0.00881923
+v -0.01986379 -0.00454498 -0.01020852
+v -0.01965581 -0.00510511 -0.01009703
+v -0.01694712 -0.00523052 -0.01141588
+v -0.01940945 -0.00523052 -0.01016319
+v -0.01783351 -0.00472059 -0.01121618
+v -0.01764905 -0.00454498 -0.01138954
+v -0.01726033 -0.00454498 -0.01158556
+v -0.01934260 -0.00454498 -0.01048907
+v -0.01920023 -0.00467664 -0.01051296
+v -0.01919033 -0.00454498 -0.01057054
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 13
+f 1 13 21
+f 1 21 28
+f 1 28 37
+f 1 37 36
+f 1 36 40
+f 1 40 38
+f 1 38 31
+f 1 31 29
+f 1 29 22
+f 1 22 14
+f 1 14 10
+f 1 10 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 10 11
+f 4 11 9
+f 5 9 11
+f 5 11 17
+f 5 17 24
+f 5 24 30
+f 5 30 34
+f 5 34 33
+f 5 33 26
+f 5 26 20
+f 5 20 25
+f 5 25 18
+f 5 18 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 14 22 15
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 20
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 22 29 23
+f 23 30 24
+f 23 29 31
+f 23 31 32
+f 23 32 30
+f 26 33 27
+f 27 33 34
+f 27 34 32
+f 27 32 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 30 32 34
+f 31 38 32
+f 32 38 39
+f 32 39 36
+f 32 36 35
+f 36 39 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_33.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b5dcb66c9386bc437c5b286acaab525455e924
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.01044811 0.00511216 0.00307138
+v -0.02499535 0.00511216 0.00307138
+v -0.01044811 0.00465621 0.00307138
+v -0.01044811 0.00511216 -0.01342711
+v -0.02540854 0.00465621 0.00307138
+v -0.02549403 0.00511216 0.00252115
+v -0.01044811 0.00465621 -0.01365800
+v -0.01045761 0.00465621 -0.01365800
+v -0.01196156 0.00511216 -0.01318966
+v -0.02568084 0.00511216 0.00227552
+v -0.02575049 0.00511216 0.00218054
+v -0.02642332 0.00465621 0.00164505
+v -0.01120167 0.00465621 -0.01353846
+v -0.01299376 0.00511216 -0.01302263
+v -0.02628717 0.00511216 0.00141088
+v -0.02658638 0.00511216 0.00076404
+v -0.02661962 0.00465621 0.00102769
+v -0.01252674 0.00465621 -0.01331739
+v -0.01369824 0.00465621 -0.01302754
+v -0.01337687 0.00511216 -0.01292765
+v -0.02657530 0.00511216 0.00021218
+v -0.02659429 0.00465621 0.00011229
+v -0.01378690 0.00465621 -0.01300134
+v -0.01421592 0.00511216 -0.01268365
+v -0.02651989 0.00511216 -0.00006948
+v -0.02646764 0.00465621 -0.00054437
+v -0.01783967 0.00465621 -0.01178626
+v -0.01832410 0.00511216 -0.01145548
+v -0.02599904 0.00511216 -0.00239155
+v -0.02598638 0.00465621 -0.00284679
+v -0.02626975 0.00465621 -0.00151054
+v -0.01929297 0.00465621 -0.01134412
+v -0.01928189 0.00467250 -0.01134085
+v -0.01927872 0.00511216 -0.01112633
+v -0.02566976 0.00511216 -0.00372780
+v -0.02536421 0.00465621 -0.00547017
+v -0.02567767 0.00465621 -0.00417322
+v -0.02575049 0.00465621 -0.00386044
+v -0.02052463 0.00465621 -0.01064816
+v -0.02033941 0.00511216 -0.01054171
+v -0.01964442 0.00511216 -0.01093145
+v -0.02528981 0.00511216 -0.00522290
+v -0.02535313 0.00465621 -0.00551111
+v -0.02057846 0.00465621 -0.01060722
+v -0.02099957 0.00505387 -0.01002916
+v -0.02097899 0.00511216 -0.01000787
+v -0.02509667 0.00511216 -0.00584845
+v -0.02508400 0.00508422 -0.00592050
+v -0.02459482 0.00465621 -0.00686047
+v -0.02180379 0.00465621 -0.00955099
+v -0.02184812 0.00465621 -0.00951169
+v -0.02329825 0.00511216 -0.00789213
+v -0.02507609 0.00511216 -0.00590576
+v -0.02443809 0.00511216 -0.00677040
+v -0.02456632 0.00467696 -0.00688503
+v -0.02453783 0.00465621 -0.00692761
+v -0.02328084 0.00465621 -0.00818853
+v -0.02369244 0.00511216 -0.00751713
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 24
+f 1 24 28
+f 1 28 34
+f 1 34 41
+f 1 41 40
+f 1 40 46
+f 1 46 52
+f 1 52 58
+f 1 58 54
+f 1 54 53
+f 1 53 47
+f 1 47 42
+f 1 42 35
+f 1 35 29
+f 1 29 25
+f 1 25 21
+f 1 21 16
+f 1 16 15
+f 1 15 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 17
+f 3 17 22
+f 3 22 26
+f 3 26 31
+f 3 31 30
+f 3 30 38
+f 3 38 37
+f 3 37 36
+f 3 36 43
+f 3 43 49
+f 3 49 56
+f 3 56 57
+f 3 57 51
+f 3 51 50
+f 3 50 44
+f 3 44 39
+f 3 39 32
+f 3 32 27
+f 3 27 23
+f 3 23 19
+f 3 19 18
+f 3 18 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 22
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 32 39 40
+f 32 40 41
+f 32 41 34
+f 32 34 33
+f 35 42 36
+f 36 42 43
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 42 47 48
+f 42 48 43
+f 43 48 49
+f 44 50 45
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 53 48
+f 48 54 49
+f 48 53 54
+f 49 54 55
+f 49 55 56
+f 51 57 52
+f 52 57 58
+f 54 58 57
+f 54 57 56
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_34.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff01c2e6863c12ee67a034ce82dd8dcd63420bb1
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00365549 0.00315302 -0.00043558
+v 0.00365549 0.00774190 -0.00043558
+v 0.00470032 0.00315302 -0.00043558
+v 0.00365549 0.00315302 0.01103209
+v 0.00470032 0.00774190 -0.00043558
+v 0.00365549 0.00774190 0.01103209
+v 0.00470032 0.00315302 0.01103209
+v 0.00470032 0.00774190 0.01103209
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_35.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef0e13377e4a090141b4a1fe916e79b06405874
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_35.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 -0.01466403 0.00278260
+v -0.01044637 -0.01466403 0.00311359
+v -0.00887115 -0.01616567 -0.00190294
+v -0.00887115 -0.01466403 -0.00513373
+v -0.01044637 -0.01488880 0.00240317
+v -0.01044637 -0.01466403 -0.00375084
+v -0.00937757 -0.01610555 -0.00200950
+v -0.00887115 -0.01616567 -0.00240346
+v -0.00937757 -0.01610555 -0.00228802
+v -0.01044637 -0.01532246 -0.00282891
+v -0.01044637 -0.01549342 -0.00019147
+v -0.01044637 -0.01576935 -0.00153804
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 12
+f 2 12 11
+f 2 11 5
+f 3 7 9
+f 3 9 8
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 5 11 7
+f 7 11 12
+f 7 12 9
+f 9 12 10
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_36.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27f4df34e51e43404b819a410beb2fe4222d38f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 0.00021630 0.01357838
+v -0.00722599 0.00021630 0.01426952
+v -0.00525135 0.00021630 -0.00201373
+v -0.00525135 0.00197046 0.01321682
+v -0.00755134 0.00197046 0.01376876
+v -0.00755134 0.00060900 0.01421352
+v -0.00755134 0.00021630 0.01433031
+v -0.00755134 0.00021630 -0.00201373
+v -0.00525135 0.00197046 -0.00201373
+v -0.00755134 0.00197046 -0.00201373
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 10
+f 3 10 9
+f 4 9 10
+f 4 10 5
+f 5 10 8
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_38.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2a3fec5013349764a52ef8634921499a198e36
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_38.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.00470042 -0.00337635 0.01531951
+v 0.00470042 -0.00242390 0.01530190
+v 0.00350634 -0.00247015 0.01527674
+v 0.00222401 -0.00252073 0.01524907
+v 0.00222401 -0.00319280 0.01524907
+v 0.00356936 -0.00345729 0.01525662
+v 0.00470042 -0.00419729 0.01516480
+v 0.00470042 -0.00182554 0.01491576
+v 0.00222401 -0.00249472 0.01523272
+v 0.00222401 -0.00385620 0.01512455
+v 0.00222401 -0.00469736 0.01496481
+v 0.00470042 -0.00603716 0.01481514
+v 0.00470042 -0.00175617 0.01486922
+v 0.00350634 -0.00180242 0.01483652
+v 0.00222401 -0.00185445 0.01480005
+v 0.00222401 -0.00603716 0.01468181
+v 0.00350634 -0.00603716 0.01475602
+v 0.00470042 -0.00736973 0.01452208
+v 0.00470042 0.00009238 0.01328820
+v 0.00222401 0.00009238 0.01326933
