diff --git a/.gitattributes b/.gitattributes
index 4bf199e87ab25d075164c7137a6b3336c1557b0c..2b303fe7d0d6b7f53077ce5772348368def38bfc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -153,3 +153,4 @@ new_box_of_baking_mix/new_box_of_baking_mix_5/visual/qkvqkm__base_link__ior.exr
 new_bottle_of_shampoo/new_bottle_of_shampoo_3/visual/stjjjm__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_shampoo/new_bottle_of_shampoo_2/visual/lvvkhx__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_cologne/new_bottle_of_cologne_0/visual/lyipur__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+new_gingerbread/new_gingerbread_0/visual/hxkcxs__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_106.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9d1de906efefcbc7bc562203c6dcf40a054dad
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.02868927 0.01648167 0.04208962
+v -0.03017454 0.01648167 0.04464585
+v -0.03120952 0.00971901 0.04464585
+v -0.03145370 0.00881116 0.04464585
+v -0.03177853 0.00881191 0.04208962
+v -0.03623880 0.01648167 0.04208962
+v -0.03745188 0.01648167 0.04464585
+v -0.03177965 0.00881116 0.04209112
+v -0.04013230 0.00881116 0.04464585
+v -0.03181101 0.00881116 0.04208962
+v -0.03778343 0.01248234 0.04208962
+v -0.03809706 0.01242377 0.04258810
+v -0.03635753 0.01648167 0.04229357
+v -0.03881617 0.01324076 0.04464585
+v -0.03991388 0.01038431 0.04464585
+v -0.03991388 0.01037980 0.04463934
+v -0.04005837 0.00881116 0.04434330
+v -0.03879937 0.00881116 0.04208962
+v -0.03923397 0.00881116 0.04280431
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 11
+f 1 11 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 17
+f 4 17 19
+f 4 19 18
+f 4 18 10
+f 4 10 8
+f 5 8 10
+f 6 11 12
+f 6 12 13
+f 7 13 14
+f 9 15 16
+f 9 16 17
+f 11 18 19
+f 11 19 16
+f 11 16 12
+f 12 16 14
+f 12 14 13
+f 14 16 15
+f 16 19 17
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_114.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35af70163fb5f7ed858f1afcb625a02e497398b9
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02722489 -0.03889410 -0.00791941
+v 0.02684408 -0.03821315 -0.00791941
+v 0.02722489 -0.03889317 -0.01001495
+v 0.02722489 -0.03889410 0.00883707
+v 0.02684472 -0.03821315 -0.01001495
+v 0.02684408 -0.03821315 0.00883707
+v 0.02722489 -0.03838940 -0.01211048
+v 0.02722489 -0.03889396 0.00963068
+v 0.02714717 -0.03821315 -0.01211048
+v 0.02722489 -0.03889203 0.01093261
+v 0.02684591 -0.03821315 0.01093261
+v 0.02722489 -0.03821315 -0.01236983
+v 0.02722489 -0.03883204 0.01172362
+v 0.02722489 -0.03848106 0.01336529
+v 0.02722489 -0.03826588 0.01398254
+v 0.02722489 -0.03821315 0.01412000
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 16
+f 2 16 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 6 10 11
+f 7 9 12
+f 10 13 11
+f 11 13 14
+f 11 14 15
+f 11 15 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_117.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f0e4dfee643c34c6599206837182baf06fa1c5
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02831727 -0.01665231 0.04629128
+v -0.02722412 -0.01814456 0.04629128
+v -0.02725558 -0.01836817 0.04344072
+v -0.02976889 -0.01665231 0.04344072
+v -0.03818167 -0.01665231 0.04629128
+v -0.02420597 -0.02226471 0.04629128
+v -0.02536206 -0.02226471 0.04344072
+v -0.03685730 -0.01665231 0.04344072
+v -0.03730468 -0.01665231 0.04440365
+v -0.03637160 -0.01777754 0.04344072
+v -0.03772471 -0.01770831 0.04629128
+v -0.03545631 -0.02226471 0.04629128
+v -0.03404574 -0.02226471 0.04344072
+v -0.03531676 -0.02019612 0.04344072
+v -0.03511427 -0.02124168 0.04398566
+v -0.03717882 -0.01896320 0.04629128
+v -0.03739498 -0.01846652 0.04629128
+v -0.03560133 -0.02203615 0.04629128
+v -0.03485021 -0.02226471 0.04488721
+v -0.03430432 -0.02226471 0.04390474
+v -0.03439599 -0.02179660 0.04344072
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 17
+f 1 17 16
+f 1 16 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 21
+f 3 21 14
+f 3 14 10
+f 3 10 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 19
+f 6 19 20
+f 6 20 13
+f 6 13 7
+f 8 10 9
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 15
+f 12 15 19
+f 13 20 21
+f 14 21 15
+f 15 18 16
+f 15 21 20
+f 15 20 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_120.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8888200bbfc4e89e5406aee1b0e4669e3bdc236
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00398058 -0.01468509 0.08852712
+v 0.00398058 -0.01468205 0.08854627
+v 0.00398058 -0.01295828 0.08466703
+v 0.01233138 -0.01115851 0.08543896
+v 0.01234297 -0.01117979 0.08852712
+v 0.01233911 -0.01117675 0.08854627
+v 0.00398058 0.01564961 0.08854627
+v 0.00398058 -0.01208576 0.08410309
+v 0.00741338 -0.01078153 0.08410091
+v 0.01059114 -0.00931009 0.08410091
+v 0.01699046 -0.00534876 0.08581056
+v 0.01699046 -0.00534876 0.08673131
+v 0.01497200 -0.00740999 0.08854627
+v 0.00402695 0.01564961 0.08854627
+v 0.00399217 0.01636709 0.08410091
+v 0.00398058 0.01636405 0.08410091
+v 0.00398058 -0.01177262 0.08410091
+v 0.00712227 -0.01089097 0.08410091
+v 0.01178136 -0.00741607 0.08410091
+v 0.01278866 -0.00565582 0.08410091
+v 0.01369033 -0.00256702 0.08410091
+v 0.01713988 -0.00256702 0.08566392
+v 0.01713988 -0.00256702 0.08753501
+v 0.01685264 -0.00256702 0.08854627
+v 0.01509823 -0.00714550 0.08854627
+v 0.00637517 0.01549761 0.08854627
+v 0.00427169 0.01632149 0.08410091
+v 0.00679638 0.01564050 0.08694453
+v 0.01368003 -0.00179786 0.08410091
+v 0.01709995 0.00163448 0.08570656
+v 0.01709995 0.00163448 0.08728002
+v 0.01679081 -0.00024130 0.08854627
+v 0.00909952 0.01295603 0.08854627
+v 0.00679638 0.01564050 0.08559343
+v 0.00783717 0.01261858 0.08410091
+v 0.00914331 0.01292259 0.08849970
+v 0.01193206 0.01050567 0.08661513
+v 0.01352288 0.00263469 0.08410091
+v 0.01638248 0.00292655 0.08854627
+v 0.01351257 0.00291743 0.08410091
+v 0.01273198 0.00468680 0.08410091
+v 0.01109479 0.00776040 0.08410091
+v 0.01313387 0.00774824 0.08540676
+v 0.01193206 0.01050567 0.08583928
+v 0.01345590 0.00796105 0.08841181
+v 0.01645075 0.00280190 0.08854627
+v 0.00912785 0.01292563 0.08854627
+v 0.01168346 0.01012261 0.08854627
+v 0.01441811 0.00630721 0.08854627
+v 0.01329488 0.00811306 0.08854627
+f 1 2 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 13
+f 2 13 25
+f 2 25 24
+f 2 24 32
+f 2 32 46
+f 2 46 39
+f 2 39 49
+f 2 49 50
+f 2 50 48
+f 2 48 47
+f 2 47 33
+f 2 33 26
+f 2 26 14
+f 2 14 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 27
+f 9 27 35
+f 9 35 42
+f 9 42 41
+f 9 41 40
+f 9 40 38
+f 9 38 29
+f 9 29 21
+f 9 21 20
+f 9 20 19
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 26 15
+f 15 26 28
+f 15 28 27
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 26 33 28
+f 27 28 34
+f 27 34 35
+f 28 33 36
+f 28 36 37
+f 28 37 44
+f 28 44 34
+f 29 38 30
+f 30 39 31
+f 30 38 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 39
+f 31 39 46
+f 31 46 32
+f 33 47 37
+f 33 37 36
+f 34 44 35
+f 35 44 43
+f 35 43 42
+f 37 48 45
+f 37 45 44
+f 37 47 48
+f 39 45 49
+f 45 48 50
+f 45 50 49
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_123.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7d8d184f231bc29b431db2e2da3473cb569a6f
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.03107548 -0.00943274 0.03171205
+v -0.02257210 -0.00943274 0.03171205
+v -0.02937480 -0.00943274 0.02884151
+v -0.02863323 -0.01289233 0.02884151
+v -0.02810259 -0.01513617 0.02884151
+v -0.02724236 -0.01839014 0.02884151
+v -0.02992686 -0.01289233 0.03171205
+v -0.02217989 -0.00943274 0.03135906
+v -0.01424175 -0.02078969 0.03171205
+v -0.02138722 -0.00943274 0.02884151
+v -0.01846872 -0.01388848 0.02884122
+v -0.01846872 -0.02557682 0.02884122
+v -0.01817703 -0.02624358 0.02884122
+v -0.01700370 -0.02859722 0.02884122
+v -0.02214363 -0.02350466 0.02884151
+v -0.02253419 -0.02389793 0.03171205
+v -0.02291981 -0.02346074 0.03171205
+v -0.02715337 -0.01824241 0.03171205
+v -0.02184535 -0.00943274 0.03030066
+v -0.01424175 -0.01942821 0.03057412
+v -0.01424175 -0.01936034 0.03051622
+v -0.01424175 -0.02982295 0.03171205
+v -0.01424175 -0.01909683 0.02884122
+v -0.01845059 -0.01390246 0.02884122
+v -0.01424175 -0.01926452 0.02991227
+v -0.01424175 -0.02931788 0.02884122
+v -0.01685209 -0.02850938 0.03171205
+v -0.02209749 -0.02427723 0.03171205
+f 1 2 8
+f 1 8 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 17
+f 1 17 16
+f 1 16 28
+f 1 28 27
+f 1 27 22
+f 1 22 9
+f 1 9 2
+f 2 9 8
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 9 20
+f 8 20 21
+f 8 21 19
+f 9 22 26
+f 9 26 23
+f 9 23 25
+f 9 25 21
+f 9 21 20
+f 10 23 24
+f 10 24 11
+f 10 19 21
+f 10 21 25
+f 10 25 23
+f 11 24 23
+f 11 23 26
+f 11 26 14
+f 11 14 13
+f 11 13 12
+f 14 26 22
+f 14 22 27
+f 14 27 28
+f 14 28 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_125.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a604c9b889c89f20154e7f1c0bf9cbabb10cbddc
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02989004 -0.03362229 -0.00730565
+v 0.02989004 -0.03240226 -0.00730565
+v 0.03045354 -0.03362229 -0.00730565
+v 0.02989004 -0.03362229 0.01515819
+v 0.03045354 -0.03240226 -0.00730565
+v 0.02989004 -0.03240226 0.01515819
+v 0.03045354 -0.03362229 0.01515819
+v 0.03045354 -0.03240226 0.01515819
+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_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_130.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8cd4357dd696b719dd550d717e3bd046e51b0
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.04007439 0.04545631 -0.03127226
+v 0.04115531 0.04500413 -0.03127226
+v 0.04079901 0.04515350 -0.04121922
+v 0.04007439 0.04545631 -0.04121922
+v 0.02975744 0.04539792 -0.03127421
+v 0.03088484 0.04540335 -0.03127226
+v 0.04501943 0.04338551 -0.03127226
+v 0.04501943 0.04338551 -0.04121922
+v 0.02975744 0.04539792 -0.04121922
+v 0.02975744 0.03491631 -0.03127226
+v 0.04686284 0.03973005 -0.03127226
+v 0.04734134 0.03870620 -0.03127226
+v 0.04720708 0.03870620 -0.03530421
+v 0.04663908 0.03939194 -0.04121922
+v 0.02975744 0.03496519 -0.04121922
+v 0.02975744 0.03490273 -0.03127226
+v 0.04733789 0.03467732 -0.03127226
+v 0.04689727 0.03870620 -0.04121922
+v 0.02975744 0.03492310 -0.03530421
+v 0.03931877 0.03367111 -0.04121922
+v 0.04007439 0.03158538 -0.03683481
+v 0.03668188 0.03158538 -0.03525455
+v 0.03582988 0.03158538 -0.03458661
+v 0.03538753 0.03158538 -0.03186619
+v 0.03529114 0.03158538 -0.03127226
+v 0.04696784 0.03158538 -0.03127226
+v 0.04601945 0.03158538 -0.03388753
+v 0.04488001 0.03516887 -0.04121922
+v 0.04007439 0.03362766 -0.04121922
+v 0.04009676 0.03158538 -0.03683189
+v 0.04523630 0.03158538 -0.03549310
+v 0.04453232 0.03466374 -0.04121922
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 10
+f 1 10 16
+f 1 16 25
+f 1 25 26
+f 1 26 17
+f 1 17 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 8 14
+f 3 14 18
+f 3 18 28
+f 3 28 32
+f 3 32 29
+f 3 29 20
+f 3 20 15
+f 3 15 9
+f 3 9 4
+f 3 7 8
+f 5 9 15
+f 5 15 19
+f 5 19 16
+f 5 16 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 19
+f 16 19 25
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 27
+f 21 27 26
+f 21 26 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 27 31 28
+f 28 31 32
+f 29 32 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_139.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46467c3d4ded29f423e0e7a207cebbb14ebfc6ab
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02579508 0.02407435 0.01372302
+v 0.02579508 0.02407435 0.00069428
+v 0.02420320 0.02407435 0.01328558
+v 0.02579508 0.00638284 0.01372302
+v 0.02139739 0.02407435 0.00069428
+v 0.02579508 0.00638284 0.00069428
+v 0.02418856 0.02407435 0.01328048
+v 0.02420320 0.00638284 0.01328558
+v 0.02141590 0.02407435 0.00883852
+v 0.02139739 0.00638284 0.00069428
+v 0.02233668 0.02407435 0.01263007
+v 0.02233668 0.00638284 0.01263007
+v 0.02146626 0.02407435 0.01091730
+v 0.02141590 0.00638284 0.00883852
+v 0.02232979 0.02407435 0.01261731
+v 0.02146669 0.00638284 0.01093388
+v 0.02146669 0.02407435 0.01093388
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 15
+f 1 15 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 7 8
+f 4 8 12
+f 4 12 16
+f 4 16 14
+f 4 14 10
+f 4 10 6
+f 5 10 14
+f 5 14 9
+f 7 11 12
+f 7 12 8
+f 9 14 13
+f 11 15 12
+f 12 15 16
+f 13 14 16
+f 13 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_153.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebbdc7402035431446b249157e168edf4cb6f9d
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_153.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03293659 -0.00227381 0.03171205
+v -0.03277039 -0.00245096 0.02884122
+v -0.03275400 -0.00265097 0.02884122
+v -0.03250821 -0.00552728 0.02884122
+v -0.03289328 -0.00277478 0.03171205
+v -0.03293542 0.00229400 0.03171205
+v -0.03277039 0.00247115 0.02884122
+v -0.03181881 -0.00774261 0.02884122
+v -0.03161516 -0.00774641 0.03171205
+v -0.03161516 0.00776661 0.03171205
+v -0.03181881 0.00776470 0.02884122
+v -0.02992855 -0.00909885 0.02884122
+v -0.03107675 -0.00942839 0.03171205
+v -0.03129680 -0.00876741 0.03171205
+v -0.03152035 0.00809043 0.03171205
+v -0.03091172 0.01003146 0.03171205
+v -0.02918649 0.01003146 0.02884122
+v -0.02937727 -0.00942839 0.02884122
+v -0.02257114 -0.00942839 0.03171205
+v -0.02230077 0.01003146 0.03171205
+v -0.02097933 0.01003146 0.02884122
+v -0.02138665 -0.00942839 0.02884122
+v -0.02217787 -0.00942839 0.03135906
+v -0.02206434 0.01003146 0.03148384
+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 19
+f 1 19 20
+f 1 20 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 21
+f 2 21 22
+f 2 22 18
+f 2 18 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 13
+f 13 18 22
+f 13 22 23
+f 13 23 19
+f 16 20 24
+f 16 24 21
+f 16 21 17
+f 19 23 20
+f 20 23 24
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_182.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41271aebc49347dfcd1a283d1275abea073c6933
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_182.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01799885 0.02831236 0.00047483
+v 0.01621856 0.02833795 0.00047483
+v 0.01799885 0.03647966 0.00047483
+v 0.01799885 0.02833076 0.00883870
+v 0.01621856 0.03647966 0.00047483
+v 0.01621856 0.02835714 0.00883870
+v 0.01799885 0.03647966 0.00883870
+v 0.01799885 0.02833955 0.01093437
+v 0.01621856 0.02836274 0.01093437
+v 0.01621856 0.03647966 0.00883870
+v 0.01799885 0.03647486 0.01093437
+v 0.01799885 0.02883926 0.01253870
+v 0.01621856 0.02884886 0.01253870
+v 0.01621856 0.03647486 0.01093437
+v 0.01799885 0.03605830 0.01244094
+v 0.01799885 0.03037757 0.01318671
+v 0.01621856 0.03037757 0.01318671
+v 0.01621856 0.03604151 0.01250110
+v 0.01799885 0.03604151 0.01250110
+v 0.01799885 0.03045833 0.01319047
+v 0.01621856 0.03077335 0.01320425
+v 0.01621856 0.03484540 0.01302753
+v 0.01799885 0.03456716 0.01314911
+v 0.01799885 0.03247237 0.01327946
+v 0.01621856 0.03247237 0.01327946
+v 0.01621856 0.03456716 0.01314911
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 13
+f 2 13 17
+f 2 17 21
+f 2 21 25
+f 2 25 26
+f 2 26 22
+f 2 22 18
+f 2 18 14
+f 2 14 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 4 9 6
+f 7 10 14
+f 7 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_183.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6dc58cddf007da153d5a4b0ec6ea2d496be9141
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_183.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.04358261 -0.01597571 0.07185028
+v -0.04320250 -0.01805211 0.07185028
+v -0.03561570 -0.01597571 0.07185028
+v -0.04219208 -0.01502289 0.06760479
+v -0.04203927 -0.01502289 0.06320873
+v -0.04177759 -0.02246230 0.07185028
+v -0.03478292 -0.01502289 0.06320873
+v -0.03572267 -0.01502289 0.06760479
+v -0.02407124 -0.03103767 0.07185028
+v -0.04087604 -0.01847284 0.06320873
+v -0.03911877 -0.02202920 0.06320873
+v -0.03864699 -0.02283353 0.06320873
+v -0.03606075 -0.02689229 0.06320873
+v -0.03582008 -0.02724620 0.06320873
+v -0.03718005 -0.02837225 0.07185028
+v -0.04050931 -0.01930192 0.06320873
+v -0.02511223 -0.02853560 0.06320873
+v -0.02407124 -0.04030105 0.07185028
+v -0.02407124 -0.03063180 0.06760733
+v -0.03379541 -0.02982499 0.06320873
+v -0.03230937 -0.03367339 0.07185028
+v -0.02407124 -0.03066397 0.06760564
+v -0.02511223 -0.03766286 0.06320873
+v -0.02700320 -0.03853648 0.07185028
+v -0.02407124 -0.03851173 0.06760564
+v -0.03145939 -0.03232460 0.06320873
+v -0.03121872 -0.03257951 0.06320873
+v -0.03096278 -0.03281957 0.06320873
+v -0.02845103 -0.03516078 0.06320873
+v -0.02551334 -0.03741290 0.06320873
+v -0.02587053 -0.03717036 0.06320873
+f 1 2 6
+f 1 6 15