+v 0.00222401 -0.00736973 0.01434096
+v 0.00350634 -0.00736973 0.01444032
+v 0.00470042 -0.00870520 0.01417242
+v 0.00470042 0.00009238 0.00247005
+v 0.00222401 0.00009238 0.00247005
+v 0.00222401 -0.00811407 0.01413594
+v 0.00222401 -0.00876012 0.01395733
+v 0.00278082 -0.00938738 0.01382778
+v 0.00470042 -0.00878613 0.01414977
+v 0.00470042 -0.01372185 0.00247005
+v 0.00222401 -0.01409908 0.00247005
+v 0.00222401 -0.00882949 0.01393721
+v 0.00222401 -0.00983543 0.01357497
+v 0.00222401 -0.00991925 0.01353975
+v 0.00350634 -0.00947988 0.01385671
+v 0.00470042 -0.00961863 0.01390577
+v 0.00470042 -0.01420603 0.00367374
+v 0.00350634 -0.01393287 0.00247005
+v 0.00222401 -0.01413087 0.00247131
+v 0.00222401 -0.00994816 0.01352089
+v 0.00350634 -0.01014761 0.01354101
+v 0.00470042 -0.01028492 0.01358126
+v 0.00470042 -0.01425372 0.00381336
+v 0.00222401 -0.01414966 0.00253168
+v 0.00222401 -0.01092085 0.01285929
+v 0.00470042 -0.01037163 0.01351082
+v 0.00222401 -0.01095409 0.01283288
+v 0.00470042 -0.01452689 0.00500825
+v 0.00350634 -0.01439247 0.00381336
+v 0.00222401 -0.01451244 0.00381336
+v 0.00470042 -0.01096855 0.01291338
+v 0.00222401 -0.01155389 0.01182163
+v 0.00470042 -0.01455001 0.00514912
+v 0.00222401 -0.01452111 0.00386618
+v 0.00470042 -0.01103214 0.01280269
+v 0.00470042 -0.01158280 0.01182163
+v 0.00222401 -0.01195858 0.01105816
+v 0.00470042 -0.01234303 0.01038776
+v 0.00222401 -0.01467286 0.00524974
+v 0.00350634 -0.01461072 0.00514912
+v 0.00470042 -0.01437080 0.00634275
+v 0.00222401 -0.01231412 0.01038650
+v 0.00470042 -0.01339955 0.00838915
+v 0.00470042 -0.01434333 0.00648362
+v 0.00222401 -0.01443439 0.00635407
+v 0.00222401 -0.01370017 0.00776404
+v 0.00350634 -0.01370740 0.00777913
+v 0.00470042 -0.01371463 0.00779171
+v 0.00350634 -0.01436212 0.00648362
+v 0.00222401 -0.01443294 0.00635910
+v 0.00470042 -0.01378400 0.00765587
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 18
+f 1 18 23
+f 1 23 29
+f 1 29 36
+f 1 36 42
+f 1 42 46
+f 1 46 51
+f 1 51 55
+f 1 55 56
+f 1 56 58
+f 1 58 63
+f 1 63 68
+f 1 68 71
+f 1 71 64
+f 1 64 61
+f 1 61 53
+f 1 53 48
+f 1 48 43
+f 1 43 37
+f 1 37 30
+f 1 30 24
+f 1 24 19
+f 1 19 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 9 4
+f 3 8 9
+f 4 9 15
+f 4 15 20
+f 4 20 25
+f 4 25 31
+f 4 31 39
+f 4 39 44
+f 4 44 50
+f 4 50 54
+f 4 54 59
+f 4 59 65
+f 4 65 70
+f 4 70 66
+f 4 66 62
+f 4 62 57
+f 4 57 52
+f 4 52 47
+f 4 47 45
+f 4 45 40
+f 4 40 34
+f 4 34 33
+f 4 33 32
+f 4 32 27
+f 4 27 26
+f 4 26 21
+f 4 21 16
+f 4 16 11
+f 4 11 10
+f 4 10 5
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 14
+f 14 20 15
+f 16 21 22
+f 16 22 18
+f 16 18 17
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 21 26 23
+f 21 23 22
+f 23 26 27
+f 23 27 28
+f 23 28 29
+f 24 30 38
+f 24 38 31
+f 24 31 25
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 30 37 38
+f 31 38 39
+f 34 40 41
+f 34 41 42
+f 34 42 36
+f 34 36 35
+f 37 43 39
+f 37 39 38
+f 39 43 44
+f 40 45 41
+f 41 45 42
+f 42 45 47
+f 42 47 46
+f 43 48 49
+f 43 49 44
+f 44 49 50
+f 46 47 51
+f 47 52 51
+f 48 53 54
+f 48 54 50
+f 48 50 49
+f 51 52 55
+f 52 56 55
+f 52 57 58
+f 52 58 56
+f 53 59 60
+f 53 60 54
+f 53 61 59
+f 54 60 59
+f 57 62 58
+f 58 62 63
+f 59 61 64
+f 59 64 65
+f 62 66 63
+f 63 66 67
+f 63 67 68
+f 64 69 70
+f 64 70 65
+f 64 71 69
+f 66 70 67
+f 67 70 68
+f 68 70 71
+f 69 71 70
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_42.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc42078334d98aac2304c15c5d966d17cf3845e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_42.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01615000 -0.00335632 -0.01268053
+v -0.01764352 -0.00372360 -0.01172949
+v -0.02071369 -0.00372360 -0.01007735
+v -0.02097067 -0.00335632 -0.01008521
+v -0.01044803 -0.00335632 -0.01268053
+v -0.01594139 -0.00363513 -0.01268053
+v -0.01585825 -0.00372360 -0.01268053
+v -0.02087544 -0.00361485 -0.01003333
+v -0.02176429 -0.00372360 -0.00950357
+v -0.02173708 -0.00335632 -0.00966234
+v -0.01044803 -0.00335632 -0.00465168
+v -0.01044803 -0.00372360 -0.01268053
+v -0.02263954 -0.00372360 -0.00898011
+v -0.02261838 -0.00335632 -0.00910194
+v -0.01044803 -0.00372360 -0.00465168
+v -0.02588960 -0.00335632 -0.00465168
+v -0.02332583 -0.00372360 -0.00825150
+v -0.02270152 -0.00335632 -0.00904692
+v -0.02581251 -0.00372360 -0.00465168
+v -0.02554041 -0.00335632 -0.00532448
+v -0.02390480 -0.00372360 -0.00760384
+v -0.02336816 -0.00336650 -0.00829080
+v -0.02336967 -0.00335632 -0.00829080
+v -0.02548297 -0.00372360 -0.00528597
+v -0.02553436 -0.00335632 -0.00533549
+v -0.02552681 -0.00336646 -0.00534570
+v -0.02485261 -0.00372360 -0.00626374
+v -0.02501738 -0.00335704 -0.00607431
+v -0.02391689 -0.00335632 -0.00762349
+v -0.02540890 -0.00372360 -0.00540151
+v -0.02552681 -0.00335632 -0.00534649
+v -0.02505819 -0.00335632 -0.00601379
+v -0.02446713 -0.00335632 -0.00684851
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 18
+f 1 18 23
+f 1 23 29
+f 1 29 33
+f 1 33 32
+f 1 32 31
+f 1 31 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 5
+f 1 5 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 12
+f 2 12 15
+f 2 15 19
+f 2 19 24
+f 2 24 30
+f 2 30 27
+f 2 27 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 11 15
+f 5 15 12
+f 9 13 10
+f 10 13 14
+f 11 16 19
+f 11 19 15
+f 13 17 18
+f 13 18 14
+f 16 20 19
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 20 24
+f 20 25 26
+f 20 26 24
+f 21 27 28
+f 21 28 29
+f 21 29 23
+f 21 23 22
+f 24 26 30
+f 25 31 26
+f 26 28 27
+f 26 27 30
+f 26 31 28
+f 28 31 32
+f 28 32 33
+f 28 33 29
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_44.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceae38f72a76f1c9b51883a30fbf3583405c39ae
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00771812 0.00197251 -0.01496364
+v 0.00771812 0.00183619 -0.01489876
+v 0.00771812 0.00201632 -0.01496123
+v 0.01235418 0.00201632 -0.01447923
+v 0.01285028 0.00201632 -0.01442541
+v 0.00771812 0.00101122 -0.01450518
+v 0.00771812 0.00201632 -0.01005469
+v 0.01418363 0.00201632 -0.01427787
+v 0.01110063 0.00126688 -0.01424423
+v 0.00771812 0.00022638 -0.01371946
+v 0.00771812 0.00022638 -0.01005469
+v 0.01953089 0.00201632 -0.01005469
+v 0.01418363 0.00157124 -0.01399050
+v 0.01285028 0.00143982 -0.01410823
+v 0.01199107 0.00134941 -0.01417551
+v 0.01549501 0.00201632 -0.01374974
+v 0.01151694 0.00022638 -0.01312981
+v 0.01285028 0.00075399 -0.01344073
+v 0.01775348 0.00022638 -0.01005469
+v 0.01953089 0.00190260 -0.01005469
+v 0.01953089 0.00201632 -0.01017147
+v 0.01515502 0.00106116 -0.01312837
+v 0.01418363 0.00087174 -0.01332300
+v 0.01582921 0.00201632 -0.01350657
+v 0.01558521 0.00191907 -0.01360749
+v 0.01285028 0.00022638 -0.01289529
+v 0.01694862 0.00022638 -0.01085771
+v 0.01818136 0.00057754 -0.01005469
+v 0.01889024 0.00126109 -0.01005469
+v 0.01952049 0.00201632 -0.01018108
+v 0.01418363 0.00022638 -0.01264108
+v 0.01556323 0.00022638 -0.01194378
+v 0.01684570 0.00201632 -0.01263435
+v 0.01828659 0.00066795 -0.01005469
+v 0.01733949 0.00201632 -0.01218406
+f 1 2 6
+f 1 6 10
+f 1 10 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 21
+f 3 21 30
+f 3 30 35
+f 3 35 33
+f 3 33 24
+f 3 24 16
+f 3 16 8
+f 3 8 5
+f 3 5 4
+f 5 8 6
+f 6 9 10
+f 6 8 9
+f 7 11 19
+f 7 19 28
+f 7 28 34
+f 7 34 29
+f 7 29 20
+f 7 20 12
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 8 16 13
+f 9 17 10
+f 9 15 18
+f 9 18 17
+f 10 17 26
+f 10 26 31
+f 10 31 32
+f 10 32 27
+f 10 27 19
+f 10 19 11
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 13 16 22
+f 14 23 15
+f 15 23 18
+f 16 24 25
+f 16 25 22
+f 17 18 26
+f 18 23 26
+f 19 27 28
+f 20 29 21
+f 21 29 30
+f 22 31 23
+f 22 25 24
+f 22 24 27
+f 22 27 32
+f 22 32 31
+f 23 31 26
+f 24 33 27
+f 27 33 34
+f 27 34 28
+f 29 34 35
+f 29 35 30
+f 33 35 34
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_48.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321454a4c4a29066c3bf13654848bd873b5722cf
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00379914 0.00455631 -0.00252036
+v -0.00525107 0.00455631 -0.00252036
+v -0.00379914 0.00009383 -0.00252036
+v -0.00379914 0.01336967 -0.00252168
+v -0.00525107 0.01395520 -0.00252168
+v -0.00525107 0.00009383 -0.00252036
+v -0.00379914 0.00009383 -0.01564969
+v -0.00379914 0.01475378 -0.00582114
+v -0.00525107 0.01478421 -0.00506875
+v -0.00525107 0.00009383 -0.01556668
+v -0.00379914 0.00021267 -0.01569713
+v -0.00434523 0.00009383 -0.01564969
+v -0.00379914 0.01476827 -0.00646944
+v -0.00525107 0.01489871 -0.00595950
+v -0.00525107 0.01487842 -0.00555233
+v -0.00513949 0.00009383 -0.01557985
+v -0.00525107 0.00062428 -0.01579068
+v -0.00379914 0.00052718 -0.01582099
+v -0.00500787 0.00009383 -0.01559303
+v -0.00460335 0.00051123 -0.01581045
+v -0.00450215 0.01480595 -0.00650633
+v -0.00379914 0.01463638 -0.00682126
+v -0.00525107 0.01482190 -0.00648393
+v -0.00525107 0.00195766 -0.01581440
+v -0.00379914 0.00202578 -0.01598174
+v -0.00379914 0.01417115 -0.00771332
+v -0.00525107 0.01466827 -0.00677645
+v -0.00388272 0.00404470 -0.01555613
+v -0.00525107 0.00864486 -0.01399469
+v -0.00395052 0.00941880 -0.01424505
+v -0.00379914 0.00926952 -0.01432411
+v -0.00379914 0.00395919 -0.01558381
+v -0.00379914 0.01362185 -0.00864228
+v -0.00379914 0.01264501 -0.01026171
+v -0.00379914 0.01112901 -0.01276925
+v -0.00450215 0.01139134 -0.01220265
+v -0.00525107 0.01128554 -0.01220265
+v -0.00379914 0.00406788 -0.01556009
+v -0.00525107 0.00914198 -0.01382866
+v -0.00379914 0.00945938 -0.01426613
+v -0.00525107 0.00995071 -0.01353482
+v -0.00525107 0.01038116 -0.01331213
+v -0.00379914 0.01085654 -0.01320276
+v -0.00450215 0.01081450 -0.01311711
+v -0.00525107 0.01103335 -0.01260322
+v -0.00379914 0.00977099 -0.01408034
+v -0.00379914 0.01010578 -0.01387478
+v -0.00525107 0.01076233 -0.01303015
+v -0.00379914 0.01054348 -0.01355458
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 18
+f 1 18 25
+f 1 25 32
+f 1 32 38
+f 1 38 31
+f 1 31 40
+f 1 40 46
+f 1 46 47
+f 1 47 49
+f 1 49 43
+f 1 43 35
+f 1 35 34
+f 1 34 33
+f 1 33 26
+f 1 26 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 15
+f 2 15 14
+f 2 14 23
+f 2 23 27
+f 2 27 37
+f 2 37 45
+f 2 45 48
+f 2 48 42
+f 2 42 41
+f 2 41 39
+f 2 39 29
+f 2 29 24
+f 2 24 17
+f 2 17 10
+f 2 10 6
+f 3 6 10
+f 3 10 16
+f 3 16 19
+f 3 19 12
+f 3 12 7
+f 4 8 5
+f 5 8 9
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 17 16
+f 11 12 18
+f 12 19 20
+f 12 20 18
+f 13 21 14
+f 13 22 21
+f 14 21 23
+f 16 17 20
+f 16 20 19
+f 17 24 25
+f 17 25 20
+f 18 20 25
+f 21 22 26
+f 21 26 23
+f 23 26 27
+f 24 28 25
+f 24 29 30
+f 24 30 31
+f 24 31 28
+f 25 28 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 28 38 32
+f 28 31 38
+f 29 39 30
+f 30 40 31
+f 30 39 41
+f 30 41 42
+f 30 42 40
+f 35 43 36
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 40 42 46
+f 42 47 46
+f 42 48 49
+f 42 49 47
+f 43 49 44
+f 44 49 48
+f 44 48 45
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_49.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f6636aa7059e8a727643f16a800764a2cf5627
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02405353 0.00143534 0.00758343
+v -0.02401172 0.00099644 0.00758343
+v -0.02395339 0.00099644 0.00770936
+v -0.02386979 0.00143534 0.00797554
+v -0.01412277 0.00143534 0.00758343
+v -0.01412277 0.00099644 0.00758343
+v -0.02325051 0.00099644 0.00915257
+v -0.02329523 0.00143534 0.00915257
+v -0.01412180 0.00143534 0.01257920
+v -0.01412180 0.00099644 0.01257920
+v -0.02309496 0.00099644 0.00944880
+v -0.02294914 0.00143534 0.00981157
+v -0.01412180 0.00143534 0.01489248
+v -0.01412180 0.00099644 0.01480376
+v -0.02272359 0.00099644 0.01014214
+v -0.02274401 0.00143534 0.01019294
+v -0.01651529 0.00143534 0.01446675
+v -0.01651529 0.00099644 0.01437444
+v -0.02260985 0.00099644 0.01032173
+v -0.02249319 0.00143534 0.01059148
+v -0.01698874 0.00143534 0.01434725
+v -0.01716276 0.00099644 0.01421130
+v -0.02223167 0.00099644 0.01080972
+v -0.02228514 0.00143534 0.01086052
+v -0.01788217 0.00143534 0.01407822
+v -0.01777620 0.00099644 0.01403672
+v -0.01737469 0.00099644 0.01415692
+v -0.02205279 0.00099644 0.01101436
+v -0.02188558 0.00143534 0.01131488
+v -0.01810869 0.00143534 0.01399879
+v -0.01824673 0.00099644 0.01387286
+v -0.02156476 0.00099644 0.01155171
+v -0.02161726 0.00143534 0.01161110
+v -0.01839451 0.00143534 0.01388646
+v -0.01851214 0.00131891 0.01382134
+v -0.01843922 0.00099644 0.01379630
+v -0.02138977 0.00099644 0.01173131
+v -0.02122936 0.00143534 0.01200965
+v -0.01864630 0.00143534 0.01376553
+v -0.01914211 0.00143534 0.01349507
+v -0.01916544 0.00099644 0.01341636
+v -0.01883004 0.00099644 0.01359882
+v -0.02090271 0.00099644 0.01221929
+v -0.02096104 0.00143534 0.01227797
+v -0.02029413 0.00143534 0.01279887
+v -0.02023580 0.00099644 0.01276524
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 24
+f 1 24 29
+f 1 29 33
+f 1 33 38
+f 1 38 44
+f 1 44 45
+f 1 45 40
+f 1 40 39
+f 1 39 34
+f 1 34 30
+f 1 30 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 22
+f 2 22 27
+f 2 27 26
+f 2 26 31
+f 2 31 36
+f 2 36 42
+f 2 42 41
+f 2 41 46
+f 2 46 43
+f 2 43 37
+f 2 37 32
+f 2 32 28
+f 2 28 23
+f 2 23 19
+f 2 19 15
+f 2 15 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 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 33
+f 28 33 29
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 37 43 38
+f 38 43 44
+f 40 45 41
+f 41 45 46
+f 43 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_5.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4451219b829851405bc8acf50c86d735cb61c3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01811559 -0.01121313 0.00647625
+v 0.01811559 -0.01089288 0.00576426
+v 0.02066211 -0.00960293 0.00576426
+v 0.02223290 -0.00872841 0.00576426
+v 0.02308223 -0.00821780 0.00576426
+v 0.02120467 -0.00916847 0.00647625
+v 0.01811559 0.00022621 0.00647625
+v 0.01811559 0.00022621 0.00576426
+v 0.02291645 -0.00808679 0.00604401
+v 0.02231215 -0.00842944 0.00647625
+v 0.02229708 -0.00844175 0.00647625
+v 0.02307883 -0.00737016 0.00576426
+v 0.02277644 -0.00737016 0.00647625
+v 0.01960227 0.00022621 0.00647625
+v 0.01992411 0.00022621 0.00576426
+v 0.02291305 -0.00655722 0.00576426
+v 0.02289117 -0.00663112 0.00588525
+v 0.02275213 -0.00716300 0.00647625
+v 0.02001016 -0.00069870 0.00647625
+v 0.02030770 -0.00064384 0.00576426
+v 0.02272344 -0.00612612 0.00576426
+v 0.02243126 -0.00620002 0.00647625
+v 0.02240014 -0.00612276 0.00647625
+v 0.02032812 -0.00105366 0.00611879
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 10
+f 1 10 13
+f 1 13 18
+f 1 18 22
+f 1 22 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 8
+f 1 8 2
+f 2 8 15
+f 2 15 20
+f 2 20 21
+f 2 21 16
+f 2 16 12
+f 2 12 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 9
+f 7 14 15
+f 7 15 8
+f 9 13 10
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 22 18
+f 17 21 23
+f 17 23 22
+f 19 24 20
+f 19 23 21
+f 19 21 24
+f 20 24 21
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_53.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8557554c7707824516b467bffbd5f14999e28b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_53.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 0.00234270 0.01523538