+f 1 15 21
+f 1 21 24
+f 1 24 18
+f 1 18 9
+f 1 9 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 9 7
+f 4 8 7
+f 4 7 5
+f 5 7 17
+f 5 17 23
+f 5 23 30
+f 5 30 31
+f 5 31 29
+f 5 29 28
+f 5 28 27
+f 5 27 26
+f 5 26 20
+f 5 20 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 16
+f 5 16 10
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 10 16
+f 6 16 11
+f 7 9 17
+f 9 18 25
+f 9 25 22
+f 9 22 19
+f 9 19 17
+f 14 20 15
+f 15 20 21
+f 17 19 22
+f 17 22 25
+f 17 25 23
+f 18 24 23
+f 18 23 25
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 24
+f 23 24 30
+f 24 29 31
+f 24 31 30
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_205.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5340da98e853aad8102b34fba5916b329441a66
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_205.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03394090 -0.01814224 0.01515819
+v 0.03274354 -0.01814224 0.01515819
+v 0.03394090 -0.02839448 0.01515819
+v 0.03394090 -0.01814224 0.00787928
+v 0.03274354 -0.01814224 0.00787928
+v 0.03274354 -0.02839448 0.01515819
+v 0.03394090 -0.02839448 0.00787928
+v 0.03274354 -0.02839448 0.00787928
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_219.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e67c745067975b5fa7a53fc3d209f03c577b0d
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_219.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02826832 -0.01054898 0.02511986
+v 0.02826832 -0.01054898 0.01515819
+v 0.02733121 -0.01054898 0.02457380
+v 0.02826832 -0.03666161 0.02511986
+v 0.02722489 -0.01054898 0.01515819
+v 0.02826832 -0.03996456 0.01515819
+v 0.02727483 -0.01054898 0.02350411
+v 0.02733121 -0.03666161 0.02457380
+v 0.02733622 -0.03779907 0.02456698
+v 0.02826832 -0.03679695 0.02511791
+v 0.02722489 -0.01054898 0.01720396
+v 0.02722489 -0.03781059 0.01515819
+v 0.02826832 -0.03996456 0.02140958
+v 0.02749514 -0.03922449 0.01515819
+v 0.02725267 -0.01054898 0.02238567
+v 0.02727483 -0.03666161 0.02350411
+v 0.02731048 -0.03801216 0.02350411
+v 0.02753743 -0.03905747 0.02350411
+v 0.02826832 -0.03860825 0.02495897
+v 0.02826832 -0.03859385 0.02497262
+v 0.02723336 -0.01054898 0.02140958
+v 0.02722489 -0.03247173 0.01720396
+v 0.02728678 -0.03817918 0.01515819
+v 0.02728974 -0.03817918 0.02140958
+v 0.02723336 -0.03666161 0.02140958
+v 0.02722489 -0.03666161 0.01715813
+v 0.02826832 -0.03985226 0.02350411
+v 0.02749514 -0.03922449 0.02140958
+v 0.02722489 -0.03456811 0.01720201
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 12
+f 2 12 5
+f 3 7 16
+f 3 16 8
+f 4 8 9
+f 4 9 10
+f 5 12 26
+f 5 26 29
+f 5 29 22
+f 5 22 11
+f 6 13 28
+f 6 28 14
+f 7 15 16
+f 8 16 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 16 17
+f 11 22 25
+f 11 25 21
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 13 27 28
+f 14 28 23
+f 15 21 25
+f 15 25 16
+f 16 25 17
+f 17 24 28
+f 17 28 18
+f 17 25 24
+f 18 28 27
+f 18 27 19
+f 22 29 25
+f 23 28 24
+f 25 29 26
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_222.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411393ca93f49283541a9d92948adc6e3d2c8e7b
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_222.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.03624850 -0.05037230 -0.07658289
+v 0.04752845 -0.05160029 -0.07918473
+v 0.04007680 -0.05091097 -0.07658289
+v 0.04665402 -0.05165506 -0.07387863
+v 0.03624850 -0.04905530 -0.07212797
+v 0.03624850 -0.04892292 -0.07951806
+v 0.04673171 -0.05165278 -0.07658289
+v 0.04415471 -0.05144279 -0.07658289
+v 0.03624850 -0.04832491 -0.08054507
+v 0.04007680 -0.04858739 -0.08055763
+v 0.04557793 -0.04943420 -0.08029967
+v 0.04786235 -0.05160029 -0.07918473
+v 0.04802434 -0.05165506 -0.07387863
+v 0.04526386 -0.05008014 -0.07212797
+v 0.04007680 -0.04953234 -0.07212797
+v 0.03624850 -0.03206440 -0.07212797
+v 0.04800781 -0.05165278 -0.07658289
+v 0.03624850 -0.04506778 -0.08159818
+v 0.04007680 -0.04384437 -0.08197594
+v 0.04523245 -0.04384437 -0.08197981
+v 0.04990709 -0.04856000 -0.07977409
+v 0.05058977 -0.04929953 -0.07658289
+v 0.05301304 -0.04654227 -0.07922048
+v 0.04969550 -0.04833632 -0.07212797
+v 0.05307420 -0.04669749 -0.07383709
+v 0.03671960 -0.03134085 -0.07212797
+v 0.03754609 -0.02833937 -0.07212894
+v 0.03624850 -0.02833937 -0.07479068
+v 0.03624850 -0.04384437 -0.08196338
+v 0.03624850 -0.04001890 -0.08199237
+v 0.03624850 -0.03869049 -0.08199816
+v 0.04007680 -0.03869049 -0.08199816
+v 0.04523245 -0.03869049 -0.08198657
+v 0.05039306 -0.04384437 -0.08062333
+v 0.05308081 -0.04672031 -0.07658289
+v 0.05300973 -0.04384437 -0.07921372
+v 0.05313371 -0.04384437 -0.07658289
+v 0.05169561 -0.04384437 -0.07212797
+v 0.05309569 -0.04384437 -0.07378975
+v 0.05055506 -0.03134085 -0.07212797
+v 0.05028231 -0.02833937 -0.07212894
+v 0.03624850 -0.02833937 -0.07706306
+v 0.03624850 -0.03134085 -0.08199816
+v 0.04007680 -0.03134085 -0.08199816
+v 0.04459605 -0.03804683 -0.08198850
+v 0.04523245 -0.03804683 -0.08198657
+v 0.05297833 -0.04117156 -0.07917024
+v 0.04523080 -0.02833937 -0.08197787
+v 0.04981782 -0.02833937 -0.08055956
+v 0.05302461 -0.04061463 -0.07658289
+v 0.05303287 -0.04049366 -0.07388636
+v 0.05167247 -0.03896895 -0.07212797
+v 0.05199315 -0.02833937 -0.07658192
+v 0.03624850 -0.02834850 -0.08199719
+v 0.04004870 -0.02833937 -0.08199719
+v 0.04007680 -0.02833937 -0.08199719
+v 0.04520270 -0.02833937 -0.08197883
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 28
+f 1 28 42
+f 1 42 54
+f 1 54 43
+f 1 43 31
+f 1 31 30
+f 1 30 29
+f 1 29 18
+f 1 18 9
+f 1 9 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 17
+f 2 17 7
+f 3 8 4
+f 4 7 17
+f 4 17 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 8 7
+f 5 15 14
+f 5 14 24
+f 5 24 38
+f 5 38 52
+f 5 52 40
+f 5 40 26
+f 5 26 16
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 22 17
+f 12 21 23
+f 12 23 22
+f 13 24 14
+f 13 17 22
+f 13 22 25
+f 13 25 24
+f 16 26 27
+f 16 27 28
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 23
+f 22 23 35
+f 22 35 25
+f 23 34 36
+f 23 36 37
+f 23 37 35
+f 24 25 38
+f 25 37 39
+f 25 39 38
+f 25 35 37
+f 26 40 41
+f 26 41 27
+f 27 41 53
+f 27 53 49
+f 27 49 48
+f 27 48 57
+f 27 57 56
+f 27 56 55
+f 27 55 42
+f 27 42 28
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 47 36
+f 34 46 48
+f 34 48 49
+f 34 49 47
+f 36 47 37
+f 37 47 50
+f 37 50 51
+f 37 51 39
+f 38 39 52
+f 39 51 52
+f 40 52 41
+f 41 52 51
+f 41 51 53
+f 42 55 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 45
+f 45 56 46
+f 46 56 57
+f 46 57 48
+f 47 49 53
+f 47 53 50
+f 50 53 51
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_225.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4cb83d7718126a03187d9c94187447251fb4bb8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_225.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.02884377 0.02744189 0.06320873
+v 0.02884377 0.02828018 0.06688801
+v 0.02884377 0.03683803 0.06320873
+v 0.03731463 0.01491731 0.06320873
+v 0.02884377 0.02833419 0.06712345
+v 0.02884377 0.03698927 0.06760553
+v 0.03108050 0.03507072 0.06320873
+v 0.04466791 0.01491731 0.06320873
+v 0.03829486 0.01491731 0.06760553
+v 0.02884377 0.02845950 0.06760553
+v 0.03115855 0.03513553 0.06760553
+v 0.03130995 0.03499510 0.06760553
+v 0.03359976 0.03273087 0.06320873
+v 0.04478966 0.01491731 0.06760553
+v 0.04364866 0.01790532 0.06320873
+v 0.04362525 0.01854483 0.06760553
+v 0.03392285 0.03255586 0.06760553
+v 0.03385730 0.03249105 0.06320873
+v 0.04251859 0.02044178 0.06320873
+v 0.04361744 0.01856212 0.06760553
+v 0.03393690 0.03254074 0.06760553
+v 0.03636094 0.02992866 0.06760553
+v 0.03643742 0.02969964 0.06320873
+v 0.04259195 0.02058437 0.06572155
+v 0.04115751 0.02280540 0.06320873
+v 0.04141505 0.02279892 0.06760553
+v 0.03650142 0.02977526 0.06760553
+v 0.03661380 0.02963483 0.06760553
+v 0.03855397 0.02719559 0.06760553
+v 0.03846344 0.02711781 0.06320873
+v 0.04093430 0.02318997 0.06320873
+v 0.04140412 0.02281836 0.06760553
+v 0.03857114 0.02716967 0.06760553
+v 0.03874283 0.02669003 0.06320873
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 18
+f 1 18 23
+f 1 23 30
+f 1 30 34
+f 1 34 31
+f 1 31 25
+f 1 25 19
+f 1 19 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 14
+f 4 14 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 6 10 9
+f 6 9 14
+f 6 14 16
+f 6 16 20
+f 6 20 26
+f 6 26 32
+f 6 32 33
+f 6 33 29
+f 6 29 28
+f 6 28 27
+f 6 27 22
+f 6 22 21
+f 6 21 17
+f 6 17 12
+f 6 12 11
+f 7 11 12
+f 7 12 13
+f 8 15 16
+f 8 16 14
+f 12 17 18
+f 12 18 13
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 20
+f 19 25 24
+f 20 24 26
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 24 25 31
+f 24 31 32
+f 24 32 26
+f 29 33 30
+f 30 33 34
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_233.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25bac48b633a43042492f146470839209cf441de
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_233.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03405997 0.02771602 -0.00123311
+v -0.03265411 0.02771602 -0.00123311
+v -0.03405997 0.02771602 0.00047433
+v -0.03405997 0.03648045 -0.00123311
+v -0.03398548 0.02771602 0.00047466
+v -0.03105246 0.02779066 -0.00123311
+v -0.03405997 0.03597171 0.00047466
+v -0.03405997 0.03648045 0.00047466
+v -0.03105246 0.03648045 -0.00123311
+v -0.03105246 0.02832857 0.00047466
+v -0.03105246 0.03648045 0.00047466
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 5 7
+f 4 8 11
+f 4 11 9
+f 5 6 10
+f 5 10 11
+f 5 11 8
+f 5 8 7
+f 6 9 11
+f 6 11 10
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_238.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a544b5264366375c17302af8964aa71197dd355e
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_238.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03072082 0.02839526 -0.07612327
+v 0.03072082 -0.00031324 -0.07614571
+v 0.03072082 0.02839526 -0.08199816
+v -0.02561771 0.02839526 -0.07630156
+v -0.02561771 -0.00031324 -0.07631652
+v 0.03072082 -0.00031324 -0.08199816
+v -0.02561771 0.02839526 -0.08199816
+v -0.02561771 -0.00031324 -0.08199816
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_252.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a6001171d81ab56367f722fa5a77b2f8808568
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_252.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03409196 0.00000236 -0.00140020
+v -0.03234493 0.00000236 -0.00240275
+v -0.04294227 0.00000236 -0.00140020
+v -0.03409196 -0.01363322 -0.00140020
+v -0.03234493 0.00000236 -0.01370922
+v -0.03234493 -0.01388608 -0.00240275
+v -0.04294227 0.00000236 -0.01001470
+v -0.04294227 -0.01388608 -0.00140020
+v -0.03530264 -0.01388608 -0.00140020
+v -0.03409196 -0.01388608 -0.00140140
+v -0.03864731 0.00000236 -0.01370922
+v -0.03234493 -0.01364273 -0.01370922
+v -0.03234493 -0.01388608 -0.01236806
+v -0.04282192 0.00000236 -0.01105943
+v -0.04294227 -0.01388608 -0.01001470
+v -0.04074188 0.00000236 -0.01369355
+v -0.03864731 -0.01388608 -0.01370922
+v -0.03234700 -0.01388608 -0.01370922
+v -0.04270054 0.00000236 -0.01211019
+v -0.04270054 -0.01388608 -0.01211019
+v -0.04212477 0.00000236 -0.01341761
+v -0.04074188 -0.01388608 -0.01369355
+v -0.04262688 -0.01388608 -0.01227768
+v -0.04212477 -0.01388608 -0.01341761
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 5
+f 3 7 15
+f 3 15 8
+f 4 9 10
+f 4 10 6
+f 5 12 18
+f 5 18 17
+f 5 17 11
+f 6 10 9
+f 6 9 8
+f 6 8 15
+f 6 15 20
+f 6 20 23
+f 6 23 24
+f 6 24 22
+f 6 22 17
+f 6 17 18
+f 6 18 13
+f 7 14 15
+f 11 17 22
+f 11 22 16
+f 12 13 18
+f 14 19 20
+f 14 20 15
+f 16 22 24
+f 16 24 21
+f 19 21 23
+f 19 23 20
+f 21 24 23
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_253.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69df4bc8d9386173c2e33b317ea35922f7f900fd
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_253.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02183999 0.03870836 0.07969096
+v -0.02188138 0.03870836 0.07968712
+v -0.02188138 0.03865819 0.07967867
+v -0.01583993 0.03926318 0.07828798
+v -0.01583993 0.04386705 0.07966409
+v -0.01668086 0.04386705 0.07962571
+v -0.02188138 0.04407216 0.07795106
+v -0.01583993 0.03863753 0.07796640
+v -0.02188138 0.03444830 0.07745986
+v -0.01583993 0.04457830 0.07932179
+v -0.01583993 0.04761951 0.07740921
+v -0.01668086 0.04749998 0.07734090
+v -0.02187074 0.04407512 0.07795336
+v -0.02017173 0.04687728 0.07651892
+v -0.02017173 0.04687728 0.07515432
+v -0.02188138 0.04363686 0.07330468
+v -0.01583993 0.03653627 0.07385266
+v -0.02183999 0.03446158 0.07745219
+v -0.01827697 0.03561255 0.07654962
+v -0.02188138 0.03440551 0.07741995
+v -0.01583993 0.04761951 0.07454110
+v -0.01668086 0.04749998 0.07462092
+v -0.02032134 0.04344356 0.07185105
+v -0.02104696 0.04313811 0.07185105
+v -0.02170811 0.04272937 0.07185105
+v -0.02188138 0.04245196 0.07185105
+v -0.02188138 0.03271594 0.07375442
+v -0.02188138 0.03264364 0.07339294
+v -0.01583993 0.03638576 0.07304910
+v -0.01583993 0.04471700 0.07185105
+v -0.01644431 0.04461961 0.07185105
+v -0.01668086 0.04455026 0.07185105
+v -0.02188138 0.03254625 0.07185105
+v -0.01583993 0.03631198 0.07185105
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 16
+f 2 16 26
+f 2 26 33
+f 2 33 28
+f 2 28 27
+f 2 27 20
+f 2 20 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 4 8 17
+f 4 17 29
+f 4 29 34
+f 4 34 30
+f 4 30 21
+f 4 21 11
+f 4 11 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 9 18
+f 8 18 19
+f 8 19 17
+f 9 20 18
+f 11 21 22
+f 11 22 12
+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 19 27
+f 17 27 28
+f 17 28 29
+f 18 20 19
+f 19 20 27
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 23
+f 23 32 31
+f 23 31 30
+f 23 30 34
+f 23 34 33
+f 23 33 26
+f 23 26 25
+f 23 25 24
+f 28 33 29
+f 29 33 34
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_26.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba44e546079ee14a9b818f4861015c30dc7f712d
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02614813 -0.03511718 -0.00499902
+v -0.02614813 -0.04560443 -0.00499902
+v -0.02614813 -0.03511718 -0.00574484
+v -0.03153929 -0.03307053 -0.01982272
+v -0.03154110 -0.03307053 -0.00499902
+v -0.03731786 -0.04566485 -0.00499902
+v -0.02614813 -0.04560443 -0.03126969
+v -0.02614813 -0.03511842 -0.03126969
+v -0.03153929 -0.03307053 -0.03126969
+v -0.04451809 -0.03307053 -0.00499902
+v -0.04223514 -0.04347887 -0.00499902
+v -0.03731786 -0.04566485 -0.03126969
+v -0.04452350 -0.03307053 -0.03126969
+v -0.04451990 -0.03307053 -0.00904957
+v -0.04455233 -0.03868773 -0.00499902
+v -0.04426043 -0.03929433 -0.00499902
+v -0.04223514 -0.04347887 -0.03126969
+v -0.04455233 -0.03868773 -0.03126969
+v -0.04452350 -0.03307053 -0.03117197
+v -0.04452170 -0.03307053 -0.01936495
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 3 8 9
+f 4 9 13
+f 4 13 19
+f 4 19 20
+f 4 20 14
+f 4 14 10
+f 4 10 5
+f 6 11 17
+f 6 17 12
+f 7 12 17
+f 7 17 18
+f 7 18 13
+f 7 13 9
+f 7 9 8
+f 10 14 15
+f 11 16 17
+f 13 18 15
+f 13 15 19
+f 14 20 15
+f 15 20 19
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_262.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a974369c1ea861cc9fba9de1e8c7a2e0303b48ab
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_262.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01799881 0.02408634 -0.00252558
+v 0.01799881 0.02408634 -0.01370922
+v 0.01757357 0.02408634 -0.00255842
+v 0.01757357 0.02373979 -0.00255842
+v 0.01799881 0.00000289 -0.00252668
+v 0.01757357 0.02408634 -0.01370922
+v 0.01799881 0.00000289 -0.01370922
+v 0.01757357 0.00000289 -0.00255952
+v 0.01757357 0.00000289 -0.01370922
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 9
+f 2 9 6
+f 3 6 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 7
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_287.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837191989167746caafb0523a9778e9208af190b
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_287.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.04294164 0.01703026 -0.01001583
+v -0.04285273 0.01703026 -0.01079367
+v -0.04294164 0.01703026 -0.00677847
+v -0.04294164 0.02435121 -0.01001583
+v -0.04270076 0.01703026 -0.01211044
+v -0.04273102 0.02435121 -0.01185158
+v -0.03650100 0.01703026 -0.00677847
+v -0.04294164 0.02435121 -0.00677847
+v -0.04253114 0.01703026 -0.01249656
+v -0.04270076 0.02435121 -0.01211044
+v -0.03650100 0.01703026 -0.01315027
+v -0.03650100 0.02435121 -0.00677847
+v -0.04224296 0.01703026 -0.01315027
+v -0.04224296 0.02435121 -0.01315027
+v -0.03650100 0.02435121 -0.01315027
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 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 12
+f 3 12 8
+f 4 8 12
+f 4 12 15
+f 4 15 14
+f 4 14 10
+f 4 10 6
+f 5 6 10
+f 5 10 9
+f 7 11 15
+f 7 15 12
+f 9 10 14
+f 9 14 13
+f 11 13 14
+f 11 14 15
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_296.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb9d326300c658cf1c15492783ca39fe5473361
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_296.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02420391 -0.03041578 -0.00722384
+v 0.02420391 -0.02486458 -0.00722384
+v 0.02471778 -0.03041578 -0.00722384
+v 0.02420391 -0.03041578 0.01328615
+v 0.02420391 -0.02477456 -0.00721778
+v 0.02420607 -0.02477456 -0.00722384
+v 0.02471778 -0.02477456 -0.00722384
+v 0.02471778 -0.03041578 0.01341748
+v 0.02420391 -0.03037823 0.01328615
+v 0.02420391 -0.02477456 0.01327605
+v 0.02471778 -0.02477456 0.01340536
+v 0.02471778 -0.02969013 0.01341748
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 7
+f 5 7 6
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_302.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_302.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bdd0ef2d69c6f20cc3ec88eff0d713be1dce4c
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_302.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02701120 -0.03079288 0.00768838
+v -0.03214844 -0.03079211 0.00721457
+v -0.03142173 -0.03079211 0.00721457
+v -0.02801853 -0.02660065 0.00721457
+v -0.02792951 -0.02331927 0.00721457
+v -0.02701120 -0.02336250 0.00772029
+v -0.02701120 -0.03079288 0.01975329
+v -0.03108679 -0.03079288 0.00871946
+v -0.03214844 -0.02290707 0.00721457
+v -0.03108981 -0.03079288 0.00913190
+v -0.03214844 -0.03079211 0.01975329
+v -0.02802054 -0.02290707 0.00721457
+v -0.02721337 -0.02290707 0.00773502
+v -0.02701120 -0.02290707 0.00805540
+v -0.02735368 -0.02290707 0.00759018
+v -0.02701120 -0.02290707 0.01975329
+v -0.02954185 -0.03079288 0.01975451
+v -0.03214844 -0.02290707 0.01975329
+v -0.03108981 -0.03079288 0.01975451
+v -0.02954185 -0.02837218 0.01975451
+v -0.03108981 -0.02837218 0.01975451
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 16
+f 1 16 7
+f 1 7 17
+f 1 17 19
+f 1 19 10
+f 1 10 8
+f 1 8 2
+f 2 9 12
+f 2 12 5
+f 2 5 4
+f 2 4 3
+f 2 8 10
+f 2 10 19
+f 2 19 11
+f 2 11 18
+f 2 18 9
+f 5 12 6
+f 6 13 14
+f 6 12 15
+f 6 15 13
+f 7 16 20
+f 7 20 17
+f 9 18 16
+f 9 16 14
+f 9 14 13
+f 9 13 15
+f 9 15 12
+f 11 19 21
+f 11 21 18
+f 16 18 21
+f 16 21 20
+f 17 20 21
+f 17 21 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_308.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f3b4072012fe8f016052f6abd195daef066dc0
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_308.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.04203455 0.01513975 0.06320872
+v -0.04191497 0.01513975 0.06140926
+v -0.03463175 0.01513975 0.06320872
+v -0.04087589 0.01849038 0.06320872
+v -0.04081934 0.01854270 0.06262436
+v -0.04140917 0.01648480 0.06077827
+v -0.04187295 0.01513975 0.06077827
+v -0.03450086 0.01513975 0.06292178
+v -0.02552733 0.02818257 0.06320872
+v -0.04074015 0.01881084 0.06320872
+v -0.03985136 0.02057662 0.06083489
+v -0.04081287 0.01819827 0.06077827
+v -0.03362661 0.01513975 0.06077827
+v -0.02552733 0.03741043 0.06320872
+v -0.02552733 0.02707732 0.06077827
+v -0.03991762 0.02068998 0.06320872
+v -0.03882683 0.02256477 0.06320872
+v -0.03866685 0.02276750 0.06262436
+v -0.03839537 0.02293536 0.06077827
+v -0.03984813 0.02057008 0.06077827
+v -0.02552733 0.03739517 0.06273928
+v -0.02586830 0.03719461 0.06320872
+v -0.02552733 0.03722513 0.06077827
+v -0.03864746 0.02285252 0.06320872
+v -0.03581303 0.02725826 0.06272905
+v -0.03661294 0.02573664 0.06077827
+v -0.02552733 0.03738209 0.06257773
+v -0.02586022 0.03718371 0.06272905
+v -0.02844094 0.03517595 0.06272905
+v -0.02820824 0.03537215 0.06320872
+v -0.02573741 0.03709215 0.06077827
+v -0.02552733 0.03735811 0.06229983
+v -0.03582273 0.02726480 0.06320872
+v -0.03572092 0.02713400 0.06077827
+v -0.03398698 0.02960610 0.06320872
+v -0.03378983 0.02983718 0.06272905
+v -0.03121072 0.03259485 0.06272905
+v -0.02844902 0.03518249 0.06320872
+v -0.02831651 0.03507131 0.06077827
+v -0.03110730 0.03249239 0.06077827
+v -0.03368640 0.02971510 0.06077827
+v -0.03379629 0.02984590 0.06320872
+v -0.03121719 0.03260139 0.06320872
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 22
+f 1 22 30
+f 1 30 38
+f 1 38 43
+f 1 43 42
+f 1 42 35
+f 1 35 33
+f 1 33 24
+f 1 24 17
+f 1 17 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 20
+f 6 20 19
+f 6 19 26
+f 6 26 34
+f 6 34 41
+f 6 41 40
+f 6 40 39
+f 6 39 31
+f 6 31 23
+f 6 23 15
+f 6 15 13
+f 6 13 7
+f 8 13 9
+f 9 13 15
+f 9 15 23
+f 9 23 32
+f 9 32 27
+f 9 27 21
+f 9 21 14
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 14 21 22
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 23 31 32
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 27 32 28
+f 28 32 31
+f 28 31 29
+f 29 37 38
+f 29 38 30
+f 29 31 39
+f 29 39 40
+f 29 40 37
+f 34 36 41
+f 35 42 36
+f 36 40 41
+f 36 42 37
+f 36 37 40
+f 37 43 38
+f 37 42 43
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_317.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_317.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a1490dd152957f60cfa66fa1c770a0d8d90a7b
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_317.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.03465977 0.03925690 0.01721989
+v 0.03390159 0.03925690 0.01721989
+v 0.03504726 0.03902317 0.01721989
+v 0.03481339 0.03925690 0.01721706
+v 0.03390147 0.03925690 0.00383566
+v 0.03390159 0.00947015 0.01721989
+v 0.03505692 0.03902025 0.01488850
+v 0.03502127 0.03905823 0.01488850
+v 0.03513609 0.03884494 0.01721989
+v 0.03513609 0.03892091 0.01721706
+v 0.03481351 0.03925690 0.00383566
+v 0.03390147 0.03925690 -0.00736183
+v 0.03390147 0.00940879 0.00383566
+v 0.03390159 0.00941171 0.01721706
+v 0.03513609 0.00944970 0.01721989
+v 0.03504726 0.03902609 -0.00736183
+v 0.03513609 0.03892091 -0.00791773
+v 0.03495637 0.03911958 0.00383566
+v 0.03481339 0.03925690 -0.00838571
+v 0.03481351 0.03925690 -0.00736183
+v 0.03390159 0.03925690 -0.01175517
+v 0.03390147 0.00940879 -0.00736183
+v 0.03390159 0.00940879 0.01579610
+v 0.03513609 0.00941171 0.01721706
+v 0.03504726 0.03902317 -0.00927346
+v 0.03504726 0.03901732 -0.01001372
+v 0.03513609 0.03890922 -0.00927346
+v 0.03480698 0.03925690 -0.00927346
+v 0.03451425 0.03925690 -0.01175517
+v 0.03390159 0.00940879 -0.01175517
+v 0.03513609 0.00940879 0.01545859
+v 0.03480154 0.03925690 -0.01001372
+v 0.03513609 0.03889461 -0.01001372
+v 0.03513609 0.03888585 -0.01016120
+v 0.03476008 0.03925690 -0.01053275
+v 0.03513609 0.03848557 -0.01175517
+v 0.03513609 0.00940879 -0.01175517
+f 1 2 6
+f 1 6 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 19
+f 1 19 28
+f 1 28 32
+f 1 32 35
+f 1 35 29
+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 7
+f 4 8 11
+f 5 12 22
+f 5 22 13
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 7 10 17
+f 7 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 11
+f 9 15 24
+f 9 24 31
+f 9 31 37
+f 9 37 36
+f 9 36 34
+f 9 34 33
+f 9 33 27
+f 9 27 17
+f 9 17 10
+f 12 21 30
+f 12 30 22
+f 13 23 14
+f 13 22 30
+f 13 30 37
+f 13 37 31
+f 13 31 23
+f 14 23 24
+f 14 24 15
+f 16 17 25
+f 16 25 19
+f 16 19 18
+f 17 26 25
+f 17 27 26
+f 19 25 28
+f 21 29 36
+f 21 36 37
+f 21 37 30
+f 23 31 24
+f 25 32 28
+f 25 26 32
+f 26 27 33
+f 26 33 34
+f 26 34 35
+f 26 35 32
+f 29 35 34
+f 29 34 36
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_323.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23bd13b2873e08e1919834e17a944d0992d6b70
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_323.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02876415 0.03602901 -0.01405624
+v 0.02850566 0.03602901 -0.01402136
+v 0.02876415 0.03666257 -0.01403838
+v 0.02876415 0.03602901 -0.00536601
+v 0.02839358 0.03602901 -0.01400605
+v 0.02839358 0.03666257 -0.01396266
+v 0.02870150 0.03687752 -0.01398903
+v 0.02876415 0.03687752 -0.01400179
+v 0.02876415 0.03687752 -0.00536601
+v 0.02826225 0.03602901 -0.00536601
+v 0.02826225 0.03602901 -0.01396691
+v 0.02826225 0.03663175 -0.01392608
+v 0.02826225 0.03665617 -0.01392438
+v 0.02838110 0.03687752 -0.01392353
+v 0.02826225 0.03687752 -0.00536601
+v 0.02826225 0.03681232 -0.01386993
+v 0.02826279 0.03687752 -0.01385972
+v 0.02826225 0.03687752 -0.01382569
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 17
+f 7 17 18
+f 7 18 15
+f 7 15 9
+f 7 9 8
+f 10 15 18
+f 10 18 16
+f 10 16 13
+f 10 13 12
+f 10 12 11
+f 13 16 17
+f 13 17 14
+f 16 18 17
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_324.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92eeb492457786cbdecd1b891cfda3ab9866f4a9
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_324.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02183953 -0.03868797 0.07967877
+v -0.02190965 -0.03868797 0.07967188
+v -0.01668093 -0.04384466 0.07961440
+v -0.01583889 -0.04384466 0.07965425
+v -0.01583889 -0.03861852 0.07795384
+v -0.02190965 -0.03441928 0.07746571
+v -0.02190965 -0.04404118 0.07793545
+v -0.01906621 -0.04394218 0.07884581
+v -0.01668093 -0.04747947 0.07734463
+v -0.01583889 -0.04759916 0.07741437
+v -0.01583889 -0.03636671 0.07304954
+v -0.01827706 -0.03559247 0.07654922
+v -0.01906621 -0.03533685 0.07674999
+v -0.02183953 -0.03444145 0.07745268
+v -0.02190965 -0.03412673 0.07684577
+v -0.02190965 -0.04404118 0.07791706
+v -0.02017209 -0.04685594 0.07651857
+v -0.02187103 -0.04405448 0.07794158
+v -0.01906621 -0.04705394 0.07678064
+v -0.01668093 -0.04747947 0.07462045
+v -0.01583889 -0.04759916 0.07454152
+v -0.01583889 -0.03627806 0.07185028
+v -0.02190965 -0.03259745 0.07329552
+v -0.02190965 -0.03260631 0.07339514
+v -0.02190965 -0.04360825 0.07331238
+v -0.02017209 -0.04685594 0.07515456
+v -0.01906621 -0.04705394 0.07498520
+v -0.02104741 -0.04311770 0.07185028
+v -0.01668093 -0.04453025 0.07185028
+v -0.01583889 -0.04467653 0.07185028
+v -0.02089409 -0.03313676 0.07185028
+v -0.02190965 -0.03257528 0.07298747
+v -0.02190965 -0.04210410 0.07185028
+v -0.02190965 -0.03250732 0.07185028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 15
+f 2 15 24
+f 2 24 23
+f 2 23 32
+f 2 32 34
+f 2 34 33
+f 2 33 25
+f 2 25 16
+f 2 16 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 21
+f 4 21 30
+f 4 30 22
+f 4 22 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 16 26
+f 7 26 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 19 27
+f 9 27 20
+f 9 20 21
+f 9 21 10
+f 9 18 19
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 15
+f 12 15 13
+f 13 15 14
+f 16 25 26
+f 17 26 27
+f 17 27 19
+f 17 19 18
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 22 31 32
+f 22 32 23
+f 22 30 29
+f 22 29 28
+f 22 28 33
+f 22 33 34
+f 22 34 31
+f 25 33 28
+f 25 28 26
+f 26 28 27
+f 31 34 32
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_328.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71146d607f486ca31ac18a5d6017ce97c9c38e1
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_328.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03394090 -0.01814224 0.00787857
+v 0.03394090 -0.01814224 0.00051650
+v 0.03274354 -0.01814224 0.00787857
+v 0.03394090 -0.02839448 0.00787857
+v 0.03274354 -0.01814224 0.00051650
+v 0.03394090 -0.02839448 0.00051650
+v 0.03274354 -0.02839448 0.00787857
+v 0.03274354 -0.02839448 0.00051650
+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_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_335.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_335.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d50e90a83044afe976534fef11ff35956fa0642
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_335.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01808937 -0.02793029 0.02388597
+v 0.01809127 -0.03404515 0.02366384
+v 0.01808937 -0.02793029 0.02623955
+v 0.01808937 -0.01855092 0.02388597
+v 0.01961450 -0.03345347 0.02366384
+v 0.01809127 -0.03008606 0.02623955
+v 0.01809127 -0.02793029 0.02366384
+v 0.01808937 -0.01727496 0.02623955
+v 0.02390951 -0.00776439 0.02623955
+v 0.02518835 -0.00776439 0.02388597
+v 0.02460292 -0.02963072 0.02366384
+v 0.02012036 -0.02896444 0.02623955
+v 0.01948567 -0.02938376 0.02623955
+v 0.02674758 -0.02793029 0.02366384
+v 0.03494731 -0.00776439 0.02623955
+v 0.03744436 -0.00776439 0.02388597
+v 0.02099376 -0.02824156 0.02623955
+v 0.03655959 -0.01289140 0.02388597
+v 0.03449071 -0.01790779 0.02388597
+v 0.03058220 -0.02320716 0.02388597
+v 0.02654676 -0.02328691 0.02623955
+v 0.02467871 -0.02516484 0.02623955
+v 0.03572598 -0.00776439 0.02552932
+v 0.03475974 -0.00844096 0.02623955
+v 0.03346006 -0.01289140 0.02623955
+v 0.03073756 -0.01809044 0.02623955
+v 0.03033401 -0.01871042 0.02623955
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 14
+f 2 14 11
+f 2 11 5
+f 3 6 13
+f 3 13 12
+f 3 12 17
+f 3 17 22
+f 3 22 21
+f 3 21 27
+f 3 27 26
+f 3 26 25
+f 3 25 24
+f 3 24 15
+f 3 15 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 7
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 10 16
+f 7 16 14
+f 9 15 23
+f 9 23 16
+f 9 16 10
+f 11 14 12
+f 12 14 17
+f 14 16 18
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 17
+f 15 24 18
+f 15 18 23
+f 16 23 18
+f 18 24 25
+f 18 25 19
+f 19 26 27
+f 19 27 20
+f 19 25 26
+f 20 27 21
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_341.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20987e0b5a8d51403bc62913c8509debaed8620b
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_341.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.03757888 -0.00239865 0.03863304
+v -0.03476052 -0.00030074 0.03432318
+v -0.03616477 -0.00224081 0.03649843
+v -0.03289287 -0.00277409 0.03171233
+v -0.03715775 -0.00600753 0.03863304
+v -0.03757888 0.00009922 0.03863304
+v -0.03476193 0.00009462 0.03432318
+v -0.03293513 -0.00227452 0.03171233
+v -0.03423093 -0.00772845 0.03491797
+v -0.03619294 -0.00772845 0.03749630
+v -0.03161539 -0.00774684 0.03171233
+v -0.03691408 -0.00772845 0.03863304
+v -0.03757747 0.00241932 0.03863304
+v -0.03476193 0.00031989 0.03432318
+v -0.03293513 0.00229520 0.03171233
+v -0.03420698 -0.00790315 0.03495048
+v -0.03610280 -0.00790315 0.03744210
+v -0.03617463 -0.00790315 0.03753694
+v -0.03687042 -0.00790315 0.03863304
+v -0.03156609 -0.00790315 0.03171233
+v -0.03616477 0.00225995 0.03649843
+v -0.03691408 0.00775219 0.03863304
+v -0.03619435 0.00774913 0.03749630
+v -0.03423093 0.00775219 0.03491864
+v -0.03379008 0.00775219 0.03437602
+v -0.03161820 0.00775219 0.03171233
+v -0.02983084 -0.00790315 0.03863304
+v -0.02319268 -0.00790315 0.03171233
+v -0.02987732 0.00775219 0.03863304
+v -0.03619576 0.00775219 0.03749968
+v -0.02327719 0.00775219 0.03171233
+v -0.02325184 0.00774913 0.03171233
+v -0.02325043 0.00775219 0.03171301
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 27
+f 1 27 29
+f 1 29 22
+f 1 22 13
+f 1 13 6
+f 1 6 14
+f 1 14 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 15
+f 4 15 26
+f 4 26 31
+f 4 31 32
+f 4 32 28
+f 4 28 20
+f 4 20 11
+f 4 11 9
+f 5 10 12
+f 6 13 14
+f 7 14 15
+f 7 15 8
+f 9 11 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 11 20 16
+f 13 21 14
+f 13 22 23
+f 13 23 21
+f 14 21 15
+f 15 21 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 16 20 28
+f 16 28 27
+f 16 27 19
+f 16 19 18
+f 16 18 17
+f 22 29 33
+f 22 33 31
+f 22 31 26
+f 22 26 25
+f 22 25 24
+f 22 24 30
+f 22 30 23
+f 23 30 24
+f 27 28 29
+f 28 32 33
+f 28 33 29
+f 31 33 32
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_343.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_343.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830cb0f95f8aa64432ccc119eb44ff895040014a
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_343.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00081905 -0.02836306 -0.07631224
+v 0.00081905 -0.03329904 -0.07514257
+v 0.00081905 -0.02836306 -0.08199816
+v -0.02699821 -0.02836306 -0.07630352
+v -0.02700366 -0.03323979 -0.07514257
+v 0.00081905 -0.05164373 -0.07514257
+v 0.00081905 -0.03868851 -0.08199816
+v -0.02700366 -0.02836306 -0.08199816
+v -0.02700366 -0.02837446 -0.07630150
+v -0.02700366 -0.04933071 -0.07514257
+v 0.00081905 -0.05163918 -0.07617803
+v 0.00045955 -0.05164373 -0.07514257
+v 0.00081905 -0.04384553 -0.08197132
+v -0.02700366 -0.03868851 -0.08199816
+v -0.02700366 -0.04974774 -0.07658603
+v -0.02699821 -0.04975001 -0.07658133
+v 0.00081905 -0.05163462 -0.07658133
+v 0.00054398 -0.05163462 -0.07658133
+v 0.00081905 -0.04623832 -0.08124656
+v -0.00636267 -0.04865845 -0.08055269
+v -0.01152360 -0.04384553 -0.08197132
+v -0.01667908 -0.04384553 -0.08196796