+v -0.01044652 0.00270255 0.01520895
+v -0.01080633 0.00234270 0.01529305
+v -0.01044652 0.00234270 0.00307258
+v -0.01044652 0.00273539 0.01520534
+v -0.01117579 0.00294715 0.01528825
+v -0.01117579 0.00234270 0.01534592
+v -0.01563780 0.00234270 0.00307258
+v -0.01044652 0.00323261 0.00307258
+v -0.01117579 0.00323261 0.01514287
+v -0.01044652 0.00323261 0.01484730
+v -0.01211139 0.00323261 0.01528464
+v -0.01254844 0.00323261 0.01528464
+v -0.01386774 0.00323261 0.01523658
+v -0.01253066 0.00234270 0.01529305
+v -0.01563780 0.00323261 0.00307258
+v -0.01563780 0.00234270 0.01481125
+v -0.01334429 0.00234270 0.01521976
+v -0.01519922 0.00323261 0.01507318
+v -0.01563780 0.00323261 0.01499628
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 18
+f 1 18 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 16
+f 4 16 9
+f 5 10 6
+f 5 11 10
+f 6 12 7
+f 6 10 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 17 20
+f 8 20 16
+f 9 16 20
+f 9 20 19
+f 9 19 14
+f 9 14 13
+f 9 13 12
+f 9 12 10
+f 9 10 11
+f 14 18 15
+f 14 19 18
+f 17 18 20
+f 18 19 20
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_55.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610cadcee79b9617627787b7a945ab7165c9ddb5
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_55.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01169705 -0.00372364 -0.00747625
+v -0.01356797 -0.00372364 -0.00747625
+v -0.01169705 -0.00410873 -0.00747625
+v -0.01169705 -0.00372364 -0.01463567
+v -0.01356797 -0.00410873 -0.00747625
+v -0.01356797 -0.00372364 -0.01386970
+v -0.01169705 -0.00410873 -0.01448430
+v -0.01169705 -0.00390342 -0.01456629
+v -0.01215329 -0.00372364 -0.01454177
+v -0.01356797 -0.00410873 -0.01363703
+v -0.01335020 -0.00372364 -0.01404910
+v -0.01356797 -0.00387488 -0.01377859
+v -0.01219065 -0.00410873 -0.01436026
+v -0.01169705 -0.00407770 -0.01449832
+v -0.01169705 -0.00406319 -0.01450462
+v -0.01239542 -0.00372364 -0.01448080
+v -0.01302822 -0.00390919 -0.01413600
+v -0.01290404 -0.00410873 -0.01404069
+v -0.01311375 -0.00372364 -0.01419136
+v -0.01243113 -0.00410873 -0.01426565
+v -0.01284653 -0.00372364 -0.01430419
+v -0.01284396 -0.00410873 -0.01406942
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 22
+f 3 22 20
+f 3 20 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 9 15 14
+f 9 14 13
+f 9 13 16
+f 10 12 11
+f 10 11 17
+f 10 17 18
+f 11 19 17
+f 13 20 17
+f 13 17 21
+f 13 21 16
+f 17 19 21
+f 17 20 22
+f 17 22 18
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_58.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c448d17ac12c8fa6352a5c9a3dbfa4d46db5b0a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.01818601 0.01290232 -0.00889708
+v 0.01884781 0.01281388 -0.00889708
+v 0.01952218 0.01247182 -0.00918573
+v 0.01818601 0.01248141 -0.00937779
+v 0.01621315 0.01198165 -0.01020476
+v 0.01616794 0.01198165 -0.01020476
+v 0.01091494 0.01078607 -0.01175025
+v 0.01681468 0.01284052 -0.00889708
+v 0.01955734 0.01268494 -0.00889708
+v 0.02029575 0.01242174 -0.00889708
+v 0.02041505 0.01228854 -0.00901288
+v 0.01818601 0.01160124 -0.01004547
+v 0.01710225 0.01189854 -0.01015957
+v 0.01382211 0.01072853 -0.01161750
+v 0.01285012 0.01075623 -0.01166213
+v 0.01091494 0.00992828 -0.01235862
+v 0.01091494 0.01129542 -0.01086961
+v 0.01091494 0.01219903 -0.00925182
+v 0.01091494 0.01239510 -0.00889708
+v 0.02042635 0.01232264 -0.00889708
+v 0.02163317 0.01084041 -0.00899819
+v 0.02312255 0.00697874 -0.01033242
+v 0.02182154 0.00820736 -0.01029175
+v 0.01940413 0.01119312 -0.00984833
+v 0.01552120 0.01025541 -0.01138195
+v 0.01471247 0.01055590 -0.01149945
+v 0.01353956 0.00799211 -0.01287604
+v 0.01285012 0.00875826 -0.01266421
+v 0.01285012 0.00997942 -0.01212250
+v 0.01423401 0.01005828 -0.01183216
+v 0.01091494 0.00931556 -0.01264840
+v 0.01091494 0.00201632 -0.00889708
+v 0.02163317 0.01084041 -0.00889708
+v 0.02294297 0.00817219 -0.00915692
+v 0.02323808 0.00737833 -0.00957436
+v 0.02321799 0.00730801 -0.00970824
+v 0.02358845 0.00619660 -0.00970880
+v 0.02318408 0.00597922 -0.01039964
+v 0.02235400 0.00597922 -0.01083629
+v 0.02219075 0.00597922 -0.01092045
+v 0.02059212 0.00564250 -0.01166947
+v 0.02223721 0.00737727 -0.01049397
+v 0.01690133 0.00471224 -0.01316582
+v 0.01552120 0.00464298 -0.01361094
+v 0.01454043 0.00387043 -0.01416282
+v 0.01413229 0.00337920 -0.01438820
+v 0.01365258 0.00402601 -0.01422156
+v 0.01091494 0.00903212 -0.01278058
+v 0.02113462 0.00201632 -0.00889708
+v 0.01091494 0.00201632 -0.00970824
+v 0.02294297 0.00817219 -0.00889708
+v 0.02371779 0.00597709 -0.00953426
+v 0.02302585 0.00516725 -0.01033468
+v 0.02053435 0.00464298 -0.01167117
+v 0.01785950 0.00362109 -0.01300370
+v 0.01512814 0.00241591 -0.01433002
+v 0.01512814 0.00298067 -0.01433002
+v 0.01785950 0.00431265 -0.01300370
+v 0.01285012 0.00330887 -0.01452490
+v 0.01285012 0.00412298 -0.01425489
+v 0.01151647 0.00330887 -0.01462319
+v 0.01091494 0.00330887 -0.01466725
+v 0.02115597 0.00203230 -0.00889708
+v 0.02005212 0.00201632 -0.00970824
+v 0.01583139 0.00201738 -0.01350587
+v 0.01684607 0.00201738 -0.01263427
+v 0.01091494 0.00201738 -0.01457856
+v 0.02369017 0.00597709 -0.00889708
+v 0.02374291 0.00533987 -0.00889708
+v 0.02328329 0.00468987 -0.00946478
+v 0.02321171 0.00482413 -0.00970880
+v 0.02326822 0.00413257 -0.00889708
+v 0.02206014 0.00276969 -0.00889708
+v 0.02024551 0.00392798 -0.01158361
+v 0.01549860 0.00201738 -0.01374877
+v 0.01418504 0.00201738 -0.01427749
+v 0.01418504 0.00224009 -0.01442153
+v 0.01657607 0.00231468 -0.01319689
+v 0.02120746 0.00207173 -0.00889708
+v 0.01235534 0.00201738 -0.01447858
+v 0.01285012 0.00201738 -0.01442492
+v 0.01285012 0.00210902 -0.01447519
+v 0.02350180 0.00466962 -0.00889708
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 19
+f 1 19 32
+f 1 32 49
+f 1 49 63
+f 1 63 79
+f 1 79 73
+f 1 73 72
+f 1 72 83
+f 1 83 69
+f 1 69 68
+f 1 68 51
+f 1 51 33
+f 1 33 20
+f 1 20 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 7
+f 5 7 6
+f 7 16 31
+f 7 31 48
+f 7 48 62
+f 7 62 67
+f 7 67 50
+f 7 50 32
+f 7 32 19
+f 7 19 18
+f 7 18 17
+f 7 17 8
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 25 26
+f 12 26 13
+f 12 24 25
+f 13 26 14
+f 14 27 28
+f 14 28 29
+f 14 29 16
+f 14 16 15
+f 14 26 30
+f 14 30 27
+f 16 29 31
+f 20 33 21
+f 21 33 51
+f 21 51 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 27
+f 24 27 25
+f 25 27 26
+f 26 27 30
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 29
+f 29 48 31
+f 32 50 64
+f 32 64 49
+f 34 51 35
+f 35 51 52
+f 35 52 37
+f 35 37 36
+f 37 52 38
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 38 52 53
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 58 43
+f 41 43 42
+f 43 58 57
+f 43 57 44
+f 44 57 45
+f 45 57 46
+f 46 57 59
+f 46 59 47
+f 47 59 60
+f 47 60 48
+f 48 60 59
+f 48 59 61
+f 48 61 62
+f 49 64 65
+f 49 65 66
+f 49 66 63
+f 50 67 64
+f 51 68 52
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 56
+f 53 56 54
+f 54 56 55
+f 56 75 76
+f 56 76 77
+f 56 77 57
+f 56 74 78
+f 56 78 75
+f 57 77 59
+f 59 77 61
+f 61 77 62
+f 62 77 67
+f 63 66 79
+f 64 67 80
+f 64 80 81
+f 64 81 76
+f 64 76 75
+f 64 75 65
+f 65 75 78
+f 65 78 66
+f 66 78 79
+f 67 77 82
+f 67 82 80
+f 69 83 70
+f 70 83 72
+f 70 72 71
+f 73 79 78
+f 73 78 74
+f 76 81 77
+f 77 81 80
+f 77 80 82
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_59.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218da16bdb44181d3a1cb5f32f5437836c08c046