+v -0.02700366 -0.04384553 -0.08194582
+v -0.02700366 -0.04805000 -0.08052718
+v 0.00081905 -0.05157081 -0.07882403
+v 0.00081905 -0.05162095 -0.07757384
+v 0.00081905 -0.04942642 -0.08028023
+v -0.00203240 -0.04925323 -0.08034265
+v -0.00075783 -0.04942642 -0.08028023
+v 0.00081905 -0.05111732 -0.07941256
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 26
+f 1 26 25
+f 1 25 30
+f 1 30 27
+f 1 27 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 14
+f 3 14 8
+f 4 8 9
+f 4 9 5
+f 5 9 8
+f 5 8 14
+f 5 14 23
+f 5 23 24
+f 5 24 15
+f 5 15 10
+f 6 12 11
+f 7 13 21
+f 7 21 14
+f 10 15 16
+f 10 16 12
+f 11 12 18
+f 11 18 17
+f 12 16 18
+f 13 19 20
+f 13 20 21
+f 14 21 22
+f 14 22 23
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 18
+f 17 18 26
+f 19 27 20
+f 20 28 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 20 27 28
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_345.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_345.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d210eefe6c57149015acf77a0b3d249790e6404a
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_345.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04718154 -0.00219937 0.07185028
+v -0.04493484 -0.00219937 0.06760596
+v -0.03867777 -0.00219937 0.07185028
+v -0.04718052 0.00259113 0.07185028
+v -0.04493484 0.00259113 0.06760596
+v -0.03873496 -0.00219937 0.06760596
+v -0.03840408 -0.00219937 0.06761136
+v -0.03674867 0.01191243 0.06760596
+v -0.03702338 0.01191243 0.07185028
+v -0.04658106 0.00725040 0.07185028
+v -0.04482863 0.00333982 0.06760596
+v -0.04305169 0.01191243 0.06760596
+v -0.04457639 0.01191243 0.07185028
+v -0.04412398 0.00734709 0.06760596
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 14
+f 2 14 12
+f 2 12 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 6 8 7
+f 8 12 13
+f 8 13 9
+f 10 13 12
+f 10 12 14
+f 10 14 11
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_35.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e62ce526fb4757a66df56c04e216e828c0adf8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02210854 0.02618192 -0.01370716
+v 0.02420455 0.02618697 -0.01370981
+v 0.02420334 0.02618192 -0.01370716
+v 0.02111779 0.02618192 -0.01303330
+v 0.02111779 0.02618495 -0.01370716
+v 0.02420455 0.03247065 -0.01370981
+v 0.02420455 0.02618192 -0.01243344
+v 0.02111779 0.02618192 -0.00073475
+v 0.02111779 0.03247167 -0.01370716
+v 0.02111779 0.03346287 -0.01369395
+v 0.02420455 0.03456623 -0.01368074
+v 0.02420455 0.02618192 0.01324713
+v 0.02127974 0.02618192 0.00883931
+v 0.02111779 0.02718222 0.00883931
+v 0.02111779 0.03456724 -0.01367809
+v 0.02111779 0.03589288 -0.01340327
+v 0.02420334 0.03589894 -0.01340327
+v 0.02420455 0.03589794 -0.01340327
+v 0.02420455 0.02618293 0.01325242
+v 0.02420334 0.02618192 0.01325242
+v 0.02139244 0.02618192 0.01093223
+v 0.02111779 0.02740450 0.01093223
+v 0.02111779 0.03632534 -0.01210840
+v 0.02420455 0.03634352 -0.01211105
+v 0.02420455 0.03037811 0.01328677
+v 0.02419851 0.02618192 0.01325242
+v 0.02233062 0.02618192 0.01259706
+v 0.02111779 0.02838863 0.01262613
+v 0.02111779 0.03639909 -0.01112008
+v 0.02420334 0.03650317 -0.01001548
+v 0.02420455 0.03650317 -0.01001548
+v 0.02420455 0.03247167 0.01328677
+v 0.02111779 0.03247167 0.01327884
+v 0.02111779 0.03037811 0.01321014
+v 0.02111779 0.03647993 -0.01001548
+v 0.02420334 0.03650317 0.00883931
+v 0.02420455 0.03650317 0.00883667
+v 0.02420334 0.03456724 0.01315200
+v 0.02111779 0.03456724 0.01314936
+v 0.02420455 0.03456724 0.01315200
+v 0.02111779 0.03647993 0.00883931
+v 0.02111779 0.03647487 0.01093223
+v 0.02420455 0.03649811 0.01093223
+v 0.02420334 0.03605354 0.01249928
+v 0.02111779 0.03604141 0.01249928
+v 0.02420455 0.03605354 0.01249928
+v 0.02111779 0.03626976 0.01167480
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 20
+f 1 20 26
+f 1 26 27
+f 1 27 21
+f 1 21 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 2 6 11
+f 2 11 18
+f 2 18 24
+f 2 24 31
+f 2 31 37
+f 2 37 43
+f 2 43 46
+f 2 46 40
+f 2 40 32
+f 2 32 25
+f 2 25 19
+f 2 19 12
+f 2 12 7
+f 2 7 3
+f 4 8 14
+f 4 14 22
+f 4 22 28
+f 4 28 34
+f 4 34 33
+f 4 33 39
+f 4 39 45
+f 4 45 47
+f 4 47 42
+f 4 42 41
+f 4 41 35
+f 4 35 29
+f 4 29 23
+f 4 23 16
+f 4 16 15
+f 4 15 10
+f 4 10 9
+f 4 9 5
+f 6 9 10
+f 6 10 11
+f 8 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 13 21 22
+f 13 22 14
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 19 25 20
+f 20 25 26
+f 21 27 28
+f 21 28 22
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 27 34 28
+f 29 35 30
+f 30 35 41
+f 30 41 36
+f 30 36 37
+f 30 37 31
+f 32 38 39
+f 32 39 33
+f 32 40 38
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 38 40 46
+f 38 46 44
+f 38 44 39
+f 39 44 45
+f 42 47 43
+f 43 47 45
+f 43 45 44
+f 43 44 46
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_365.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_365.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfcce0501ffce02942c4454565189a5e2a725f5c
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_365.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.03511616 -0.02320431 0.00343316
+v 0.03679657 -0.02834805 -0.00499902
+v 0.03517493 -0.02534329 0.00343316
+v 0.03527245 -0.01789879 0.00343316
+v 0.03700912 0.00225678 -0.00499902
+v 0.04735912 -0.02834805 -0.00499902
+v 0.03561754 -0.02834805 0.00343316
+v 0.03683908 0.00225678 0.00343316
+v 0.04788925 0.00225678 -0.00499902
+v 0.04763919 -0.02834805 0.00343316
+v 0.04788300 -0.00257241 -0.00499902
+v 0.04778548 0.00225678 0.00343316
+v 0.04778548 -0.00257241 0.00343316
+v 0.04788800 0.00117530 -0.00499902
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 10
+f 2 10 7
+f 2 7 3
+f 2 5 9
+f 2 9 14
+f 2 14 11
+f 2 11 6
+f 4 8 5
+f 5 8 12
+f 5 12 9
+f 6 11 10
+f 9 12 13
+f 9 13 14
+f 10 11 13
+f 11 14 13
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_372.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_372.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a12f3c0c8769d5942151e0954ae1fa5687dc5f
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_372.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03404358 -0.02832201 0.00721457
+v 0.03404358 -0.02800152 0.00655164
+v 0.03404841 -0.03149715 0.00721457
+v 0.03404358 -0.01619965 0.00721457
+v 0.03404358 -0.02320743 0.00535570
+v 0.03450073 -0.03149715 0.00343316
+v 0.03536513 -0.03149715 0.00721457
+v 0.03658527 0.00225317 0.00721457
+v 0.03683960 0.00225317 0.00343316
+v 0.03404358 -0.01636815 0.00707022
+v 0.03404358 -0.01775914 0.00595238
+v 0.03536513 -0.03149715 0.00343316
+v 0.03527177 -0.01790121 0.00343316
+v 0.04982007 -0.03149054 0.00721457
+v 0.05048326 0.00225317 0.00721457
+v 0.04778544 0.00225317 0.00343316
+v 0.03404358 -0.01754438 0.00606934
+v 0.04765827 -0.03149054 0.00343316
+v 0.04932751 -0.03149054 0.00621962
+v 0.04962852 -0.03149054 0.00682666
+v 0.05048648 -0.00257397 0.00721457
+v 0.04974925 0.00225317 0.00601530
+v 0.05048487 0.00111329 0.00721457
+v 0.04975086 -0.00257397 0.00601493
+v 0.04778544 -0.00257397 0.00343316
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 12
+f 3 12 7
+f 3 5 6
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 11 13
+f 6 13 9
+f 6 9 16
+f 6 16 25
+f 6 25 18
+f 6 18 12
+f 7 12 14
+f 8 15 22
+f 8 22 16
+f 8 16 9
+f 9 13 11
+f 9 11 17
+f 9 17 10
+f 12 18 19
+f 12 19 20
+f 12 20 14
+f 14 20 21
+f 15 23 22
+f 16 22 24
+f 16 24 25
+f 18 25 24
+f 18 24 21
+f 18 21 19
+f 19 21 20
+f 21 24 22
+f 21 22 23
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_380.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_380.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d219b1580069025f4dbde013b77a7f21bf176c8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_380.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01809202 0.04498679 0.01973438
+v 0.01809202 0.02598286 0.01973438
+v 0.01809202 0.03022240 0.02623955
+v 0.02072266 0.04454994 0.01973438
+v 0.01809202 0.02466517 0.02031766
+v 0.02429112 0.02059989 0.01973438
+v 0.01809202 0.02060228 0.02623955
+v 0.01981399 0.02933439 0.02623955
+v 0.02794965 0.04205779 0.01973438
+v 0.01809202 0.02059989 0.02224960
+v 0.02256915 0.02059989 0.02042782
+v 0.04515346 0.02059989 0.01973438
+v 0.01809202 0.02059989 0.02230117
+v 0.02886096 0.02060228 0.02623955
+v 0.02049748 0.02879490 0.02623955
+v 0.03382554 0.03761534 0.01973438
+v 0.04342090 0.02658203 0.01973438
+v 0.04260230 0.02059989 0.02061566
+v 0.03713702 0.02059989 0.02230117
+v 0.03898351 0.03246153 0.01973438
+v 0.02777480 0.02203694 0.02623955
+v 0.02341689 0.02641732 0.02623955
+v 0.03665752 0.03529027 0.01973438
+v 0.02569784 0.02433097 0.02623955
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 23
+f 1 23 20
+f 1 20 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 21
+f 3 21 24
+f 3 24 22
+f 3 22 15
+f 3 15 8
+f 3 8 9
+f 3 9 4
+f 5 6 11
+f 5 11 10
+f 6 12 18
+f 6 18 19
+f 6 19 13
+f 6 13 10
+f 6 10 11
+f 7 13 19
+f 7 19 14
+f 8 15 16
+f 8 16 9
+f 12 17 14
+f 12 14 18
+f 14 19 18
+f 14 17 20
+f 14 20 21
+f 15 22 16
+f 16 22 23
+f 20 23 21
+f 21 23 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_384.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_384.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb277dc596bac18e98dcd2a1badd728f3a118f8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_384.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01888336 0.02997707 0.05817171
+v -0.01651699 0.03338251 0.06077778
+v -0.01888336 0.03239925 0.06077778
+v -0.01888336 0.04100127 0.05817171
+v -0.00823939 0.03485595 0.05817171
+v -0.00823939 0.03704239 0.06077778
+v -0.01888336 0.04127439 0.06077778
+v -0.01888336 0.04102139 0.05832785
+v -0.01879166 0.04105877 0.05817171
+v -0.00823939 0.04452315 0.05817171
+v -0.00823939 0.04466258 0.06077778
+v -0.01673894 0.04216277 0.06077778
+v -0.01625441 0.04215558 0.05817171
+v -0.01888336 0.04109902 0.05896539
+v -0.01888336 0.04102283 0.05833907
+v -0.01152167 0.04380727 0.05817171
+v -0.00823939 0.04457346 0.05890085
+v -0.00823939 0.04461083 0.05944681
+v -0.00931264 0.04445989 0.06077778
+v -0.01152167 0.04398552 0.06077778
+v -0.00957002 0.04441102 0.06077778
+f 1 2 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 13
+f 1 13 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 21
+f 2 21 20
+f 2 20 12
+f 2 12 7
+f 2 7 3
+f 4 8 9
+f 5 10 17
+f 5 17 18
+f 5 18 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 14
+f 9 14 13
+f 10 16 17
+f 11 18 19
+f 12 20 13
+f 13 20 16
+f 16 20 18
+f 16 18 17
+f 18 20 21
+f 18 21 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_392.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_392.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d147f47e95dc8301e38073b37c4d54fe543bd3
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_392.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02238926 0.01584233 0.05319004
+v -0.02722397 0.01584233 0.05510502
+v -0.03136532 0.00269356 0.05510502
+v -0.02770786 0.00269356 0.05319360
+v -0.02807863 0.00269356 0.05319004
+v -0.04070587 0.01584233 0.05319004
+v -0.04100543 0.01584233 0.05510502
+v -0.04378727 0.00269356 0.05510502
+v -0.04351495 0.00269356 0.05319004
+v -0.04170088 0.01290909 0.05319004
+v -0.04201929 0.01290909 0.05510502
+v -0.04349610 0.00528573 0.05510502
+v -0.04375166 0.00269356 0.05485103
+v -0.04343744 0.00337056 0.05319004
+v -0.04187056 0.01219476 0.05319004
+v -0.04260583 0.01044433 0.05510502
+v -0.04320074 0.00775048 0.05510502
+v -0.04299755 0.00703744 0.05319004
+v -0.04273989 0.00853045 0.05319004
+v -0.04291166 0.00775048 0.05319004
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 20
+f 1 20 19
+f 1 19 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 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 8 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 9 13 12
+f 9 12 14
+f 10 15 16
+f 10 16 11
+f 12 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 17
+f 17 19 20
+f 17 20 18
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_400.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_400.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b537284d33232c1dc90d061ed2ef7c58a3e504ef
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_400.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02420616 -0.02226693 0.04629119
+v -0.02222820 -0.02359597 0.04629119
+v -0.02240766 -0.02377251 0.04344100
+v -0.02536207 -0.02226693 0.04344100
+v -0.03545453 -0.02226693 0.04629119
+v -0.02158174 -0.02498331 0.04630155
+v -0.01676322 -0.02858738 0.04630155
+v -0.01574240 -0.02935516 0.04630155
+v -0.01698514 -0.02861403 0.04344100
+v -0.03404390 -0.02226693 0.04344100
+v -0.03485052 -0.02226693 0.04488710
+v -0.03443756 -0.02386078 0.04629119
+v -0.02158174 -0.03634681 0.04630155
+v -0.01574240 -0.03927969 0.04630155
+v -0.01574240 -0.03059094 0.04344100
+v -0.03078073 -0.02678368 0.04344100
+v -0.03330675 -0.02541133 0.04629119
+v -0.02064196 -0.03694138 0.04630155
+v -0.03112423 -0.02810106 0.04629119
+v -0.02967886 -0.02981317 0.04629119
+v -0.02844191 -0.03104395 0.04629119
+v -0.02672638 -0.03247958 0.04629119
+v -0.02402091 -0.03465968 0.04629119
+v -0.02245205 -0.03579220 0.04629119
+v -0.01610904 -0.03912980 0.04630155
+v -0.01638306 -0.03769250 0.04344100
+v -0.01574240 -0.03795398 0.04344100
+v -0.03058969 -0.02702018 0.04344100
+v -0.01759300 -0.03849359 0.04630155
+v -0.02158174 -0.03601704 0.04553202
+v -0.01984885 -0.03646172 0.04402151
+v -0.02898030 -0.03035445 0.04581542
+v -0.02588695 -0.03174178 0.04344100
+v -0.02564381 -0.03194497 0.04344100
+v -0.02541610 -0.03212983 0.04344100
+v -0.01631166 -0.03904653 0.04630155
+v -0.01874312 -0.03667157 0.04344100
+v -0.03037549 -0.02727333 0.04344100
+v -0.02043934 -0.03570227 0.04344100
+v -0.02816403 -0.02953170 0.04344100
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 15
+f 3 15 27
+f 3 27 26
+f 3 26 37
+f 3 37 39
+f 3 39 35
+f 3 35 34
+f 3 34 33
+f 3 33 40
+f 3 40 38
+f 3 38 28
+f 3 28 16
+f 3 16 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 18
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+f 6 29 36
+f 6 36 25
+f 6 25 14
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+f 6 8 7
+f 8 14 27
+f 8 27 15
+f 8 15 9
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+f 11 16 17
+f 11 17 12
+f 12 17 13
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+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 18
+f 14 25 26
+f 14 26 27
+f 16 28 17
+f 17 28 19
+f 18 24 30
+f 18 30 31
+f 18 31 29
+f 19 28 20
+f 20 28 32
+f 20 32 21
+f 21 32 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 22 32 33
+f 23 35 30
+f 23 30 24
+f 25 36 26
+f 26 36 29
+f 26 29 37
+f 28 38 32
+f 29 31 37
+f 30 35 31
+f 31 35 39
+f 31 39 37
+f 32 38 40
+f 32 40 33
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_404.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_404.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c74d3fadb86811bdfaeda5c3c8ca6a858cf64a
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_404.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04718154 -0.00257017 0.07185028
+v -0.04412494 -0.00732723 0.06760596
+v -0.04401044 -0.00791917 0.06760596
+v -0.04640785 -0.00631056 0.07185028
+v -0.04718154 -0.00220071 0.07185028
+v -0.04493564 -0.00257017 0.06760596
+v -0.04399657 -0.00797984 0.06760596
+v -0.04282851 -0.01288792 0.06760596
+v -0.04358601 -0.01597435 0.07185028
+v -0.03867787 -0.00220071 0.07185028
+v -0.04493564 -0.00220071 0.06760596
+v -0.04191257 -0.01597435 0.06760596
+v -0.03561780 -0.01597435 0.07185028
+v -0.03840494 -0.00220071 0.06761136
+v -0.03873569 -0.00220071 0.06760596
+v -0.03936251 -0.01597435 0.06760596
+v -0.03536800 -0.01597435 0.06761011
+v -0.03840378 -0.00228701 0.06760596
+v -0.03652101 -0.01289601 0.06760596
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 18
+f 2 18 19
+f 2 19 16
+f 2 16 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 14
+f 5 14 15
+f 5 15 11
+f 8 12 9
+f 9 12 16
+f 9 16 17
+f 9 17 13
+f 10 13 14
+f 13 17 14
+f 14 17 18
+f 14 18 15
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_411.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_411.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d22ff9c1019d05275b5de9ea75a11acf0a73db
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_411.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.03972527 -0.00257167 0.04208928
+v -0.03908484 -0.00256944 0.04090427
+v -0.03908384 -0.00257167 0.04090360
+v -0.03260347 -0.00257167 0.04208928
+v -0.03972527 0.00259015 0.04208928
+v -0.03755981 -0.00257167 0.03863372
+v -0.03908484 0.00259015 0.04090427
+v -0.03757983 -0.00239898 0.03863372
+v -0.03258947 -0.00257167 0.04206662
+v -0.02950339 0.00881041 0.03863372
+v -0.03177792 0.00881041 0.04208928
+v -0.03905682 0.00774863 0.04208928
+v -0.03877463 0.00774863 0.04156325
+v -0.03061013 -0.00257167 0.03863372
+v -0.03757983 0.00242080 0.03863372
+v -0.03691538 0.00774863 0.03863372
+v -0.03661518 0.00881041 0.03863372
+v -0.03879965 0.00881041 0.04208928
+v -0.03896977 0.00819875 0.04208928
+v -0.03862053 0.00881041 0.04179599
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 18
+f 1 18 19
+f 1 19 12
+f 1 12 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 15
+f 2 15 8
+f 2 8 6
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 6 8 15
+f 6 15 16
+f 6 16 17
+f 6 17 10
+f 6 10 14
+f 7 13 16
+f 7 16 15
+f 9 14 10
+f 10 17 20
+f 10 20 18
+f 10 18 11
+f 12 19 13
+f 13 19 18
+f 13 18 20
+f 13 20 17
+f 13 17 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_423.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_423.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdad670f1a42e4718167caa0a6969ed0caa18b86
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_423.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02178720 -0.01027023 0.02373542
+v -0.01865751 -0.01422272 0.02373542
+v -0.01857843 -0.01445405 0.02352594
+v -0.02234380 -0.01027023 0.02282185
+v -0.03488081 -0.01027023 0.02373542
+v -0.01539095 -0.01852654 0.02373542
+v -0.01539095 -0.01881850 0.02312920
+v -0.02881913 -0.01027023 0.01833918
+v -0.03715280 -0.01027023 0.02300436
+v -0.03416606 -0.01289038 0.02373542
+v -0.01539095 -0.02290707 0.02373542
+v -0.01539095 -0.01940859 0.02282291
+v -0.02964337 -0.01027023 0.01833124
+v -0.01539095 -0.02290707 0.02129677
+v -0.02107550 -0.02290707 0.01833124
+v -0.02732880 -0.01299429 0.01833124
+v -0.03969549 -0.01027023 0.02198922
+v -0.04536786 -0.02290707 0.01901629
+v -0.04519754 -0.02290707 0.01907553
+v -0.03225601 -0.01794388 0.02373542
+v -0.02815912 -0.02290707 0.02373542
+v -0.04646280 -0.01027023 0.01833124
+v -0.04595791 -0.02290707 0.01833124
+v -0.04247541 -0.01027023 0.02082226
+v -0.04385016 -0.01027023 0.02014092
+v -0.04398095 -0.01027023 0.02007480
+v -0.04567201 -0.01027023 0.01916652
+v -0.03216781 -0.02290707 0.02277848
+v -0.03201573 -0.01845603 0.02373542
+v -0.02856668 -0.02289841 0.02373542
+v -0.02856972 -0.02290707 0.02373013
+v -0.03186061 -0.02290707 0.02286153
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 22
+f 1 22 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 29
+f 1 29 30
+f 1 30 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 14
+f 6 14 12
+f 6 12 7
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 21 31
+f 11 31 32
+f 11 32 28
+f 11 28 19
+f 11 19 18
+f 11 18 23
+f 11 23 15
+f 11 15 14
+f 13 16 15
+f 13 15 23
+f 13 23 22
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 22
+f 18 22 23
+f 19 28 29
+f 19 29 20
+f 21 30 31
+f 28 32 29
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_427.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_427.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534272548f3fe9e76855606c5ec8a4a9c5922ca3
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_427.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.04290814 -0.00772931 0.05318967
+v -0.04279241 -0.00772931 0.05240938
+v -0.04274331 -0.00844350 0.05318967
+v -0.04290814 -0.00771865 0.05318967
+v -0.04279591 -0.00771865 0.05241998
+v -0.04195072 -0.00772931 0.04945631
+v -0.04128789 -0.01059672 0.04945631
+v -0.04086353 -0.01239107 0.04945631
+v -0.04168769 -0.01239462 0.05240938
+v -0.04169821 -0.01289207 0.05318967
+v -0.02637245 -0.00771865 0.05318967
+v -0.04195072 -0.00771865 0.04945631
+v -0.04081444 -0.01259360 0.04945631
+v -0.04156845 -0.01289207 0.05240938
+v -0.04066013 -0.01597622 0.05318967
+v -0.02635842 -0.00771865 0.05318638
+v -0.00708372 -0.02717227 0.05318967
+v -0.01497456 -0.00771865 0.04945631
+v -0.04001132 -0.01556761 0.04945631
+v -0.03999730 -0.01571329 0.04954147
+v -0.04034449 -0.01652341 0.05240938
+v -0.04041113 -0.01668331 0.05318967
+v -0.02184486 -0.00771865 0.05192037
+v -0.00708372 -0.04401432 0.05318967
+v -0.00708372 -0.02400995 0.05228767
+v -0.00708372 -0.01588029 0.04945631
+v -0.01742949 -0.00771865 0.05048659
+v -0.00708372 -0.01599754 0.04952868
+v -0.03992716 -0.01579501 0.04945631
+v -0.03919769 -0.01910302 0.05240938
+v -0.04024279 -0.01707415 0.05318967
+v -0.03927134 -0.01926291 0.05318967
+v -0.00708372 -0.01857359 0.05057614
+v -0.01152364 -0.04298745 0.05318967
+v -0.00708372 -0.04389351 0.05240938
+v -0.00708372 -0.04305141 0.04945631
+v -0.03867164 -0.01822894 0.04945631
+v -0.03725479 -0.02097199 0.04945631
+v -0.03650779 -0.02371859 0.05191562
+v -0.03893817 -0.01985984 0.05318967
+v -0.01405572 -0.04215601 0.05318967
+v -0.01152364 -0.04285598 0.05240938
+v -0.01016992 -0.04237275 0.04945631
+v -0.00708372 -0.04374073 0.05184837
+v -0.03613254 -0.02300796 0.04945631
+v -0.03489105 -0.02524290 0.04945631
+v -0.03472271 -0.02577588 0.04986747
+v -0.03528734 -0.02615607 0.05318967
+v -0.03682693 -0.02360489 0.05318967
+v -0.03721622 -0.02291557 0.05318967
+v -0.01454671 -0.04199256 0.05318967
+v -0.01508328 -0.04167988 0.05240938
+v -0.01152364 -0.04205297 0.04945631
+v -0.01429069 -0.04134589 0.04960250
+v -0.03463503 -0.02564796 0.04945631
+v -0.03415106 -0.02623424 0.04945631
+v -0.03010043 -0.03098128 0.04945631
+v -0.03328482 -0.02820625 0.05191562
+v -0.03501379 -0.02653270 0.05318967
+v -0.01524811 -0.04174739 0.05318967
+v -0.01747158 -0.04076672 0.05318967
+v -0.01766446 -0.04053576 0.05240938
+v -0.01395402 -0.04139563 0.04945631
+v -0.01444149 -0.04122153 0.04945631
+v -0.02987247 -0.03123711 0.04945631
+v -0.03034943 -0.03172034 0.05240938
+v -0.03082989 -0.03138279 0.05318967
+v -0.03333392 -0.02849406 0.05318967
+v -0.01782579 -0.04060683 0.05318967
+v -0.01955827 -0.03859218 0.04945631
+v -0.02153624 -0.03854954 0.05318967
+v -0.02234286 -0.03784246 0.05193499
+v -0.02961295 -0.03146451 0.04945631
+v -0.02682836 -0.03464460 0.05193499
+v -0.02954281 -0.03260508 0.05318967
+v -0.03001275 -0.03219646 0.05318967
+v -0.03044061 -0.03180561 0.05318967
+v -0.02161690 -0.03746937 0.04945631
+v -0.02223414 -0.03815514 0.05318967
+v -0.02472063 -0.03666991 0.05318967
+v -0.02439447 -0.03607653 0.04989964
+v -0.02382283 -0.03625419 0.04945631
+v -0.02488897 -0.03547249 0.04945631
+v -0.02519408 -0.03633236 0.05318967
+v -0.02711594 -0.03469790 0.05318967
+v -0.02425419 -0.03598059 0.04945631
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 22
+f 1 22 31
+f 1 31 32
+f 1 32 40
+f 1 40 50
+f 1 50 49
+f 1 49 48
+f 1 48 59
+f 1 59 68
+f 1 68 67
+f 1 67 77
+f 1 77 76
+f 1 76 75
+f 1 75 85
+f 1 85 84
+f 1 84 80
+f 1 80 79
+f 1 79 71
+f 1 71 69
+f 1 69 61
+f 1 61 60
+f 1 60 51
+f 1 51 41
+f 1 41 34
+f 1 34 24
+f 1 24 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 6
+f 4 11 16
+f 4 16 23
+f 4 23 27
+f 4 27 18
+f 4 18 12
+f 4 12 5
+f 5 12 6
+f 6 12 18
+f 6 18 26
+f 6 26 36
+f 6 36 43
+f 6 43 53
+f 6 53 63
+f 6 63 64
+f 6 64 70
+f 6 70 78
+f 6 78 82
+f 6 82 86
+f 6 86 83
+f 6 83 73
+f 6 73 65
+f 6 65 57
+f 6 57 56
+f 6 56 55
+f 6 55 46
+f 6 46 45
+f 6 45 38
+f 6 38 37
+f 6 37 29
+f 6 29 19
+f 6 19 13
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 11 17 16
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 16 17 23
+f 17 24 35
+f 17 35 44
+f 17 44 36
+f 17 36 26
+f 17 26 28
+f 17 28 33
+f 17 33 25
+f 17 25 23
+f 18 27 28
+f 18 28 26
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 31 22
+f 21 30 32
+f 21 32 31
+f 23 25 33
+f 23 33 27
+f 24 34 35
+f 27 33 28
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 32
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 36 44 43
+f 38 45 39
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 39 45 46
+f 41 51 52
+f 41 52 42
+f 42 53 43
+f 42 52 54
+f 42 54 53
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 51 60 52
+f 52 61 62
+f 52 62 54
+f 52 60 61
+f 53 54 63
+f 54 64 63
+f 54 62 64
+f 57 65 66
+f 57 66 58
+f 58 66 67
+f 58 67 68
+f 58 68 59
+f 61 69 62
+f 62 70 64
+f 62 69 71
+f 62 71 72
+f 62 72 70
+f 65 73 66
+f 66 73 74
+f 66 74 75
+f 66 75 76
+f 66 76 77
+f 66 77 67
+f 70 72 78
+f 71 79 72
+f 72 80 81
+f 72 81 82
+f 72 82 78
+f 72 79 80
+f 73 83 81
+f 73 81 74
+f 74 81 84
+f 74 84 85
+f 74 85 75
+f 80 84 81
+f 81 83 86
+f 81 86 82
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_434.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_434.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8400eb86f8eb5baa023c17de1a1d033408ddda7e
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_434.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02195241 -0.02928017 0.00721457
+v -0.02027751 -0.02965299 0.00721457
+v -0.01680518 -0.03220295 0.00619195
+v -0.02185458 -0.03220295 0.00554587
+v -0.02230717 -0.03220295 0.00555192
+v -0.02523661 -0.02935714 0.00721457
+v -0.01737709 -0.03099177 0.00721457
+v -0.01659125 -0.03220295 0.00629846
+v -0.02283823 -0.03220295 0.00568783
+v -0.02663415 -0.03220295 0.00666079
+v -0.02663415 -0.03047503 0.00721457
+v -0.01601718 -0.03220295 0.00721457
+v -0.02699859 -0.03220295 0.00721457
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 13
+f 3 13 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 10 13 11
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_444.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_444.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb865d9d7bc45319495cb1d2b36e53a631f46dd
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_444.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02198460 0.03374685 0.06760596
+v 0.03179054 0.02543267 0.06760596
+v 0.02198460 0.03409585 0.07185028
+v 0.02198460 0.04126202 0.06760596
+v 0.03179054 0.02588089 0.07185028
+v 0.03179054 0.03454407 0.06760596
+v 0.02198460 0.04352969 0.07185028
+v 0.02360500 0.04295214 0.07185028
+v 0.02425681 0.04008213 0.06760596
+v 0.03179054 0.03631922 0.07185028
+v 0.03130864 0.03499583 0.06760596
+v 0.02968536 0.03850185 0.07185028
+v 0.02857661 0.03720149 0.06760596
+v 0.03115697 0.03513579 0.06760596
+v 0.02859101 0.03719086 0.06760596
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 15
+f 1 15 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 12 13
+f 8 13 9
+f 11 14 12
+f 12 14 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_453.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_453.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f186e922fb8d61ea0201ad6db0efa478a07f96
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_453.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04007828 -0.02483138 0.06760553
+v 0.03855467 -0.02717756 0.06760553
+v 0.03846343 -0.02710073 0.06320873
+v 0.03988276 -0.02483138 0.06320873
+v 0.03224593 -0.02483138 0.06760553
+v 0.03843157 -0.02733407 0.06760553
+v 0.03662700 -0.02943981 0.06320873
+v 0.03122923 -0.02483138 0.06320873
+v 0.02528400 -0.03156404 0.06760553
+v 0.03650100 -0.02975709 0.06760553
+v 0.03643583 -0.02968026 0.06320873
+v 0.02528400 -0.03060792 0.06320873
+v 0.02528400 -0.03936664 0.06760553
+v 0.03648652 -0.02977274 0.06760553
+v 0.03385497 -0.03247178 0.06320873
+v 0.02528400 -0.03913330 0.06320873
+v 0.02857886 -0.03718122 0.06760553
+v 0.02850210 -0.03709159 0.06320873
+v 0.03392160 -0.03253581 0.06760553
+v 0.03115826 -0.03511675 0.06760553
+v 0.03108150 -0.03505130 0.06320873
+v 0.02871934 -0.03707025 0.06760553
+v 0.03084108 -0.03524338 0.06320873
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 20
+f 1 20 19
+f 1 19 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 15
+f 3 15 21
+f 3 21 23
+f 3 23 18
+f 3 18 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 16
+f 9 16 13
+f 10 14 15
+f 10 15 11
+f 13 16 18
+f 13 18 17
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 17 18 22
+f 18 23 22
+f 20 22 21
+f 21 22 23
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_456.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_456.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e52e1bffd3b2dd75d3dee8e486b580d4d311049
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_456.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.01574182 -0.00358365 0.04103457
+v -0.01574182 -0.00312844 0.03863372
+v -0.01156776 -0.01293482 0.04103457
+v 0.00100925 -0.01801621 0.04145520
+v -0.01574182 0.00362558 0.04103457
+v -0.01138271 -0.01275132 0.03863372
+v -0.01574182 0.00316331 0.03863372
+v -0.00151300 -0.01795269 0.04103429
+v 0.00423404 -0.01800915 0.04145520
+v 0.00100925 0.01803344 0.04145520
+v -0.01488851 0.00581340 0.04103457
+v -0.01574182 0.00349854 0.04036649
+v -0.00132452 -0.01754336 0.03863372
+v -0.01138271 0.01277561 0.03863372
+v 0.00100925 -0.01778331 0.04006931
+v 0.00029644 -0.01753983 0.03863372
+v 0.00403185 -0.01752571 0.03863427
+v 0.01406605 -0.01268075 0.03863427
+v 0.00739029 -0.01642475 0.04145520
+v 0.00156100 0.01803344 0.04145520
+v -0.00150958 0.01796993 0.04103429
+v -0.01156776 0.01295558 0.04103457
+v -0.00132452 0.01756059 0.03863372
+v 0.00100925 -0.01753630 0.03863372
+v 0.01514897 -0.00963897 0.03863427
+v 0.01884326 -0.00247562 0.03863482
+v 0.01926477 -0.00254267 0.04103236
+v 0.01776718 -0.00588086 0.04145520
+v 0.01686589 -0.00772639 0.04145520
+v 0.01428195 -0.01289247 0.04145520
+v 0.00422719 0.01802991 0.04145520
+v 0.00100925 0.01755353 0.03863372
+v 0.01721544 -0.00360482 0.03863427
+v 0.01564588 -0.00823806 0.03863427
+v 0.01884326 0.00249638 0.03863482
+v 0.01926820 -0.00139229 0.04103236
+v 0.01843545 -0.00360482 0.04145520
+v 0.01844915 -0.00354836 0.04145520
+v 0.00911406 0.01555626 0.04145520
+v 0.01406605 0.01269798 0.03863427
+v 0.00402842 0.01754295 0.03863427
+v 0.01686246 0.00468067 0.03863427
+v 0.01704752 0.00412666 0.03863427
+v 0.01926477 0.00256343 0.04103236
+v 0.01844915 0.00340680 0.04145520
+v 0.01428195 0.01291676 0.04145520
+v 0.01686589 0.00774715 0.04145520
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 23
+f 2 23 32
+f 2 32 24
+f 2 24 16
+f 2 16 13
+f 2 13 6
+f 3 8 4
+f 3 6 8
+f 4 8 9
+f 4 9 19
+f 4 19 30
+f 4 30 29
+f 4 29 28
+f 4 28 37
+f 4 37 38
+f 4 38 45
+f 4 45 47
+f 4 47 46
+f 4 46 39
+f 4 39 31
+f 4 31 20
+f 4 20 10
+f 5 10 11
+f 5 11 12
+f 6 13 8
+f 7 12 11
+f 7 11 14
+f 8 13 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 14
+f 13 16 15
+f 14 22 21
+f 14 21 23
+f 16 24 17
+f 17 24 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 24 25
+f 20 31 21
+f 21 31 23
+f 23 31 32
+f 24 33 34
+f 24 34 25
+f 24 32 33
+f 25 34 26
+f 26 35 36
+f 26 36 27
+f 26 34 33
+f 26 33 35
+f 27 37 28
+f 27 36 38
+f 27 38 37
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 40
+f 32 40 42
+f 32 42 43
+f 32 43 33
+f 33 43 35
+f 35 43 42
+f 35 42 40
+f 35 40 44
+f 35 44 36
+f 36 44 45
+f 36 45 38
+f 39 46 40
+f 40 46 47
+f 40 47 44
+f 44 47 45
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_474.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_474.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73eee0a6312e7b23211a6aefeb3b600348d61b63
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_474.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03199132 0.02145492 0.00721581
+v -0.03199132 0.02942029 0.00721581
+v -0.02876763 0.02145492 0.00721581
+v -0.03199132 0.02145492 0.01991603
+v -0.03149851 0.02942029 0.00721581
+v -0.03199132 0.02942029 0.01991976
+v -0.02790299 0.02330220 0.00721581
+v -0.02840295 0.02145492 0.00741604
+v -0.03096493 0.02145492 0.01991976
+v -0.03199132 0.02290763 0.01991976
+v -0.02927221 0.02797927 0.00721581
+v -0.02769964 0.02942029 0.00941336
+v -0.02769964 0.02797927 0.00770706
+v -0.02951127 0.02942029 0.01991976
+v -0.02769964 0.02330687 0.00732650
+v -0.02769964 0.02162569 0.00775929
+v -0.02777107 0.02145492 0.00776427
+v -0.02769964 0.02145492 0.01991976
+v -0.02769964 0.02942029 0.01991852
+v -0.02769964 0.02595420 0.01991976
+v -0.02769964 0.02145492 0.00805777
+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 21
+f 1 21 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 14
+f 2 14 19
+f 2 19 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 5 12 13
+f 5 13 11
+f 6 10 9
+f 6 9 18
+f 6 18 20
+f 6 20 14
+f 7 15 8
+f 7 11 13
+f 7 13 15
+f 8 15 16
+f 8 16 17
+f 12 19 20
+f 12 20 18
+f 12 18 21
+f 12 21 16
+f 12 16 15
+f 12 15 13
+f 14 20 19
+f 16 21 17
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_479.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_479.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a8a4cb2c7852fd1f0db1ed292aed78aaf0aade
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_479.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03061044 -0.00257236 0.03863372
+v -0.03259036 -0.00257236 0.04206662
+v -0.02936385 -0.00960535 0.03863372