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 -0.01085287 -0.01150111
+v -0.00887115 -0.01085287 0.00969128
+v -0.00897354 -0.01085287 -0.01146056
+v -0.01044602 -0.00524634 -0.01417731
+v -0.00950462 -0.00552854 -0.01433661
+v -0.00887115 -0.00568393 -0.01444667
+v -0.00887115 -0.01050459 0.01032268
+v -0.01044602 -0.01085287 0.00870074
+v -0.01044602 -0.01085287 -0.01083785
+v -0.01044602 -0.00464800 -0.01451039
+v -0.01044648 -0.00874707 -0.01186026
+v -0.00887115 -0.00552140 -0.01451908
+v -0.00887115 -0.00970263 0.01177084
+v -0.00984062 -0.00952224 0.01142908
+v -0.01044602 -0.01017952 0.00987086
+v -0.01044648 -0.00874707 0.01212420
+v -0.01044602 -0.00418540 -0.01468707
+v -0.01044648 -0.00688954 -0.01287687
+v -0.00887115 -0.00472123 -0.01475948
+v -0.00887115 -0.00942757 0.01222557
+v -0.01044602 -0.00940614 0.01121475
+v -0.00901749 -0.00927576 0.01237907
+v -0.01044602 -0.00898820 0.01190118
+v -0.01044648 -0.00832198 0.01266870
+v -0.01044602 -0.00275832 -0.01503463
+v -0.01044648 0.00515585 -0.01287687
+v -0.01044602 0.00069598 -0.01534453
+v -0.01044602 -0.00070074 -0.01529819
+v -0.01044602 -0.00142768 -0.01520841
+v -0.00887115 -0.00433365 -0.01484926
+v -0.00887115 -0.00912215 0.01250941
+v -0.00887115 -0.00869170 0.01277587
+v -0.01044648 -0.00736464 0.01305681
+v -0.01044633 0.00739382 -0.01253510
+v -0.01044602 0.00190695 -0.01504331
+v -0.01044648 0.00515585 0.01377800
+v -0.00922119 0.00131575 -0.01554438
+v -0.00922119 0.00127825 -0.01554438
+v -0.00887115 0.00120502 -0.01557045
+v -0.00984062 -0.00736643 0.01314660
+v -0.01004093 -0.00736643 0.01311763
+v -0.00887115 -0.00736643 0.01326245
+v -0.01044648 -0.00603043 0.01344492
+v -0.00887115 0.00739382 -0.01304775
+v -0.00887115 0.00739025 -0.01305065
+v -0.01044633 0.00739382 0.01294096
+v -0.01044648 0.00490580 0.01395177
+v -0.00887115 0.00136755 -0.01557045
+v -0.01004093 -0.00423184 0.01401839
+v -0.01044648 -0.00406752 0.01401260
+v -0.00887115 -0.00470694 0.01401839
+v -0.00887115 0.00739382 0.01294675
+v -0.01044633 0.00668831 0.01323349
+v -0.01039359 0.00739382 0.01294386
+v -0.00887115 0.00597566 0.01353181
+v -0.00984093 0.00739382 0.01296703
+v -0.01044648 0.00472719 0.01401260
+v -0.01004093 0.00446820 0.01401839
+v -0.00887115 0.00341262 0.01401839
+v -0.00887115 0.00730987 0.01299020
+v -0.00887115 0.00572025 0.01361001
+v -0.00985774 0.00436461 0.01401839
+v -0.00920624 0.00392880 0.01401839
+v -0.00887115 0.00454322 0.01385040
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 19
+f 1 19 30
+f 1 30 39
+f 1 39 48
+f 1 48 45
+f 1 45 44
+f 1 44 52
+f 1 52 60
+f 1 60 55
+f 1 55 61
+f 1 61 64
+f 1 64 59
+f 1 59 51
+f 1 51 42
+f 1 42 32
+f 1 32 31
+f 1 31 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 5 10 6
+f 6 10 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 11
+f 8 11 9
+f 10 17 12
+f 10 11 18
+f 10 18 17
+f 11 16 24
+f 11 24 33
+f 11 33 43
+f 11 43 50
+f 11 50 57
+f 11 57 47
+f 11 47 36
+f 11 36 26
+f 11 26 18
+f 12 17 19
+f 13 20 14
+f 14 21 15
+f 14 20 22
+f 14 22 23
+f 14 23 21
+f 15 21 16
+f 16 21 23
+f 16 23 24
+f 17 25 19
+f 17 18 25
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 19 25 30
+f 20 31 22
+f 22 31 24
+f 22 24 23
+f 24 31 32
+f 24 32 33
+f 25 29 30
+f 26 34 35
+f 26 35 27
+f 26 36 46
+f 26 46 34
+f 27 35 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 30
+f 32 40 41
+f 32 41 33
+f 32 42 40
+f 33 41 43
+f 34 44 45
+f 34 45 35
+f 34 46 54
+f 34 54 56
+f 34 56 52
+f 34 52 44
+f 35 45 37
+f 36 47 46
+f 37 48 39
+f 37 39 38
+f 37 45 48
+f 40 42 49
+f 40 49 50
+f 40 50 41
+f 41 50 43
+f 42 51 49
+f 46 47 53
+f 46 53 54
+f 47 55 56
+f 47 56 53
+f 47 57 55
+f 49 51 59
+f 49 59 63
+f 49 63 62
+f 49 62 58
+f 49 58 57
+f 49 57 50
+f 52 56 60
+f 53 56 54
+f 55 57 61
+f 55 60 56
+f 57 58 62
+f 57 62 61
+f 59 64 63
+f 61 62 64
+f 62 63 64
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_63.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a4a2ec3c69ba914f0a38a39b3dafbc72d35be9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00264322 0.01435383 0.00306149
+v 0.00300745 0.01433265 0.00306149
+v 0.00264322 0.01450581 0.00258005
+v 0.00264322 0.00197007 0.00306149
+v 0.00300745 0.01450581 0.00250882
+v 0.00300745 0.00197007 0.00306149
+v 0.00264322 0.01469516 0.00195513
+v 0.00264322 0.00197007 -0.00043636
+v 0.00300745 0.01468270 0.00191712
+v 0.00300745 0.00197007 -0.00043636
+v 0.00264322 0.01469516 0.00172159
+v 0.00264322 0.01329870 -0.00043636
+v 0.00300745 0.01468270 0.00174762
+v 0.00300745 0.01324763 -0.00043636
+v 0.00264322 0.01432518 0.00109633
+v 0.00264322 0.01363131 0.00004029
+v 0.00300745 0.01360764 0.00007865
+v 0.00300745 0.01432393 0.00115488
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 17
+f 2 17 18
+f 2 18 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 13
+f 7 13 11
+f 8 12 14
+f 8 14 10
+f 11 13 15
+f 12 16 17
+f 12 17 14
+f 13 18 15
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_64.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c8d686829a06bb79646502f86cad2dbf68b301
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_64.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.01548044 -0.00208423 0.01671948
+v 0.01555370 -0.00208813 0.01671142
+v 0.01548044 -0.00183863 0.01671718
+v 0.01548044 -0.00336550 0.01669762
+v 0.01551914 -0.00336680 0.01670107
+v 0.01635358 -0.00336680 0.01660675
+v 0.01624318 -0.00257023 0.01654808
+v 0.01548044 -0.00072110 0.01625475
+v 0.01548044 -0.00452202 0.01655268
+v 0.01563547 -0.00461298 0.01656303
+v 0.01615780 -0.00539396 0.01649747
+v 0.01636674 -0.00470134 0.01656879
+v 0.01676500 -0.00591764 0.01639624
+v 0.01685038 -0.00592803 0.01635253
+v 0.01797965 -0.00603719 0.01577392
+v 0.01641549 -0.00208813 0.01577622
+v 0.01548044 -0.00002979 0.01579807
+v 0.01768560 -0.00470264 0.01546793
+v 0.01753264 -0.00400873 0.01518381
+v 0.01548044 -0.00477671 0.01649977
+v 0.01548044 -0.00553040 0.01633527
+v 0.01563547 -0.00591764 0.01627776
+v 0.01548044 -0.00737043 0.01584524
+v 0.01551914 -0.00737043 0.01584984
+v 0.01626072 -0.00539396 0.01649747
+v 0.01685038 -0.00731586 0.01592461
+v 0.01789221 -0.00736913 0.01551625
+v 0.01811533 -0.00736913 0.01533220
+v 0.01811533 -0.00602159 0.01553695
+v 0.01625092 -0.00121879 0.01530114
+v 0.01548044 0.00022621 0.01555651
+v 0.01811533 -0.00470264 0.01456609
+v 0.01811533 -0.00461168 0.01448211
+v 0.01548044 -0.00593063 0.01624325
+v 0.01548044 -0.00607487 0.01620874
+v 0.01548044 -0.00739772 0.01583488
+v 0.01551914 -0.00831254 0.01539316
+v 0.01685038 -0.00737173 0.01590505
+v 0.01685373 -0.00736913 0.01590620
+v 0.01761208 -0.00806434 0.01519991
+v 0.01811533 -0.00769530 0.01507568
+v 0.01811533 0.00022621 0.00976697
+v 0.01629322 0.00022621 0.01379883
+v 0.01592333 0.00022621 0.01461670
+v 0.01548044 0.00022621 0.00496786
+v 0.01548044 -0.00831254 0.01539086
+v 0.01548044 -0.00833203 0.01537591
+v 0.01548044 -0.00909612 0.01442920
+v 0.01685038 -0.00817220 0.01531379
+v 0.01685373 -0.00816960 0.01531494
+v 0.01548044 -0.00918448 0.01430151
+v 0.01548044 -0.00943657 0.01392651
+v 0.01685038 -0.00871797 0.01448787
+v 0.01811533 -0.00907792 0.01334790
+v 0.01811533 -0.00839831 0.01443610
+v 0.01810965 -0.00834503 0.01452353
+v 0.01811533 -0.00834373 0.01452123
+v 0.01811533 0.00022621 0.00496786
+v 0.01548044 -0.01204589 0.00496786
+v 0.01548044 -0.01237335 0.00921367
+v 0.01685038 -0.01183148 0.00948169
+v 0.01811533 -0.01102581 0.01021559
+v 0.01811533 -0.01054631 0.00496786
+v 0.01548173 -0.01226030 0.00496786
+v 0.01548044 -0.01234606 0.00519332
+v 0.01548044 -0.01304907 0.00779993
+v 0.01685038 -0.01224471 0.00881106
+v 0.01685373 -0.01224211 0.00881451
+v 0.01767502 -0.01211086 0.00860745
+v 0.01811533 -0.01167034 0.00905953
+v 0.01811533 -0.01121294 0.00647822
+v 0.01689500 -0.01136757 0.00496786
+v 0.01549179 -0.01225510 0.00496786
+v 0.01548044 -0.01297760 0.00648052
+v 0.01548044 -0.01236036 0.00522207
+v 0.01767502 -0.01211086 0.00818414
+v 0.01811533 -0.01175481 0.00782754
+v 0.01811533 -0.01173272 0.00772746
+v 0.01746480 -0.01200301 0.00729379
+v 0.01653388 -0.01227589 0.00648282
+v 0.01548663 -0.01297110 0.00647362
+v 0.01811533 -0.01174052 0.00774932
+v 0.01811533 -0.01175481 0.00779763
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 31
+f 1 31 45
+f 1 45 59
+f 1 59 65
+f 1 65 75
+f 1 75 74
+f 1 74 66
+f 1 66 60
+f 1 60 52
+f 1 52 51
+f 1 51 48
+f 1 48 47
+f 1 47 46
+f 1 46 36
+f 1 36 23
+f 1 23 35
+f 1 35 34
+f 1 34 21
+f 1 21 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 17 8
+f 7 15 18
+f 7 18 19
+f 7 19 16
+f 9 20 10
+f 10 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 13
+f 11 13 25
+f 11 25 12
+f 11 20 21
+f 12 25 13
+f 13 26 27
+f 13 27 14
+f 13 24 26
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 18
+f 16 30 31
+f 16 31 17
+f 16 19 30
+f 18 29 32
+f 18 32 19
+f 19 32 33
+f 19 33 30
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 36 24
+f 24 36 37
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+f 24 38 39
+f 24 39 26
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 57
+f 28 57 55
+f 28 55 54
+f 28 54 62
+f 28 62 70
+f 28 70 77
+f 28 77 83
+f 28 83 82
+f 28 82 78
+f 28 78 71
+f 28 71 63
+f 28 63 58
+f 28 58 42
+f 28 42 33
+f 28 33 32
+f 28 32 29
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 30 33 42
+f 31 44 43
+f 31 43 42
+f 31 42 58
+f 31 58 45
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 39 50 40
+f 40 50 49
+f 40 49 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 45 58 63
+f 45 63 72
+f 45 72 73
+f 45 73 64
+f 45 64 59
+f 48 51 49
+f 52 60 53
+f 53 60 61
+f 53 61 54
+f 54 61 62
+f 55 57 56
+f 59 64 65
+f 60 66 67
+f 60 67 68
+f 60 68 61
+f 61 68 62
+f 62 68 69
+f 62 69 70
+f 63 71 72
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 66 74 76
+f 66 76 69
+f 66 69 67
+f 67 69 68
+f 69 76 83
+f 69 83 77
+f 69 77 70
+f 71 78 79
+f 71 79 80
+f 71 80 72
+f 72 80 81
+f 72 81 73
+f 73 81 74
+f 74 81 79
+f 74 79 82
+f 74 82 83
+f 74 83 76
+f 78 82 79
+f 79 81 80
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_68.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0cc00f9401f74b61bdb599b8e9e2a3622239a7
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_68.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00115200 -0.00083670 -0.01402732
+v 0.00115200 -0.00116051 -0.01402732
+v 0.00115200 -0.00083670 -0.01418129
+v -0.00525135 -0.00083670 -0.01402732
+v 0.00008331 -0.00203330 -0.01402732
+v -0.00184409 -0.00083670 -0.01486833
+v -0.00525135 -0.00083670 -0.01513589
+v -0.00525135 -0.00203330 -0.01402732
+v -0.00044445 -0.00203330 -0.01411973
+v -0.00297169 -0.00083670 -0.01510061
+v -0.00296668 -0.00083670 -0.01509959
+v -0.00525135 -0.00203330 -0.01465780
+v -0.00458695 -0.00083670 -0.01518995
+v -0.00196757 -0.00203330 -0.01437442
+v -0.00316725 -0.00203330 -0.01456903
+v -0.00316537 -0.00083670 -0.01513202
+v -0.00450421 -0.00203330 -0.01465745
+v -0.00449982 -0.00203330 -0.01465723
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 10
+f 1 10 16
+f 1 16 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 8 12
+f 5 12 17
+f 5 17 18
+f 5 18 15
+f 5 15 14
+f 5 14 9
+f 7 13 12
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 12 13 17
+f 13 16 17
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_69.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e500be760c823b996ee830029452c8b1cc321e51
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 0.01423729 -0.00110878
+v -0.00525135 0.01484920 0.00001525
+v -0.00449696 0.01478293 0.00024813
+v -0.00449696 0.01423729 -0.00070411
+v -0.00525135 0.01423729 0.00446284
+v -0.00525135 0.01504703 0.00075206
+v -0.00450206 0.01478488 0.00024977
+v -0.00449696 0.01500976 0.00114365
+v -0.00449696 0.01423729 0.00426269
+v -0.00525135 0.01445994 0.00384329
+v -0.00525135 0.01514604 0.00114419
+v -0.00449696 0.01483488 0.00257146
+v -0.00449696 0.01478159 0.00272471
+v -0.00525135 0.01493148 0.00252892
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 13
+f 3 13 9
+f 3 9 4
+f 5 9 10
+f 6 11 8
+f 6 8 7
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 14 12
+f 12 14 13
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_70.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fda6fc60832add43d583154d9b2b88d6aace3fa
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01760595 0.00022621 0.00385801
+v 0.01760595 -0.00024663 0.00385801
+v 0.01760595 0.00022621 -0.01009579
+v 0.00470085 0.00022621 0.00385801
+v 0.00470085 -0.00024663 0.00385801
+v 0.01760595 -0.00024663 -0.01006750
+v 0.01694781 0.00022621 -0.01085420
+v 0.00470085 0.00022621 -0.01420255
+v 0.00470085 -0.00024663 -0.01383837
+v 0.01693138 -0.00024663 -0.01070217
+v 0.01556331 0.00022621 -0.01193968
+v 0.01151594 0.00022621 -0.01312592
+v 0.00484233 -0.00024663 -0.01381715
+v 0.01554815 -0.00024663 -0.01155251
+v 0.01418261 0.00022621 -0.01263975
+v 0.01284864 0.00022621 -0.01289432
+v 0.01153742 -0.00024663 -0.01266627
+v 0.00612576 -0.00024663 -0.01360147
+v 0.01511234 -0.00024663 -0.01174521
+v 0.01418261 0.00020422 -0.01261677
+v 0.01284864 -0.00024663 -0.01242230
+v 0.01418261 -0.00024663 -0.01214298
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 18
+f 2 18 17
+f 2 17 21
+f 2 21 22
+f 2 22 19
+f 2 19 14
+f 2 14 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 20 21
+f 15 21 16
+f 15 19 20
+f 16 21 17
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_71.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72505919a686373e5f30240128f1a103ed9f9484
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.01044708 -0.01416461 0.00460732
+v -0.01196318 -0.01416461 0.00440058
+v -0.01343511 -0.01479380 0.00325944
+v -0.01044708 -0.01417121 0.00459457
+v -0.01044708 -0.01416461 -0.00469670
+v -0.01251087 -0.01416461 0.00424758
+v -0.01251087 -0.01479569 0.00329313
+v -0.01387901 -0.01416461 0.00378402
+v -0.01432511 -0.01463623 0.00303540
+v -0.01386576 -0.01501971 0.00254542
+v -0.01251087 -0.01511774 0.00247803
+v -0.01044708 -0.01455941 0.00377491
+v -0.01044708 -0.01532244 -0.00282879
+v -0.01326119 -0.01474227 -0.00223136
+v -0.01373601 -0.01416461 -0.00274683
+v -0.01399274 -0.01416461 0.00373211
+v -0.01521346 -0.01416461 0.00301445
+v -0.01584950 -0.01416461 0.00257001
+v -0.01483692 -0.01490220 0.00214561
+v -0.01384478 -0.01531836 0.00114290
+v -0.01251087 -0.01540492 0.00114290
+v -0.01044708 -0.01488885 0.00240335
+v -0.01044708 -0.01549337 -0.00019041
+v -0.01044708 -0.01576940 -0.00153829
+v -0.01117586 -0.01563649 -0.00152554
+v -0.01251087 -0.01534208 -0.00152554
+v -0.01376141 -0.01491241 -0.00143082
+v -0.01415009 -0.01457857 -0.00181242
+v -0.01461939 -0.01416461 -0.00216760
+v -0.01608690 -0.01416461 0.00109645
+v -0.01554086 -0.01451448 0.00114290
+v -0.01487336 -0.01493409 0.00114290
+v -0.01384478 -0.01522253 -0.00019041
+v -0.01251087 -0.01554474 -0.00019041
+v -0.01454320 -0.01473285 -0.00092264
+v -0.01515439 -0.01416461 -0.00152008
+v -0.01518530 -0.01416461 -0.00144175
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 23
+f 1 23 24
+f 1 24 13
+f 1 13 5
+f 1 5 15
+f 1 15 29
+f 1 29 36
+f 1 36 37
+f 1 37 30
+f 1 30 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 4 7 12
+f 5 13 14