+v -0.03755944 -0.00257236 0.03863372
+v -0.03260355 -0.00257236 0.04208928
+v -0.03155780 -0.00960466 0.04208928
+v -0.03038222 -0.00960535 0.04015633
+v -0.03644066 -0.00960535 0.03863372
+v -0.03715879 -0.00600829 0.03863372
+v -0.03908394 -0.00257236 0.04090360
+v -0.03972599 -0.00257236 0.04208928
+v -0.03449725 -0.00960535 0.04208928
+v -0.03758277 -0.00960535 0.04043372
+v -0.03691637 -0.00772901 0.03863372
+v -0.03877457 -0.00772901 0.04156325
+v -0.03924217 -0.00631539 0.04208928
+v -0.03856462 -0.00960535 0.04208928
+v -0.03850274 -0.00960535 0.04197460
+v -0.03905655 -0.00772901 0.04208928
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 12
+f 3 12 17
+f 3 17 18
+f 3 18 13
+f 3 13 8
+f 4 9 10
+f 5 11 16
+f 5 16 19
+f 5 19 17
+f 5 17 12
+f 5 12 6
+f 6 12 7
+f 8 13 14
+f 9 14 10
+f 10 15 16
+f 10 16 11
+f 10 14 15
+f 13 18 15
+f 13 15 14
+f 15 18 17
+f 15 17 19
+f 15 19 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_480.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_480.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f0f18ffe51e84db3cbb8a639e0e0d4f17ec212
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_480.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00120130 0.04544320 0.05817171
+v -0.00120130 0.04542497 0.05756954
+v -0.00180286 0.04538569 0.05817171
+v 0.00395703 0.04542777 0.05817171
+v 0.00126395 0.04506728 0.05510532
+v -0.00120130 0.04507429 0.05510532
+v -0.00489425 0.04483443 0.05610253
+v -0.00489425 0.04504203 0.05756954
+v -0.00489425 0.04506588 0.05817171
+v 0.00395703 0.04540954 0.05756954
+v 0.00911700 0.04487371 0.05817171
+v 0.00395703 0.04505886 0.05510532
+v -0.00389603 0.04479516 0.05510532
+v -0.00489425 0.04467873 0.05510532
+v -0.00489425 0.03567204 0.05817171
+v 0.00911700 0.04484986 0.05756954
+v 0.01185107 0.04426213 0.05817171
+v 0.01185107 0.04424951 0.05785261
+v 0.00911700 0.04446412 0.05510532
+v -0.00489425 0.03212884 0.05510532
+v 0.01185107 0.03246829 0.05640812
+v 0.01185107 0.03352171 0.05731048
+v 0.01185107 0.03454007 0.05817171
+v 0.01185107 0.04423829 0.05756954
+v 0.01185107 0.04401245 0.05626403
+v 0.01185107 0.04381187 0.05510532
+v 0.01185107 0.03111469 0.05510532
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 23
+f 1 23 17
+f 1 17 11
+f 1 11 4
+f 1 4 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 5
+f 4 11 10
+f 5 10 12
+f 5 12 19
+f 5 19 26
+f 5 26 27
+f 5 27 20
+f 5 20 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 14 20
+f 7 20 15
+f 7 15 9
+f 7 9 8
+f 7 13 14
+f 10 11 16
+f 10 16 12
+f 11 17 18
+f 11 18 16
+f 12 16 19
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 16 18 24
+f 16 24 19
+f 17 23 22
+f 17 22 21
+f 17 21 27
+f 17 27 26
+f 17 26 25
+f 17 25 24
+f 17 24 18
+f 19 24 25
+f 19 25 26
+f 20 27 21
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_496.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_496.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927fe485c8761c93dbb4014e2ff329ff94519e1e
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_496.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02805826 0.01289692 0.01824272
+v -0.03088789 0.00034461 0.01824272
+v -0.03377900 0.00034461 0.00721457
+v -0.03214356 0.01289692 0.00721457
+v -0.04633345 0.01289692 0.01824272
+v -0.04732788 0.00034461 0.01824272
+v -0.04766375 0.00034461 0.00721457
+v -0.04727959 0.01289692 0.00721457
+v -0.04656175 0.01104406 0.01824272
+v -0.04851111 0.01289692 0.01593152
+v -0.04838159 0.00774871 0.01674654
+v -0.04732569 0.00148606 0.01824272
+v -0.04863623 0.00259066 0.01706499
+v -0.04863623 0.00034461 0.01706715
+v -0.04766375 0.00259066 0.00721457
+v -0.04954944 0.00034461 0.01027819
+v -0.04751009 0.00774871 0.00721457
+v -0.04954725 0.00259066 0.01028143
+v -0.04946602 0.00774871 0.01062579
+v -0.04948798 0.01289692 0.01147751
+v -0.04710178 0.00538716 0.01824272
+v -0.04877892 0.01289692 0.01559795
+v -0.04930577 0.01242756 0.01500747
+v -0.05028484 0.01155888 0.01390854
+v -0.04732349 0.00259066 0.01824272
+v -0.05037265 0.00774871 0.01416654
+v -0.05048461 0.00259066 0.01448391
+v -0.05011362 0.00034461 0.01500747
+v -0.04944188 0.00034461 0.01594447
+v -0.05048461 0.00034461 0.01285603
+v -0.05048461 0.00259066 0.01286035
+v -0.05037265 0.00774871 0.01320363
+v -0.05028484 0.01155888 0.01348969
+v -0.04960872 0.01289692 0.01181108
+v -0.04891283 0.01289692 0.01500639
+v -0.04960872 0.01289692 0.01187261
+v -0.05048461 0.00034461 0.01448823
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 20
+f 1 20 34
+f 1 34 36
+f 1 36 35
+f 1 35 22
+f 1 22 10
+f 1 10 5
+f 1 5 9
+f 1 9 21
+f 1 21 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 29
+f 2 29 28
+f 2 28 37
+f 2 37 30
+f 2 30 16
+f 2 16 7
+f 2 7 3
+f 3 7 15
+f 3 15 17
+f 3 17 8
+f 3 8 4
+f 5 10 11
+f 5 11 9
+f 6 12 13
+f 6 13 14
+f 7 16 15
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 11 13
+f 9 13 21
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 13
+f 12 25 13
+f 13 25 21
+f 13 24 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 15 16 18
+f 15 18 17
+f 16 30 31
+f 16 31 18
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 22 35 24
+f 22 24 23
+f 24 35 36
+f 24 36 34
+f 24 34 33
+f 24 33 32
+f 24 32 26
+f 26 32 31
+f 26 31 27
+f 27 31 30
+f 27 30 37
+f 27 37 28
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_5.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15892f8100ec53f7f1e39d7377bdf5a00e641db
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.03235060 -0.03643517 0.00045116
+v -0.03235060 -0.03648132 0.00045116
+v -0.03235060 -0.02830648 0.00044838
+v -0.03235475 -0.02830733 0.00045116
+v -0.03864692 -0.03648132 0.00045116
+v -0.03235060 -0.03648132 -0.01001491
+v -0.03235060 -0.02830392 0.00044145
+v -0.03396797 -0.02775009 0.00045116
+v -0.04074224 -0.03645995 0.00045116
+v -0.03864692 -0.03648132 -0.01001491
+v -0.03235060 -0.03628475 -0.01211089
+v -0.03235060 -0.02775009 -0.00128857
+v -0.03400944 -0.02775009 0.00045116
+v -0.04074638 -0.03645910 0.00045116
+v -0.04074224 -0.03645995 -0.01001491
+v -0.04074224 -0.03626509 -0.01211089
+v -0.03864692 -0.03628304 -0.01211089
+v -0.03655264 -0.03628389 -0.01211089
+v -0.03236305 -0.03628475 -0.01211089
+v -0.03235060 -0.03585485 -0.01335989
+v -0.03235060 -0.02775009 -0.00618613
+v -0.04294227 -0.02775009 -0.00110281
+v -0.04294227 -0.02775266 0.00045116
+v -0.04225592 -0.03602749 0.00045116
+v -0.04225592 -0.03602749 -0.01001491
+v -0.04214913 -0.03593092 -0.01211089
+v -0.04195837 -0.03576169 -0.01328642
+v -0.04074224 -0.03584203 -0.01335850
+v -0.03864692 -0.03585058 -0.01336543
+v -0.03236305 -0.03585229 -0.01336682
+v -0.03235060 -0.03585229 -0.01336682
+v -0.03235060 -0.02775351 -0.01370922
+v -0.03236305 -0.02775009 -0.01370922
+v -0.04294227 -0.02775009 -0.01001491
+v -0.04294227 -0.03247295 0.00045116
+v -0.04283237 -0.03456773 0.00045116
+v -0.04283237 -0.03456773 -0.01001491
+v -0.04260532 -0.03456773 -0.01211089
+v -0.04208382 -0.03456773 -0.01338484
+v -0.04074224 -0.03456773 -0.01362604
+v -0.03864692 -0.03456773 -0.01363991
+v -0.03655264 -0.03456773 -0.01364129
+v -0.03235060 -0.03457542 -0.01364129
+v -0.03235060 -0.03247295 -0.01370922
+v -0.03864692 -0.02775009 -0.01370922
+v -0.04270070 -0.02775009 -0.01211089
+v -0.04294227 -0.03247295 -0.01001491
+v -0.04270070 -0.03247295 -0.01211089
+v -0.04212425 -0.03247295 -0.01341811
+v -0.04074224 -0.03247295 -0.01369258
+v -0.03864692 -0.03247295 -0.01370922
+v -0.03236305 -0.03456773 -0.01364268
+v -0.03235060 -0.03456773 -0.01364268
+v -0.03917982 -0.02775009 -0.01370506
+v -0.04227147 -0.02775009 -0.01308541
+v -0.04212425 -0.02775009 -0.01341811
+v -0.04109370 -0.02775009 -0.01362327
+v -0.04074224 -0.02775009 -0.01369258
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 43
+f 1 43 53
+f 1 53 44
+f 1 44 32
+f 1 32 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 23
+f 1 23 35
+f 1 35 36
+f 1 36 24
+f 1 24 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 3 8 4
+f 5 9 15
+f 5 15 10
+f 6 10 19
+f 6 19 11
+f 7 12 8
+f 8 12 21
+f 8 21 33
+f 8 33 45
+f 8 45 54
+f 8 54 58
+f 8 58 57
+f 8 57 56
+f 8 56 55
+f 8 55 46
+f 8 46 34
+f 8 34 22
+f 8 22 13
+f 9 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 11 19 20
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 20
+f 18 20 19
+f 20 29 30
+f 20 30 31
+f 21 32 33
+f 22 34 47
+f 22 47 35
+f 22 35 23
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 38 27
+f 26 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 32 44 51
+f 32 51 45
+f 32 45 33
+f 34 46 48
+f 34 48 47
+f 35 47 37
+f 35 37 36
+f 37 47 38
+f 38 48 39
+f 38 47 48
+f 39 49 50
+f 39 50 40
+f 39 48 49
+f 40 50 51
+f 40 51 41
+f 41 51 42
+f 42 52 43
+f 42 51 52
+f 43 52 53
+f 44 53 52
+f 44 52 51
+f 45 51 54
+f 46 55 48
+f 48 55 49
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 50 57 58
+f 50 58 54
+f 50 54 51
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_506.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_506.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742f94ac99d31f84937bfaaddd9a7a0451cdc3d8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_506.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00393510 -0.04540590 0.05816901
+v 0.00393510 -0.04538906 0.05756954
+v 0.00395794 -0.04540742 0.05817171
+v 0.00393510 -0.04534773 0.05817171
+v 0.00393510 -0.04538600 0.05754672
+v 0.00395794 -0.04538906 0.05756954
+v 0.00456091 -0.04534773 0.05817171
+v 0.00393510 -0.03619778 0.05817171
+v 0.00393510 -0.04503855 0.05510532
+v 0.00395794 -0.04503855 0.05510532
+v 0.00665314 -0.04474621 0.05510532
+v 0.00911795 -0.04482886 0.05756954
+v 0.00911795 -0.04485335 0.05817171
+v 0.01453639 -0.03340290 0.05817171
+v 0.01453639 -0.02977230 0.05510532
+v 0.00393510 -0.03265137 0.05511072
+v 0.00393510 -0.04490692 0.05510532
+v 0.00911795 -0.04444315 0.05510532
+v 0.01427693 -0.04367478 0.05756954
+v 0.00971885 -0.04473702 0.05817171
+v 0.01453639 -0.04362580 0.05817171
+v 0.01453639 -0.04315744 0.05510532
+v 0.00395794 -0.03264525 0.05510532
+v 0.01181212 -0.04384009 0.05510532
+v 0.01453639 -0.04360284 0.05783850
+v 0.01427693 -0.04371611 0.05817171
+v 0.01427693 -0.04324928 0.05510532
+v 0.01453639 -0.04358295 0.05756954
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 20
+f 3 20 26
+f 3 26 21
+f 3 21 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 9 17 23
+f 9 23 15
+f 9 15 22
+f 9 22 27
+f 9 27 24
+f 9 24 18
+f 9 18 11
+f 9 11 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 14 21 25
+f 14 25 28
+f 14 28 22
+f 14 22 15
+f 15 23 16
+f 16 23 17
+f 18 24 19
+f 19 25 21
+f 19 21 26
+f 19 26 20
+f 19 24 27
+f 19 27 22
+f 19 22 28
+f 19 28 25
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_51.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9769633fba30597a5fe282ddb69710e471753cf
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.03465975 0.02618335 0.00066718
+v -0.03477730 0.02435121 0.00066718
+v -0.04294227 0.02618335 0.00066718
+v -0.03467758 0.02618335 0.00884391
+v -0.04294227 0.02435121 0.00066718
+v -0.03480649 0.02435121 0.01067454
+v -0.04294227 0.02618335 0.00883897
+v -0.03471082 0.02618335 0.01093376
+v -0.03481054 0.02435121 0.01093376
+v -0.04294227 0.02435121 0.00883897
+v -0.04293578 0.02618335 0.01093376
+v -0.03511133 0.02435121 0.01224100
+v -0.03512430 0.02618335 0.01242493
+v -0.04293578 0.02435121 0.01093376
+v -0.04236015 0.02618335 0.01258911
+v -0.03516241 0.02435121 0.01242493
+v -0.03655282 0.02618335 0.01306188
+v -0.03655282 0.02435121 0.01307299
+v -0.03637608 0.02435121 0.01299399
+v -0.04236015 0.02435121 0.01258911
+v -0.04074192 0.02618335 0.01323840
+v -0.03864778 0.02618335 0.01326680
+v -0.03864778 0.02435121 0.01327791
+v -0.04074192 0.02435121 0.01323840
+v -0.03865264 0.02618335 0.01326680
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 21
+f 1 21 25
+f 1 25 22
+f 1 22 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 12
+f 2 12 16
+f 2 16 19
+f 2 19 18
+f 2 18 23
+f 2 23 24
+f 2 24 20
+f 2 20 14
+f 2 14 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 4 9 6
+f 7 10 14
+f 7 14 11
+f 8 12 9
+f 8 13 12
+f 11 14 20
+f 11 20 15
+f 12 13 16
+f 13 17 18
+f 13 18 19
+f 13 19 16
+f 15 20 24
+f 15 24 21
+f 17 22 23
+f 17 23 18
+f 21 24 23
+f 21 23 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_515.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_515.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7606286859be4bb106b187e77d0ae8efa99bd4
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_515.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00743923 -0.03061651 0.01866702
+v 0.00136415 -0.03183588 0.01866702
+v 0.00136415 -0.03505585 0.00721457
+v -0.00743923 -0.03421882 0.00721457
+v -0.00743923 -0.04738804 0.01866702
+v 0.00136415 -0.04791919 0.01866702
+v 0.00136415 -0.04878308 0.00721457
+v -0.00743923 -0.04844827 0.00721457
+v -0.00743923 -0.04975858 0.01595188
+v -0.00120257 -0.04985572 0.01672091
+v -0.00120257 -0.04792332 0.01866702
+v 0.00008252 -0.04792126 0.01866702
+v 0.00136415 -0.04985365 0.01672203
+v 0.00136415 -0.04953744 0.00848134
+v -0.00120257 -0.04878308 0.00721457
+v -0.00537758 -0.04860328 0.00721457
+v -0.00120257 -0.05083328 0.01066174
+v -0.00743923 -0.05010786 0.01038036
+v -0.00743923 -0.05001486 0.01473781
+v -0.00434331 -0.05162071 0.01383089
+v -0.00120257 -0.05172818 0.01414254
+v 0.00136415 -0.05173024 0.01414254
+v 0.00136415 -0.05083328 0.01066062
+v -0.00618173 -0.05079608 0.01157202
+v -0.00743923 -0.05066174 0.01146888
+v 0.00136415 -0.05173024 0.01324011
+v -0.00120257 -0.05172818 0.01324123
+v -0.00508454 -0.05100276 0.01194084
+v -0.00743923 -0.05056874 0.01194084
+v -0.00434331 -0.05162071 0.01358427
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 25
+f 1 25 29
+f 1 29 19
+f 1 19 9
+f 1 9 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 22
+f 2 22 26
+f 2 26 23
+f 2 23 14
+f 2 14 7
+f 2 7 3
+f 3 7 15
+f 3 15 16
+f 3 16 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 13 11
+f 10 21 22
+f 10 22 13
+f 11 13 12
+f 14 23 17
+f 14 17 15
+f 15 17 16
+f 17 24 25
+f 17 25 18
+f 17 23 26
+f 17 26 27
+f 17 27 28
+f 17 28 24
+f 19 29 20
+f 20 30 27
+f 20 27 21
+f 20 29 25
+f 20 25 30
+f 21 27 26
+f 21 26 22
+f 24 28 30
+f 24 30 25
+f 27 30 28
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_521.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_521.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a911e5766512babaf3f10a692d23af8029a50c8
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_521.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02772331 -0.00257325 0.05319004
+v -0.03138190 -0.00257325 0.05510502
+v -0.02098238 -0.01771557 0.05319004
+v -0.04347894 -0.00257325 0.05319004
+v -0.02613970 -0.01771557 0.05510502
+v -0.04380057 -0.00257325 0.05510502
+v -0.03995882 -0.01771557 0.05319004
+v -0.04343873 -0.00328472 0.05319004
+v -0.04352361 -0.00257325 0.05319304
+v -0.04030280 -0.01771557 0.05510502
+v -0.04319974 -0.00772988 0.05510502
+v -0.04012634 -0.01771557 0.05410516
+v -0.04008837 -0.01742654 0.05319004
+v -0.04291161 -0.00772988 0.05319004
+v -0.04058199 -0.01707229 0.05510502
+v -0.04041671 -0.01667950 0.05319004
+v -0.04201818 -0.01288799 0.05510502
+v -0.04170101 -0.01288799 0.05319004
+v -0.04143745 -0.01462219 0.05510502
+v -0.04066240 -0.01597100 0.05319004
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 16
+f 1 16 20
+f 1 20 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 17
+f 2 17 19
+f 2 19 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 13
+f 8 14 9
+f 9 14 11
+f 10 15 16
+f 10 16 12
+f 11 14 17
+f 12 16 13
+f 14 18 17
+f 15 19 16
+f 16 19 20
+f 17 18 19
+f 18 20 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_53.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3270f3c8f37050dd332705bdbaac8840f2fa9fb
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01776729 -0.01366990 0.02066603
+v 0.01757652 -0.01366990 0.02111049
+v 0.01809379 -0.01451416 0.02066603
+v -0.01755780 -0.01366990 0.02066603
+v 0.01653463 -0.01366990 0.02267033
+v 0.01794338 -0.01536590 0.02175334
+v 0.01832125 -0.01536590 0.02066603
+v -0.01786596 -0.01454280 0.02066603
+v -0.01740739 -0.01366990 0.02111049
+v 0.01726835 -0.01538582 0.02267033
+v -0.01653792 -0.01366990 0.02267033
+v 0.01815249 -0.01697847 0.02230789
+v 0.01839829 -0.01569339 0.02066603
+v -0.01777425 -0.01536590 0.02175334
+v -0.01815211 -0.01536590 0.02066603
+v -0.01661863 -0.01366990 0.02256770
+v 0.01787735 -0.01730222 0.02267033
+v -0.01798336 -0.01697847 0.02230789
+v -0.01758348 -0.01665346 0.02267033
+v 0.01824054 -0.01898702 0.02245526
+v 0.01865142 -0.01814151 0.02111344
+v 0.01855604 -0.01670701 0.02066603