+f 5 14 15
+f 7 11 12
+f 8 16 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 16 17
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 22
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 24
+f 21 24 23
+f 24 34 25
+f 25 34 26
+f 26 34 33
+f 26 33 27
+f 27 33 35
+f 27 35 28
+f 28 36 29
+f 28 35 36
+f 30 32 31
+f 30 37 35
+f 30 35 32
+f 32 35 33
+f 35 37 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_74.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08190bb36cd0a26ff6bf5fb586da9a560f8c0259
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_74.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00470042 -0.01426502 0.00385801
+v 0.00470042 -0.01425433 0.00381325
+v 0.00488685 -0.01424482 0.00385801
+v 0.00470042 -0.00213318 0.00385801
+v 0.00470042 -0.01420563 0.00367248
+v 0.00484292 -0.01423770 0.00381325
+v 0.00622155 -0.01408329 0.00385801
+v 0.01566537 -0.00213199 0.00385801
+v 0.00470161 -0.00213080 0.00326160
+v 0.00470042 -0.00213318 0.00326160
+v 0.00470042 -0.01387424 0.00285092
+v 0.01284517 -0.01286108 0.00285092
+v 0.00617643 -0.01407379 0.00381325
+v 0.00755625 -0.01388849 0.00385801
+v 0.01683145 -0.00213199 0.00385801
+v 0.01566299 -0.00213080 0.00326160
+v 0.00470161 -0.00213080 0.00285092
+v 0.00470042 -0.01361768 0.00285092
+v 0.01421549 -0.01250237 0.00285092
+v 0.01284873 -0.01293828 0.00385801
+v 0.01164465 -0.01316158 0.00385801
+v 0.00911894 -0.01361768 0.00385801
+v 0.01683145 -0.00213199 0.00285092
+v 0.01683145 -0.01122552 0.00385801
+v 0.01566299 -0.00213080 0.00285092
+v 0.01683145 -0.01181703 0.00285092
+v 0.01421786 -0.01243942 0.00385801
+v 0.01614985 -0.01154503 0.00385801
+v 0.01683145 -0.01127778 0.00385653
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 28
+f 1 28 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 17
+f 4 17 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 12
+f 7 12 14
+f 8 15 16
+f 8 16 9
+f 9 16 25
+f 9 25 17
+f 10 17 18
+f 11 18 17
+f 11 17 25
+f 11 25 23
+f 11 23 26
+f 11 26 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 14
+f 15 23 25
+f 15 25 16
+f 15 24 29
+f 15 29 26
+f 15 26 23
+f 19 26 20
+f 20 26 27
+f 24 28 29
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_75.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9b7d25da333b7f8be0a622d65761a1802380b3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00645893 0.00453385 -0.01459997
+v -0.00755157 0.00453385 -0.01430428
+v -0.00645893 0.00864629 -0.01358109
+v -0.00645893 0.00453385 -0.00201373
+v -0.00755157 0.00903871 -0.01311170
+v -0.00755157 0.00453385 -0.00201373
+v -0.00755157 0.00962890 -0.01294291
+v -0.00645893 0.00927962 -0.01339752
+v -0.00645893 0.01452828 -0.00201373
+v -0.00755157 0.01519317 -0.00201373
+v -0.00755157 0.01026434 -0.01271745
+v -0.00745808 0.01030326 -0.01273593
+v -0.00707644 0.00990664 -0.01300451
+v -0.00645893 0.00994347 -0.01317453
+v -0.00717046 0.01496698 -0.00201373
+v -0.00645893 0.01501117 -0.00483504
+v -0.00755157 0.01527207 -0.00366339
+v -0.00732213 0.01505746 -0.00201373
+v -0.00645893 0.01504694 -0.00552989
+v -0.00755157 0.01036008 -0.01266078
+v -0.00656836 0.01066412 -0.01288747
+v -0.00645893 0.01056207 -0.01295646
+v -0.00755157 0.01528049 -0.00516152
+v -0.00645893 0.01497329 -0.00603132
+v -0.00755157 0.01096079 -0.01213718
+v -0.00645893 0.01067253 -0.01289856
+v -0.00755157 0.01118909 -0.01180207
+v -0.00755157 0.01489544 -0.00612742
+v -0.00755157 0.01514793 -0.00552989
+v -0.00645893 0.01480917 -0.00641941
+v -0.00717142 0.01477972 -0.00636520
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 26
+f 1 26 30
+f 1 30 24
+f 1 24 19
+f 1 19 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 17
+f 2 17 23
+f 2 23 29
+f 2 29 28
+f 2 28 27
+f 2 27 25
+f 2 25 20
+f 2 20 11
+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 15
+f 4 15 18
+f 4 18 10
+f 4 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 16 15
+f 10 18 16
+f 10 16 19
+f 10 19 17
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 15 16 18
+f 17 19 23
+f 19 24 23
+f 20 25 21
+f 21 26 22
+f 21 25 27
+f 21 27 28
+f 21 28 26
+f 23 24 29
+f 24 30 28
+f 24 28 29
+f 26 28 31
+f 26 31 30
+f 28 30 31
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_87.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48dbc11675d82cf71b5110938212cd344e92795a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_87.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.01044660 -0.00020694 0.01522615
+v -0.01085835 -0.00020694 0.01522888
+v -0.01044660 -0.00025096 0.01522615
+v -0.01044660 -0.00020694 -0.01267924
+v -0.01203992 -0.00020694 0.01499939
+v -0.01083668 -0.00025096 0.01522615
+v -0.01044660 -0.00089344 0.01499665
+v -0.01044660 -0.00089344 -0.01267924
+v -0.01396655 -0.00020694 -0.01268197
+v -0.01251254 -0.00069682 0.01480541
+v -0.01655258 -0.00020694 0.01410600
+v -0.01669809 -0.00089344 0.01394207
+v -0.01270861 -0.00089344 0.01472071
+v -0.01142798 -0.00089344 0.01493928
+v -0.01124429 -0.00089344 0.01496660
+v -0.01396655 -0.00089344 -0.01268197
+v -0.01495618 -0.00020694 -0.01268197
+v -0.01726772 -0.00020694 0.01395574
+v -0.01741838 -0.00037554 0.01388743
+v -0.01765986 -0.00089344 0.01370985
+v -0.01495618 -0.00089344 -0.01268197
+v -0.01850914 -0.00020694 -0.01267924
+v -0.01746379 -0.00020694 0.01390656
+v -0.01785489 -0.00089344 0.01366067
+v -0.01804477 -0.00089344 -0.01267924
+v -0.01819956 -0.00069789 -0.01267924
+v -0.02085267 -0.00020694 -0.01140063
+v -0.01778988 -0.00020694 0.01380274
+v -0.01799214 -0.00089344 0.01360330
+v -0.01805612 -0.00020694 0.01371531
+v -0.01811700 -0.00089344 -0.01264099
+v -0.02055960 -0.00089344 -0.01128588
+v -0.02056270 -0.00080366 -0.01132140
+v -0.02098889 -0.00089344 -0.01100448
+v -0.02098889 -0.00081945 -0.01103453
+v -0.02098889 -0.00076368 -0.01105639
+v -0.02098889 -0.00020694 -0.01123944
+v -0.01919744 -0.00089344 0.01309786
+v -0.01887858 -0.00020694 0.01336834
+v -0.02098889 -0.00089344 0.01163621
+v -0.02098889 -0.00020694 0.01181652
+v -0.01933882 -0.00089344 0.01301317
+v -0.01918403 -0.00069870 0.01314158
+v -0.01918300 -0.00020694 0.01321261
+v -0.01918403 -0.00020701 0.01321534
+v -0.02067002 -0.00089344 0.01196405
+v -0.02098889 -0.00069682 0.01169085
+v -0.02098889 -0.00039940 0.01176735
+v -0.02075567 -0.00020694 0.01205421
+v -0.02000649 -0.00089344 0.01261156
+v -0.01971961 -0.00020694 0.01289296
+v -0.02003022 -0.00069682 0.01262795
+v -0.02069685 -0.00069682 0.01198864
+v -0.02008801 -0.00020694 0.01266893
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 27
+f 1 27 37
+f 1 37 41
+f 1 41 49
+f 1 49 54
+f 1 54 51
+f 1 51 44
+f 1 44 39
+f 1 39 30
+f 1 30 28
+f 1 28 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 16
+f 4 16 9
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 6 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 20
+f 7 20 24
+f 7 24 29
+f 7 29 38
+f 7 38 42
+f 7 42 50
+f 7 50 46
+f 7 46 40
+f 7 40 34
+f 7 34 32
+f 7 32 31
+f 7 31 25
+f 7 25 21
+f 7 21 16
+f 7 16 8
+f 9 16 21
+f 9 21 17
+f 10 12 13
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 27 33 32
+f 27 32 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 29 30 38
+f 30 39 38
+f 34 40 47
+f 34 47 48
+f 34 48 41
+f 34 41 37
+f 34 37 36
+f 34 36 35
+f 38 39 43
+f 38 43 42
+f 39 44 45
+f 39 45 43
+f 40 46 47
+f 41 48 49
+f 42 43 50
+f 43 45 51
+f 43 51 52
+f 43 52 50
+f 44 51 45
+f 46 50 53
+f 46 53 47
+f 47 53 48
+f 48 53 49
+f 49 53 50
+f 49 50 52
+f 49 52 54
+f 51 54 52
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_92.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58b0c8c6dd0658611e123c487362ccefd11e032
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_92.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.02612159 -0.00285020 0.00052399
+v -0.02600498 -0.00327737 0.00052399
+v -0.02599424 -0.00327737 0.00058250
+v -0.02564593 -0.00327737 0.00247950
+v -0.02600651 -0.00285020 0.00114453
+v -0.01044908 -0.00285020 0.00052399
+v -0.01044908 -0.00327737 0.00052399
+v -0.02572572 -0.00285020 0.00247950
+v -0.02532370 -0.00327737 0.00378862
+v -0.01044754 -0.00285020 0.01113574
+v -0.01044754 -0.00327737 0.01113574
+v -0.02538201 -0.00285020 0.00379678
+v -0.02532216 -0.00327737 0.00379270
+v -0.02522089 -0.00285020 0.00441052
+v -0.01044754 -0.00285020 0.01442486
+v -0.01044754 -0.00327737 0.01427653
+v -0.02505364 -0.00327737 0.00440371
+v -0.02477591 -0.00327737 0.00503106
+v -0.02514110 -0.00285020 0.00459015
+v -0.01191137 -0.00285020 0.01426156
+v -0.01384627 -0.00309431 0.01396218
+v -0.01384627 -0.00327737 0.01389822
+v -0.02403786 -0.00327737 0.00623811
+v -0.02390436 -0.00285020 0.00668582
+v -0.02457184 -0.00285020 0.00556586
+v -0.01353939 -0.00285020 0.01407649
+v -0.01483444 -0.00289356 0.01389142
+v -0.01517661 -0.00327737 0.01370771
+v -0.02363891 -0.00327737 0.00683688
+v -0.02372177 -0.00285020 0.00695935
+v -0.01478380 -0.00285020 0.01390911
+v -0.01485745 -0.00285020 0.01389550
+v -0.01600673 -0.00285020 0.01367777
+v -0.01776056 -0.00327737 0.01324911
+v -0.01642716 -0.00327737 0.01350222
+v -0.02095675 -0.00327737 0.01081866
+v -0.02217968 -0.00285020 0.00925915
+v -0.02286403 -0.00285020 0.00824125
+v -0.01733860 -0.00285020 0.01341921
+v -0.01784956 -0.00285020 0.01330898
+v -0.01784956 -0.00327737 0.01322869
+v -0.02103501 -0.00285020 0.01093706
+v -0.02029082 -0.00327737 0.01165285
+v -0.01853237 -0.00285020 0.01305043
+v -0.01891444 -0.00327737 0.01282589
+v -0.02036754 -0.00285020 0.01171137
+v -0.01967245 -0.00327737 0.01232102
+v -0.01854925 -0.00285020 0.01304362
+v -0.01901111 -0.00327737 0.01278506
+v -0.01973689 -0.00285020 0.01238770
+v -0.01910471 -0.00285020 0.01280684
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 12
+f 1 12 14
+f 1 14 19
+f 1 19 25
+f 1 25 24
+f 1 24 30
+f 1 30 38
+f 1 38 37
+f 1 37 42
+f 1 42 46
+f 1 46 50
+f 1 50 51
+f 1 51 48
+f 1 48 44
+f 1 44 40
+f 1 40 39
+f 1 39 33
+f 1 33 32
+f 1 32 31
+f 1 31 26
+f 1 26 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 16
+f 2 16 22
+f 2 22 28
+f 2 28 35
+f 2 35 34
+f 2 34 41
+f 2 41 45
+f 2 45 49
+f 2 49 47
+f 2 47 43
+f 2 43 36
+f 2 36 29
+f 2 29 23
+f 2 23 18
+f 2 18 17
+f 2 17 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 8
+f 6 10 11
+f 6 11 7
+f 8 9 12
+f 9 13 14
+f 9 14 12
+f 10 15 16
+f 10 16 11
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 26 31 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 27 31 32
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 36 42 37
+f 36 43 42
+f 40 44 45
+f 40 45 41
+f 42 43 46
+f 43 47 46
+f 44 48 45
+f 45 48 49
+f 46 47 50
+f 47 49 50
+f 48 51 49
+f 49 51 50
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_94.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b020cfccbf3ec221c11ebd3434053e46a5812e32
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_94.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00755157 0.00506967 -0.01409423
+v -0.00887115 0.00432768 -0.01409423
+v -0.00755157 -0.00203457 -0.01409423
+v -0.00755157 0.00156554 -0.01565980
+v -0.00850612 0.00142506 -0.01559543
+v -0.00887115 0.00137082 -0.01557060
+v -0.00887115 -0.00203457 -0.01409423
+v -0.00755157 -0.00203457 -0.01477486
+v -0.00755157 0.00096262 -0.01565980
+v -0.00850612 0.00113021 -0.01559543
+v -0.00887115 0.00120740 -0.01557060
+v -0.00887115 -0.00203457 -0.01492644
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 3 7 12
+f 3 12 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 8 12 9
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_97.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655cf97217f0d3765775cb973c9125cf996a5fdd
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_97.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01006457 -0.01357931 -0.00941680
+v 0.01006457 -0.01357344 -0.00942595
+v 0.01080682 -0.01357931 -0.00927700
+v 0.01006457 -0.01357931 0.00118618
+v 0.01006457 -0.01354597 -0.00946776
+v 0.01080682 -0.01357931 0.00120970
+v 0.01006457 -0.01317858 -0.01001653
+v 0.01080682 -0.01334525 -0.00962586
+v 0.01006457 -0.01319727 0.00159122
+v 0.01080682 -0.01320972 0.00159384
+v 0.01080261 -0.01320972 0.00159384
+v 0.01006457 -0.01272622 -0.01029875
+v 0.01080682 -0.01241780 -0.01038760
+v 0.01080682 -0.01308555 -0.00993944
+v 0.01018017 -0.01319653 0.00159384
+v 0.01006457 -0.01316210 0.00159384
+v 0.01080682 -0.00983766 0.00159384
+v 0.01006457 -0.01252073 -0.01042680
+v 0.01018017 -0.01137498 -0.01098079
+v 0.01080682 -0.01182295 -0.01068158
+v 0.01006457 -0.00983766 0.00159384
+v 0.01080682 -0.00983766 -0.01166153
+v 0.01006457 -0.01138267 -0.01098994
+v 0.01006457 -0.00983766 -0.01175429
+v 0.01018017 -0.00983766 -0.01173992
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 24
+f 1 24 23
+f 1 23 18
+f 1 18 12
+f 1 12 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 14
+f 3 14 13
+f 3 13 20
+f 3 20 22
+f 3 22 17
+f 3 17 10
+f 3 10 6
+f 4 6 9
+f 6 10 11
+f 6 11 9
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 11 15
+f 9 15 16
+f 10 17 21
+f 10 21 16
+f 10 16 15
+f 10 15 11
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 17 22 25
+f 17 25 24
+f 17 24 21
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 20 25 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_99.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ece28ce1a55a62c3c178dec82d73358d595e54
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_99.obj
@@ -0,0 +1,372 @@
+# https://github.com/mikedh/trimesh
+v -0.01044653 -0.00143170 0.01484439
+v -0.02221963 -0.00143164 0.00996476
+v -0.02222125 -0.00143164 0.00996476
+v -0.01120619 -0.00143170 0.01480666
+v -0.01044653 -0.00203151 0.01470966
+v -0.01044653 -0.00143170 -0.01268197
+v -0.02221963 -0.00143164 -0.00996598
+v -0.02245399 -0.00143164 0.00971957
+v -0.02125147 -0.00143170 0.01121768
+v -0.02059687 -0.00143170 0.01189398
+v -0.01994065 -0.00143170 0.01256220
+v -0.01972568 -0.00143170 0.01269153
+v -0.01923433 -0.00143170 0.01297714
+v -0.01853771 -0.00143170 0.01327622
+v -0.01785401 -0.00143170 0.01356184
+v -0.01723659 -0.00143170 0.01372350
+v -0.01712506 -0.00143170 0.01375045
+v -0.01698445 -0.00143170 0.01378008
+v -0.01324757 -0.00143170 0.01450489
+v -0.01194160 -0.00143170 0.01471505
+v -0.01183654 -0.00143170 0.01472853
+v -0.01117709 -0.00203151 0.01462883
+v -0.01044653 -0.00207953 0.01469350
+v -0.01044653 -0.00207953 -0.01268197
+v -0.01712506 -0.00143170 -0.01268197
+v -0.01761965 -0.00143170 -0.01267927
+v -0.01792513 -0.00143170 -0.01251222
+v -0.02053868 -0.00143170 -0.01108147
+v -0.02154725 -0.00143170 -0.01046714
+v -0.02221478 -0.00143170 -0.00997137
+v -0.02285322 -0.00143164 -0.00930584
+v -0.02151654 -0.00207953 0.01063837
+v -0.02123530 -0.00154473 0.01120420
+v -0.02183010 -0.00143170 0.01050096
+v -0.02255097 -0.00143164 0.00957407
+v -0.02233439 -0.00203157 0.00953904
+v -0.02053706 -0.00201483 0.01180237
+v -0.01991802 -0.00162618 0.01254064
+v -0.01930706 -0.00207953 0.01282356
+v -0.01927474 -0.00207953 0.01284242
+v -0.01853771 -0.00207953 0.01316036
+v -0.01785078 -0.00203145 0.01345675
+v -0.01712506 -0.00206094 0.01361033
+v -0.01658037 -0.00207953 0.01372350
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