+v -0.01838691 -0.01670701 0.02066603
+v 0.01803876 -0.01883012 0.02267033
+v -0.01848229 -0.01814151 0.02111344
+v -0.01807140 -0.01898702 0.02245526
+v -0.01770821 -0.01730222 0.02267033
+v 0.01822586 -0.02139031 0.02243132
+v 0.01878716 -0.02139031 0.02082733
+v 0.01804977 -0.01933569 0.02267033
+v 0.01802042 -0.02139031 0.02267033
+v 0.01882385 -0.02139031 0.02066603
+v 0.01875048 -0.01817389 0.02066603
+v -0.01858134 -0.01817389 0.02066603
+v -0.01865471 -0.02139031 0.02066603
+v -0.01861803 -0.02139031 0.02082733
+v -0.01805673 -0.02139031 0.02243132
+v -0.01785129 -0.02139031 0.02267033
+v -0.01786963 -0.01883012 0.02267033
+v 0.01816717 -0.02292070 0.02234223
+v 0.01845332 -0.02405635 0.02066603
+v 0.01780764 -0.02320336 0.02267033
+v -0.01826951 -0.02413479 0.02066603
+v -0.01825850 -0.02413479 0.02071980
+v -0.01825117 -0.02413479 0.02075002
+v -0.01799803 -0.02292070 0.02234223
+v -0.01774123 -0.02260565 0.02267033
+v 0.01842764 -0.02413479 0.02071980
+v 0.01669605 -0.02639115 0.02267033
+v 0.01674741 -0.02639115 0.02259988
+v 0.01801308 -0.02413479 0.02193466
+v 0.01842030 -0.02423815 0.02066603
+v -0.01825117 -0.02423815 0.02066603
+v -0.01791732 -0.02555187 0.02066603
+v -0.01774123 -0.02493049 0.02166779
+v -0.01711756 -0.02456315 0.02267033
+v -0.01763851 -0.02320336 0.02267033
+v 0.01791036 -0.02493049 0.02166779
+v -0.01639485 -0.02639115 0.02267033
+v 0.01758386 -0.02639115 0.02108322
+v 0.01840563 -0.02428422 0.02066603
+v -0.01759082 -0.02639115 0.02066603
+v -0.01741472 -0.02639115 0.02108322
+v 0.01771226 -0.02639115 0.02066603
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 33
+f 1 33 32
+f 1 32 41
+f 1 41 52
+f 1 52 61
+f 1 61 64
+f 1 64 62
+f 1 62 54
+f 1 54 53
+f 1 53 43
+f 1 43 35
+f 1 35 34
+f 1 34 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 5 11 19
+f 5 19 27
+f 5 27 39
+f 5 39 38
+f 5 38 47
+f 5 47 57
+f 5 57 56
+f 5 56 59
+f 5 59 49
+f 5 49 42
+f 5 42 31
+f 5 31 30
+f 5 30 24
+f 5 24 17
+f 5 17 10
+f 6 10 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 8 15 14
+f 9 14 16
+f 10 17 12
+f 11 16 18
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 17 20
+f 14 15 18
+f 14 18 16
+f 15 23 18
+f 17 24 20
+f 18 23 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 29
+f 20 29 21
+f 20 24 30
+f 20 30 31
+f 20 31 28
+f 21 29 32
+f 21 32 33
+f 21 33 22
+f 23 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 26 36 37
+f 28 31 40
+f 28 40 29
+f 29 41 32
+f 29 40 41
+f 31 42 40
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 37 46 38
+f 38 46 47
+f 40 48 41
+f 40 42 49
+f 40 49 50
+f 40 50 51
+f 40 51 48
+f 41 48 52
+f 43 53 44
+f 44 53 45
+f 45 54 55
+f 45 55 46
+f 45 53 54
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 48 51 58
+f 48 58 52
+f 49 59 63
+f 49 63 62
+f 49 62 64
+f 49 64 60
+f 49 60 50
+f 50 60 58
+f 50 58 51
+f 52 58 61
+f 54 62 55
+f 55 62 63
+f 55 63 59
+f 55 59 56
+f 58 60 64
+f 58 64 61
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_530.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_530.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ae763d4a14b171ab9256f36da2ce018a890970
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_530.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.04526246 -0.01265995 0.06077749
+v 0.04539503 -0.01270710 0.06320872
+v 0.04538749 -0.01270710 0.06272898
+v 0.04537846 -0.01270710 0.06254557
+v 0.04535285 -0.01289002 0.06272898
+v 0.04521125 -0.01289002 0.06077749
+v 0.04509525 -0.01265995 0.05847740
+v 0.03731922 -0.01265995 0.06077749
+v 0.04536038 -0.01289002 0.06320872
+v 0.03817937 -0.01270710 0.06320872
+v 0.04518262 -0.01344164 0.06320872
+v 0.04364911 -0.01788281 0.06320872
+v 0.04365062 -0.01781303 0.06272898
+v 0.04415375 -0.01595264 0.06077798
+v 0.04512689 -0.01313613 0.06077798
+v 0.04502144 -0.01289002 0.05817171
+v 0.04507266 -0.01265995 0.05817171
+v 0.03506866 -0.01265995 0.05817171
+v 0.03000716 -0.02196190 0.05817171
+v 0.03316608 -0.02229286 0.06319886
+v 0.03333781 -0.02205996 0.06320872
+v 0.04261271 -0.02020994 0.06320872
+v 0.04250274 -0.02039287 0.06272898
+v 0.04308270 -0.01872861 0.06077749
+v 0.04313995 -0.01859943 0.06077798
+v 0.04357078 -0.01762445 0.06077798
+v 0.04346232 -0.01737174 0.05817171
+v 0.04482410 -0.01346427 0.05817171
+v 0.03228182 -0.02229286 0.06077798
+v 0.04118916 -0.02196190 0.05817171
+v 0.03357431 -0.02229286 0.06320872
+v 0.04251780 -0.02042022 0.06320872
+v 0.04242591 -0.02020334 0.06077749
+v 0.04245755 -0.01964985 0.05817171
+v 0.04140909 -0.02229286 0.06272898
+v 0.04122682 -0.02229286 0.06077798
+v 0.04232348 -0.01994970 0.05817171
+v 0.04143621 -0.02229286 0.06320872
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 18
+f 1 18 8
+f 1 8 10
+f 1 10 2
+f 2 9 5
+f 2 5 3
+f 2 10 21
+f 2 21 31
+f 2 31 38
+f 2 38 32
+f 2 32 22
+f 2 22 12
+f 2 12 11
+f 2 11 9
+f 3 5 4
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 8 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 27
+f 16 27 34
+f 16 34 37
+f 16 37 30
+f 16 30 19
+f 16 19 18
+f 16 18 17
+f 19 29 20
+f 19 30 36
+f 19 36 29
+f 20 29 36
+f 20 36 35
+f 20 35 38
+f 20 38 31
+f 20 31 21
+f 22 32 23
+f 23 33 34
+f 23 34 24
+f 23 32 35
+f 23 35 30
+f 23 30 33
+f 24 34 25
+f 25 34 26
+f 26 34 27
+f 30 37 33
+f 30 35 36
+f 32 38 35
+f 33 37 34
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_534.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_534.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f006c292d09e468b367c65b37d3ce9dbf38425ee
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_534.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03067496 0.02330648 0.00721457
+v 0.03082349 0.02653392 0.00721457
+v 0.03102153 0.02163854 0.00721457
+v 0.02974072 0.02333474 0.00771581
+v 0.03203972 0.02798497 0.00721457
+v 0.02974072 0.02759929 0.00782733
+v 0.03148649 0.02060065 0.00721457
+v 0.03089667 0.02060065 0.00779424
+v 0.03001841 0.02060065 0.00940333
+v 0.02974072 0.02086337 0.00970113
+v 0.03375320 0.02833245 0.00721457
+v 0.02974072 0.02798497 0.00792782
+v 0.02974072 0.02840119 0.00851974
+v 0.04981390 0.02060065 0.00721457
+v 0.02974072 0.02060065 0.01030899
+v 0.03356808 0.02840119 0.00737757
+v 0.03441190 0.02840119 0.00721457
+v 0.02974072 0.02840119 0.01973438
+v 0.04973425 0.02840119 0.00721457
+v 0.05057593 0.02060065 0.00873543
+v 0.02974072 0.02060065 0.01973438
+v 0.04088483 0.02840119 0.01973438
+v 0.05161349 0.02840119 0.01112027
+v 0.05173188 0.02060065 0.01113375
+v 0.04515563 0.02060065 0.01973438
+v 0.04342492 0.02657898 0.01973438
+v 0.04812409 0.02838820 0.01901011
+v 0.04813055 0.02840119 0.01900275
+v 0.05161995 0.02840119 0.01113498
+v 0.05161995 0.02838820 0.01113375
+v 0.05056086 0.02060065 0.01629192
+v 0.05047691 0.02840119 0.01628089
+v 0.04665385 0.02060065 0.01951379
+v 0.04814777 0.02060065 0.01901868
+v 0.05047260 0.02838820 0.01629192
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 15
+f 4 15 21
+f 4 21 18
+f 4 18 13
+f 4 13 12
+f 4 12 6
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 7 14 20
+f 7 20 24
+f 7 24 31
+f 7 31 34
+f 7 34 33
+f 7 33 25
+f 7 25 21
+f 7 21 15
+f 7 15 9
+f 7 9 8
+f 9 15 10
+f 11 13 16
+f 11 16 17
+f 13 18 22
+f 13 22 28
+f 13 28 32
+f 13 32 29
+f 13 29 23
+f 13 23 19
+f 13 19 17
+f 13 17 16
+f 14 19 20
+f 18 21 25
+f 18 25 26
+f 18 26 22
+f 19 23 24
+f 19 24 20
+f 22 26 27
+f 22 27 28
+f 23 29 30
+f 23 30 24
+f 24 30 29
+f 24 29 32
+f 24 32 31
+f 25 33 27
+f 25 27 26
+f 27 33 34
+f 27 34 28
+f 28 34 31
+f 28 31 35
+f 28 35 32
+f 31 32 35
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_55.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ee27c7b3a5d935a26ebe4eb84bc099e246ed00
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.04807416 0.05169748 0.01395978
+v 0.04810176 0.04670048 0.01896599
+v 0.04980825 0.04852641 0.01580662
+v 0.05316375 0.04691223 0.01421346
+v 0.04807416 0.05169748 0.01344629
+v 0.04648035 0.05169748 0.01395978
+v 0.04494865 0.04981775 0.01592550
+v 0.04523383 0.04681156 0.01900888
+v 0.03056761 0.03951827 0.01973438
+v 0.03383111 0.03762118 0.01973438
+v 0.04523383 0.04386613 0.01916452
+v 0.04827195 0.04386613 0.01901623
+v 0.05085239 0.04386613 0.01701743
+v 0.05323735 0.04386613 0.01443773
+v 0.05316375 0.04691223 0.01317790
+v 0.04892971 0.04749715 0.00768272
+v 0.04655395 0.04783734 0.00721457
+v 0.04521773 0.04818274 0.00721457
+v 0.04494865 0.05078972 0.01148915
+v 0.04648035 0.05169748 0.01344629
+v 0.05022223 0.04892561 0.01159332
+v 0.02974196 0.04915472 0.01113375
+v 0.02974196 0.04839797 0.01629192
+v 0.02974196 0.04660328 0.01896844
+v 0.04007524 0.04674387 0.01900153
+v 0.04245790 0.04677511 0.01900520
+v 0.02974196 0.03952348 0.01973438
+v 0.03665995 0.03529539 0.01973438
+v 0.04824895 0.03870945 0.01901746
+v 0.03683013 0.03396586 0.01973438
+v 0.05082939 0.03870945 0.01667183
+v 0.04817075 0.03396586 0.01901256
+v 0.04838004 0.03396586 0.01882260
+v 0.05323735 0.04386613 0.01293280
+v 0.05310396 0.03870945 0.01409213
+v 0.05214721 0.04386613 0.01035188
+v 0.04993245 0.04386613 0.00721457
+v 0.04923099 0.04577537 0.00721457
+v 0.04007524 0.04816018 0.00721457
+v 0.02974196 0.04745723 0.00721457
+v 0.04245790 0.05051548 0.01130778
+v 0.04007524 0.05024993 0.01113375
+v 0.02974196 0.03396586 0.01973438
+v 0.05110998 0.03396586 0.01580050
+v 0.05310396 0.03870945 0.01330168
+v 0.05213341 0.03870945 0.01072198
+v 0.05298666 0.03597750 0.01375144
+v 0.05015553 0.03870945 0.00721457
+v 0.02974196 0.03396586 0.00721457
+v 0.05208052 0.03396586 0.01162396
+v 0.05298666 0.03597750 0.01366811
+v 0.05207132 0.03396586 0.01160190
+v 0.04990025 0.03396586 0.00721457
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 5
+f 1 5 20
+f 1 20 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 4
+f 2 4 3
+f 4 13 14
+f 4 14 34
+f 4 34 15
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 15 21
+f 5 21 16
+f 6 20 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 8 26 27
+f 8 27 9
+f 9 27 43
+f 9 43 30
+f 9 30 28
+f 9 28 10
+f 10 28 11
+f 11 28 12
+f 12 29 13
+f 12 28 30
+f 12 30 29
+f 13 31 14
+f 13 29 32
+f 13 32 33
+f 13 33 31
+f 14 31 35
+f 14 35 45
+f 14 45 34
+f 15 34 36
+f 15 36 37
+f 15 37 38
+f 15 38 16
+f 15 16 21
+f 16 38 17
+f 17 38 37
+f 17 37 48
+f 17 48 53
+f 17 53 49
+f 17 49 40
+f 17 40 39
+f 17 39 18
+f 18 39 19
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 22
+f 22 42 40
+f 22 40 49
+f 22 49 43
+f 22 43 27
+f 22 27 24
+f 22 24 23
+f 24 27 25
+f 25 27 26
+f 29 30 32
+f 30 43 49
+f 30 49 53
+f 30 53 52
+f 30 52 50
+f 30 50 44
+f 30 44 33
+f 30 33 32
+f 31 44 35
+f 31 33 44
+f 34 45 46
+f 34 46 36
+f 35 47 51
+f 35 51 45
+f 35 44 47
+f 36 46 48
+f 36 48 37
+f 40 42 41
+f 44 50 47
+f 45 51 50
+f 45 50 46
+f 46 50 52
+f 46 52 53
+f 46 53 48
+f 47 50 51
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_551.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_551.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378e94b222ae6a91e8dac9e1c6c4bdcefc150d1c
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_551.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03934273 -0.02159041 0.06320872
+v -0.03929297 -0.02159041 0.06167907
+v -0.03911950 -0.02202811 0.06320872
+v -0.03108190 -0.02159041 0.06320872
+v -0.03921192 -0.02159041 0.06077827
+v -0.03866594 -0.02274594 0.06262436
+v -0.03864745 -0.02283189 0.06320872
+v -0.02481874 -0.02774051 0.06144423
+v -0.02901314 -0.02257563 0.06077827
+v -0.03069232 -0.02159041 0.06218110
+v -0.02481874 -0.02881009 0.06320872
+v -0.03027999 -0.02159041 0.06077827
+v -0.03839579 -0.02291465 0.06077827
+v -0.03753558 -0.02426914 0.06077827
+v -0.03739482 -0.02449038 0.06077827
+v -0.03581375 -0.02723914 0.06272905
+v -0.03606257 -0.02689217 0.06320872
+v -0.02481874 -0.02746038 0.06077827
+v -0.02481874 -0.03784902 0.06320872
+v -0.03572133 -0.02711500 0.06077827
+v -0.03582228 -0.02724710 0.06320872
+v -0.03446301 -0.02871937 0.06077827
+v -0.03378907 -0.02981760 0.06272905
+v -0.02481874 -0.03765007 0.06077827
+v -0.02551118 -0.03741291 0.06320872
+v -0.02586095 -0.03716462 0.06272905
+v -0.02481874 -0.03782197 0.06276070
+v -0.03379618 -0.02982556 0.06320872
+v -0.03368527 -0.02969505 0.06077827
+v -0.03270990 -0.03075667 0.06077827
+v -0.03258051 -0.03089514 0.06077827
+v -0.03110750 -0.03247087 0.06077827
+v -0.03121129 -0.03257432 0.06272905
+v -0.02573725 -0.03707230 0.06077827
+v -0.02586948 -0.03717417 0.06320872
+v -0.02844157 -0.03515438 0.06272905
+v -0.02721311 -0.03592473 0.06077827
+v -0.03145726 -0.03232603 0.06320872
+v -0.02952358 -0.03394632 0.06077827
+v -0.03096105 -0.03282103 0.06320872
+v -0.03121698 -0.03258228 0.06320872
+v -0.02844868 -0.03516074 0.06320872
+v -0.02938424 -0.03407524 0.06077827
+v -0.02831645 -0.03505092 0.06077827
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 21
+f 1 21 28
+f 1 28 38
+f 1 38 41
+f 1 41 40
+f 1 40 42
+f 1 42 35
+f 1 35 25
+f 1 25 19
+f 1 19 11
+f 1 11 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 11 8
+f 5 12 9
+f 5 9 18
+f 5 18 24
+f 5 24 34
+f 5 34 37
+f 5 37 44
+f 5 44 43
+f 5 43 39
+f 5 39 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 22
+f 5 22 20
+f 5 20 15
+f 5 15 14
+f 5 14 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 8 18 9
+f 8 11 19
+f 8 19 27
+f 8 27 24
+f 8 24 18
+f 9 12 10
+f 15 20 16
+f 16 21 17
+f 16 20 22
+f 16 22 23
+f 16 23 21
+f 19 25 26
+f 19 26 27
+f 21 23 28
+f 22 29 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 28
+f 23 29 30
+f 24 27 26
+f 24 26 34
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 34
+f 28 33 38
+f 32 39 33
+f 33 39 36
+f 33 36 40
+f 33 40 41
+f 33 41 38
+f 35 42 36
+f 36 42 40
+f 36 39 43
+f 36 43 44
+f 36 44 37
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_558.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_558.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a111fcfdc0dc884498ce2a00951178fb68f93e
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_558.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00968115 0.04750703 0.01846024
+v 0.00968115 0.03106272 0.01846024
+v 0.01808773 0.04709389 0.01846024
+v 0.00968115 0.04934923 0.01629168
+v 0.01808773 0.02729931 0.01846024
+v 0.00968115 0.03421206 0.00721457
+v 0.01808773 0.04874871 0.01629168
+v 0.00968115 0.04946210 0.01573028
+v 0.01808773 0.03087985 0.01025936
+v 0.01036017 0.03400662 0.00721457
+v 0.00968115 0.04825881 0.00721457
+v 0.01808773 0.04968109 0.01113338
+v 0.01427703 0.05003553 0.01113338
+v 0.00968115 0.04978720 0.01407579
+v 0.01808773 0.03226150 0.00721457
+v 0.00968115 0.05011906 0.01065234
+v 0.01369020 0.04809400 0.00721457
+v 0.01808773 0.04820463 0.00797192
+v 0.00968115 0.05036063 0.01113338
+v 0.01808773 0.04782084 0.00721457
+v 0.00968115 0.05014616 0.01070628
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 21
+f 1 21 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 15
+f 3 15 20
+f 3 20 18
+f 3 18 12
+f 3 12 7
+f 3 7 4
+f 4 7 8
+f 5 6 10
+f 5 10 9
+f 6 11 17
+f 6 17 20
+f 6 20 15
+f 6 15 10
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 10 15
+f 11 16 17
+f 12 18 13
+f 13 19 14
+f 13 18 19
+f 16 21 18
+f 16 18 20
+f 16 20 17
+f 18 21 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_559.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_559.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95463a7c947daf9186c45067d467fd27f6a06df
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_559.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02975376 -0.03324524 -0.07522656
+v 0.02975376 -0.03324524 -0.08199816
+v 0.02974653 -0.03324524 -0.07514169
+v 0.02975376 -0.03531035 -0.07142523
+v 0.02975376 -0.03868702 -0.08199816
+v 0.00514675 -0.03324524 -0.08199816
+v 0.00514675 -0.03324524 -0.07516136
+v 0.02975376 -0.04826077 -0.07142523
+v 0.00514675 -0.03543297 -0.07142523
+v 0.02975376 -0.04384621 -0.08194641
+v 0.01943640 -0.04384621 -0.08196814
+v 0.01427892 -0.04384621 -0.08197229
+v 0.00514675 -0.03868702 -0.08199816
+v 0.02975376 -0.04975005 -0.07658130
+v 0.00514675 -0.04978204 -0.07142523
+v 0.00514675 -0.04998820 -0.07176883
+v 0.00514675 -0.05139929 -0.07658130
+v 0.02975376 -0.04804928 -0.08052752
+v 0.00911904 -0.04866241 -0.08055339
+v 0.00514675 -0.04384621 -0.08197229
+v 0.00514675 -0.04990467 -0.07920279
+v 0.00514675 -0.04920446 -0.08035985
+v 0.00514675 -0.04495518 -0.08164524
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 3 7 4
+f 4 7 9
+f 4 9 15
+f 4 15 8
+f 5 10 11
+f 5 11 12
+f 5 12 20
+f 5 20 13
+f 6 13 20
+f 6 20 23
+f 6 23 22
+f 6 22 21
+f 6 21 17
+f 6 17 16
+f 6 16 15
+f 6 15 9
+f 6 9 7
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 10 18 19
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 14 17 18
+f 17 21 18
+f 18 21 22
+f 18 22 19
+f 19 22 23
+f 19 23 20
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_573.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_573.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b14ee5d99645971d5113a89700dd1844804c4d
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_573.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02975680 -0.04911712 -0.07438852
+v 0.03624684 -0.04971423 -0.07438852
+v 0.02975680 -0.04846332 -0.07212819
+v 0.02975680 -0.03366324 -0.07438852
+v 0.03624684 -0.04905511 -0.07212819
+v 0.03624684 -0.03161324 -0.07438852
+v 0.02975680 -0.03491947 -0.07212819
+v 0.03624684 -0.03206328 -0.07212819
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+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_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_588.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_588.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ab293968c42da111f478ff97794d43d40ab9de
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_588.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.00637493 0.04419792 0.05318967
+v -0.00637493 0.04408023 0.05240938
+v -0.00714738 0.04403387 0.05318967
+v -0.00637493 0.02760795 0.05318967
+v -0.00637493 0.04320651 0.04945631
+v -0.00660738 0.04317798 0.04945631
+v -0.01152463 0.04207603 0.04945631
+v -0.01152463 0.04287486 0.05240938
+v -0.01152463 0.04301037 0.05318967
+v -0.00637493 0.02756158 0.05318748
+v -0.02635862 0.00776916 0.05318967
+v -0.00637493 0.01624603 0.04945631
+v -0.01395285 0.04141628 0.04945631
+v -0.01429259 0.04136635 0.04960323
+v -0.01508650 0.04170158 0.05240938
+v -0.01524743 0.04176933 0.05318967
+v -0.02182045 0.00776916 0.05191708
+v -0.00637493 0.02323222 0.05194997
+v -0.04290562 0.00776916 0.05318967
+v -0.00637493 0.01876377 0.05050487
+v -0.01740744 0.00776916 0.05048440
+v -0.01496491 0.00776916 0.04945850
+v -0.01501498 0.00776916 0.04945631
+v -0.01418531 0.04134139 0.04945631
+v -0.01444279 0.04124153 0.04945631
+v -0.01766493 0.04055682 0.05240938
+v -0.01782586 0.04062815 0.05318967
+v -0.01742533 0.00776916 0.05049171
+v -0.00637493 0.01877803 0.05050999
+v -0.00637493 0.02321795 0.05194558
+v -0.04273753 0.00853233 0.05318967
+v -0.04279118 0.00776916 0.05242875
+v -0.04194362 0.00776916 0.04945631
+v -0.01681022 0.04002546 0.04945631
+v -0.02161661 0.03749346 0.04945631
+v -0.02234257 0.03786434 0.05193535
+v -0.02223171 0.03817817 0.05318967
+v -0.04186852 0.01219839 0.05318967
+v -0.04156812 0.01291163 0.05240938
+v -0.04278760 0.00776916 0.05240938
+v -0.04194720 0.00776916 0.04946728
+v -0.04081355 0.01261207 0.04945631
+v -0.02424868 0.03600278 0.04945631
+v -0.02439173 0.03609907 0.04990000
+v -0.02471716 0.03669106 0.05318967
+v -0.04169687 0.01291163 0.05318967
+v -0.04034865 0.01654559 0.05240938
+v -0.03999818 0.01573249 0.04954147
+v -0.04001249 0.01558628 0.04945631
+v -0.02987044 0.03125974 0.04945631
+v -0.02683068 0.03466546 0.05193535
+v -0.02519279 0.03635227 0.05318967
+v -0.02497464 0.03653058 0.05318967
+v -0.04041659 0.01670607 0.05318967
+v -0.03927222 0.01928443 0.05318967
+v -0.03919712 0.01912395 0.05240938
+v -0.03992666 0.01581808 0.04945631
+v -0.03998030 0.01568613 0.04945631
+v -0.03463391 0.02566793 0.04945631
+v -0.03471974 0.02579631 0.04986747
+v -0.03328569 0.02822490 0.05191562
+v -0.03035322 0.03174117 0.05240938
+v -0.02711320 0.03471539 0.05318967
+v -0.03682611 0.02362450 0.05318967
+v -0.03650425 0.02373862 0.05191562
+v -0.03613233 0.02302894 0.04945631
+v -0.03867142 0.01825023 0.04945631
+v -0.03528477 0.02617790 0.05318967
+v -0.03515961 0.02637761 0.05318967
+v -0.03501656 0.02655235 0.05318967
+v -0.03333576 0.02851733 0.05318967
+v -0.03043905 0.03182676 0.05318967
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 27
+f 1 27 37
+f 1 37 45
+f 1 45 53
+f 1 53 52
+f 1 52 63
+f 1 63 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 68
+f 1 68 64
+f 1 64 55
+f 1 55 54
+f 1 54 46
+f 1 46 38
+f 1 38 31
+f 1 31 19
+f 1 19 11
+f 1 11 4
+f 1 4 10
+f 1 10 18
+f 1 18 30
+f 1 30 29
+f 1 29 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 11 10
+f 5 12 23
+f 5 23 33
+f 5 33 42
+f 5 42 49
+f 5 49 58
+f 5 58 57
+f 5 57 67
+f 5 67 66
+f 5 66 59
+f 5 59 50
+f 5 50 43
+f 5 43 35
+f 5 35 34
+f 5 34 25
+f 5 25 24
+f 5 24 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 11 17
+f 11 19 32
+f 11 32 40
+f 11 40 41
+f 11 41 33
+f 11 33 23
+f 11 23 22
+f 11 22 21
+f 11 21 28
+f 11 28 17
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 31 32
+f 20 29 28
+f 20 28 21
+f 25 34 26
+f 26 35 36
+f 26 36 27
+f 26 34 35
+f 27 36 37
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 33 41 42
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 38 46 39
+f 39 46 47
+f 39 47 48
+f 39 48 42
+f 39 42 40
+f 40 42 41
+f 42 48 49
+f 43 50 44
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 51 63 52
+f 55 64 65
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 57
+f 59 66 60
+f 60 66 65
+f 60 65 68
+f 60 68 69
+f 60 69 70
+f 60 70 61
+f 61 71 62
+f 61 70 71
+f 62 71 72
+f 62 72 63
+f 64 68 65
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_599.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_599.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28120a4b2a11299bfc7742214b2a6dc5ad7837f4
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_599.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00358755 0.00937187 0.04432719
+v 0.00358755 0.00937187 0.04544313
+v 0.00358755 0.01225900 0.04432719
+v 0.01033449 0.00937187 0.04432719
+v 0.00358755 0.01164093 0.04600531
+v 0.00432657 0.00937187 0.04691688
+v 0.00358755 0.01225900 0.04609028
+v 0.01033449 0.01225900 0.04432719
+v 0.01033449 0.00937187 0.04745892
+v 0.00404654 0.01225900 0.04707363
+v 0.00358755 0.01197922 0.04608881
+v 0.00446063 0.00937187 0.04718350
+v 0.00358755 0.01210837 0.04608954
+v 0.00366350 0.01225900 0.04630892
+v 0.01033449 0.01225900 0.04806871
+v 0.00607604 0.00937187 0.04747723
+v 0.00860218 0.01225900 0.04790133
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 10
+f 3 10 17
+f 3 17 15
+f 3 15 8
+f 4 8 15
+f 4 15 9
+f 5 6 10
+f 5 10 11
+f 6 12 10
+f 7 13 14
+f 9 15 16
+f 10 14 11
+f 10 12 16
+f 10 16 17
+f 11 14 13
+f 15 17 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_603.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_603.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedff96cb1d8c9fb9005463961a8918fd8aa0137
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_603.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.04486015 -0.01020142 0.05319004
+v 0.04422317 -0.01288955 0.05319004
+v 0.04482553 -0.01020142 0.05298243
+v 0.02768249 -0.01020142 0.05319004
+v 0.04408816 -0.01288955 0.05240966
+v 0.04472860 -0.01020142 0.05240966
+v 0.04305653 -0.01641627 0.05319004
+v 0.04298729 -0.01625386 0.05240966
+v 0.02212970 -0.01020142 0.05163039
+v 0.00949745 -0.02283000 0.05191293
+v 0.00949745 -0.02729806 0.05319004
+v 0.04267919 -0.01552796 0.04975932
+v 0.04278651 -0.01482859 0.04945631
+v 0.04330232 -0.01288955 0.04945631
+v 0.04388045 -0.01020142 0.04945631
+v 0.04190720 -0.01899502 0.05319004
+v 0.04183796 -0.01883261 0.05240966
+v 0.01765354 -0.01020142 0.05028347
+v 0.00949745 -0.01808020 0.05039495
+v 0.00949745 -0.04405992 0.05319004
+v 0.04242301 -0.01583291 0.04945631
+v 0.04262726 -0.01531252 0.04945631
+v 0.04129099 -0.01803710 0.04945631
+v 0.01600571 -0.01020142 0.04945631
+v 0.03938698 -0.02355921 0.05319004
+v 0.03912388 -0.02364539 0.05208655
+v 0.03875000 -0.02285320 0.04945631
+v 0.00949745 -0.01588262 0.04945631
+v 0.00949745 -0.01602184 0.04953563
+v 0.00949745 -0.04399695 0.05278980
+v 0.00989902 -0.04396712 0.05319004
+v 0.03819264 -0.02557779 0.05319004
+v 0.03780146 -0.02620756 0.05319004
+v 0.03737565 -0.02565734 0.05015115
+v 0.03723372 -0.02544521 0.04945631
+v 0.00949745 -0.04308212 0.04945631
+v 0.00949745 -0.04393065 0.05240966
+v 0.01427825 -0.04278380 0.05240966
+v 0.01427825 -0.04291971 0.05319004
+v 0.01061216 -0.04379807 0.05319004
+v 0.03733064 -0.02677767 0.05319004
+v 0.03588706 -0.02814659 0.05208655
+v 0.03252561 -0.03113967 0.04945631
+v 0.00949745 -0.04311195 0.04955463
+v 0.01427825 -0.04198830 0.04945631
+v 0.01643497 -0.04139831 0.04945631
+v 0.01697156 -0.04131213 0.04969280
+v 0.01771932 -0.04163365 0.05240966
+v 0.01787856 -0.04170325 0.05319004
+v 0.03594245 -0.02838524 0.05319004
+v 0.03299296 -0.03160702 0.05240966
+v 0.02953804 -0.03450729 0.05206608
+v 0.02706283 -0.03599885 0.05011752
+v 0.02685858 -0.03586295 0.04945631
+v 0.01680193 -0.04127567 0.04945631
+v 0.01721043 -0.04111326 0.04945631
+v 0.02029839 -0.04047686 0.05240966
+v 0.02006645 -0.04072214 0.05319004
+v 0.03308297 -0.03169651 0.05319004
+v 0.02813600 -0.03599222 0.05319004
+v 0.02760980 -0.03642643 0.05319004
+v 0.02703167 -0.03679435 0.05319004
+v 0.02504457 -0.03776221 0.05206608
+v 0.02426566 -0.03739097 0.04945631
+v 0.01948140 -0.03993989 0.04945631
+v 0.02045763 -0.04054646 0.05319004
+v 0.02495457 -0.03803400 0.05319004
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 24
+f 1 24 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 20
+f 1 20 31
+f 1 31 40
+f 1 40 39
+f 1 39 49
+f 1 49 58
+f 1 58 66
+f 1 66 67
+f 1 67 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 50
+f 1 50 41
+f 1 41 33
+f 1 33 32
+f 1 32 25
+f 1 25 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 4 9 10
+f 4 10 11
+f 5 8 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 16 17
+f 7 17 8
+f 8 17 12
+f 9 18 19
+f 9 19 10
+f 10 19 29
+f 10 29 28
+f 10 28 36
+f 10 36 44
+f 10 44 37
+f 10 37 30
+f 10 30 20
+f 10 20 11
+f 12 21 22
+f 12 22 13
+f 12 17 23
+f 12 23 21
+f 13 22 21
+f 13 21 23
+f 13 23 27
+f 13 27 35
+f 13 35 43
+f 13 43 54
+f 13 54 64
+f 13 64 65
+f 13 65 56
+f 13 56 55
+f 13 55 46
+f 13 46 45
+f 13 45 36
+f 13 36 28
+f 13 28 24
+f 13 24 15
+f 13 15 14
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 23
+f 18 24 28
+f 18 28 29
+f 18 29 19
+f 20 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 36 45 44
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 41 50 51
+f 41 51 42
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 48 57 58
+f 48 58 49
+f 50 59 51
+f 51 59 60
+f 51 60 52
+f 52 60 53
+f 53 60 61
+f 53 61 62
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 56 65 57
+f 57 66 58
+f 57 65 64
+f 57 64 63
+f 57 63 66
+f 62 67 63
+f 63 67 66
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_605.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_605.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b34e0abea5945393f5d07ff58687ba077a7ea111
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_605.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01365486 0.02420538 0.05319004
+v -0.01365486 0.02901060 0.05510502
+v -0.01365486 0.04229440 0.05319004
+v 0.00116691 0.02896361 0.05319004
+v 0.00116691 0.03267171 0.05510502
+v -0.01365486 0.04259677 0.05510502
+v -0.01152068 0.04334043 0.05510502
+v -0.01152068 0.04301150 0.05319004
+v 0.00116691 0.04479507 0.05319004
+v 0.00116691 0.04506680 0.05510502
+v -0.00905570 0.04391861 0.05510502
+v -0.00714060 0.04403711 0.05319004
+v -0.00120231 0.04480120 0.05319004
+v -0.00120231 0.04507497 0.05510502
+v -0.00636005 0.04450496 0.05510502
+v -0.00636005 0.04420668 0.05319004
+v -0.00198286 0.04472152 0.05319004
+v -0.00389797 0.04479507 0.05510502
+v -0.00269523 0.04463776 0.05319004
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 16
+f 1 16 19
+f 1 19 17
+f 1 17 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 18
+f 2 18 15
+f 2 15 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 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 18 16
+f 16 18 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_606.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_606.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb406fbe9200bfa9d7714d339f24bceedc6c4ad7
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_606.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.01845380 0.02688923 0.03863372
+v 0.02510099 0.02084778 0.03863372
+v 0.03025942 0.01309041 0.03863409
+v 0.01845380 0.02849791 0.04078563
+v 0.01845380 0.03506367 0.03863372
+v 0.02527350 0.02070479 0.03863372
+v 0.03808227 0.01309041 0.03863409
+v 0.03327312 0.01309041 0.04243582
+v 0.01845380 0.02995405 0.04246168
+v 0.01845380 0.03595976 0.03978630
+v 0.02063900 0.03539255 0.04065524
+v 0.01982754 0.03428197 0.03863372
+v 0.02527350 0.03084061 0.03863372
+v 0.03810357 0.01309041 0.03865807
+v 0.03674900 0.01641023 0.03863409
+v 0.03763075 0.01578583 0.03931755
+v 0.04020996 0.01309041 0.04243582
+v 0.02527350 0.02372909 0.04246168
+v 0.02514997 0.02378629 0.04246168
+v 0.01975087 0.02860277 0.04246168
+v 0.01845380 0.03743735 0.04246168
+v 0.01845380 0.03680341 0.04122253
+v 0.01912683 0.03707987 0.04226084
+v 0.01949955 0.03700837 0.04246168
+v 0.02419368 0.03428674 0.04246168
+v 0.02470484 0.03362420 0.04195920
+v 0.02527350 0.03286872 0.04140089
+v 0.02307126 0.03240400 0.03863372
+v 0.02414257 0.03170095 0.03863372
+v 0.02527350 0.03129818 0.03912570
+v 0.02687939 0.03072383 0.03982414
+v 0.02628304 0.03007083 0.03863409
+v 0.02803802 0.02846931 0.03863409
+v 0.02982281 0.02667236 0.03863409
+v 0.03142444 0.02489448 0.03863409
+v 0.03306866 0.02272575 0.03863409
+v 0.03343712 0.02215855 0.03863409
+v 0.03372891 0.02170812 0.03863409
+v 0.03561806 0.01840737 0.03863409
+v 0.03995438 0.01309041 0.04191573
+v 0.03674261 0.01922719 0.04068783
+v 0.03841239 0.01773292 0.04228069
+v 0.04004597 0.01309041 0.04209747
+v 0.03856361 0.01753034 0.04243582
+v 0.02527350 0.03349551 0.04246168
+v 0.01886273 0.03728006 0.04246168
+v 0.01845380 0.03732534 0.04223760
+v 0.01912257 0.03717281 0.04246168
+v 0.02599125 0.03297835 0.04243582
+v 0.02915617 0.03037350 0.04243582
+v 0.03015293 0.02878628 0.04155002
+v 0.03208468 0.02549505 0.03983801
+v 0.03497911 0.02331679 0.04198243
+v 0.03835915 0.01801890 0.04243582
+v 0.03557334 0.02285683 0.04243582
+v 0.03848480 0.01772815 0.04243582
+v 0.03045324 0.02908656 0.04243582
+v 0.03436146 0.02455368 0.04243582
+v 0.03172474 0.02779247 0.04243582
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 47
+f 1 47 22
+f 1 22 10
+f 1 10 5
+f 1 5 12
+f 1 12 28
+f 1 28 29
+f 1 29 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 14
+f 3 14 40
+f 3 40 43
+f 3 43 17
+f 3 17 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 18
+f 9 18 45
+f 9 45 25
+f 9 25 24
+f 9 24 48
+f 9 48 46
+f 9 46 21
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 39
+f 13 39 15
+f 14 16 40
+f 15 39 41
+f 15 41 16
+f 16 41 42
+f 16 42 40
+f 17 43 44
+f 17 44 45
+f 17 45 18
+f 21 46 23
+f 21 23 47
+f 22 47 23
+f 23 48 24
+f 23 46 48
+f 25 49 26
+f 25 45 49
+f 26 49 27
+f 27 49 31
+f 27 31 30
+f 27 30 29
+f 27 29 28
+f 31 50 51
+f 31 51 52
+f 31 52 34
+f 31 34 33
+f 31 33 32
+f 31 49 50
+f 34 52 35
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 53 41
+f 37 41 38
+f 38 41 39
+f 40 42 43
+f 41 54 42
+f 41 53 55
+f 41 55 54
+f 42 54 56
+f 42 56 44
+f 42 44 43
+f 44 56 45
+f 45 57 50
+f 45 50 49
+f 45 56 54
+f 45 54 55
+f 45 55 58
+f 45 58 59
+f 45 59 57
+f 50 57 51
+f 51 57 59
+f 51 59 52
+f 52 59 58
+f 52 58 53
+f 53 58 55
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_630.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_630.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca7a4397b00b1de6a677b5f82e3e5386bded981
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_630.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.03851455 -0.02087765 0.04597085
+v 0.03817287 -0.02174980 0.04597085
+v 0.03778799 -0.02111892 0.04412829
+v 0.03783315 -0.02087765 0.04399690
+v 0.02878652 -0.02087765 0.04597085
+v 0.02527352 -0.02337258 0.04619642
+v 0.02527352 -0.03544512 0.04619642
+v 0.03634077 -0.02441095 0.04597085
+v 0.03765838 -0.02087765 0.04369348
+v 0.03321460 -0.02683081 0.04327765
+v 0.03561421 -0.02280604 0.04246688
+v 0.02861372 -0.02087765 0.04246688
+v 0.02493773 -0.02355130 0.04619642
+v 0.02252830 -0.02613738 0.04619680
+v 0.02411102 -0.02531527 0.04619680
+v 0.02582924 -0.03496793 0.04597085
+v 0.02926959 -0.03229607 0.04597085
+v 0.03165741 -0.03026402 0.04597085
+v 0.03367410 -0.02787633 0.04597085
+v 0.02411102 -0.03620110 0.04619680
+v 0.02324701 -0.03685879 0.04619680
+v 0.03684739 -0.02087765 0.04246688
+v 0.03294950 -0.02651269 0.04246688
+v 0.03432015 -0.02461647 0.04246688
+v 0.03177719 -0.02774229 0.04246688
+v 0.02527352 -0.03338090 0.04231840
+v 0.02527352 -0.02371215 0.04231840
+v 0.02515766 -0.02377470 0.04231840
+v 0.01976149 -0.02858406 0.04231802
+v 0.01845369 -0.02934004 0.04619680
+v 0.02822491 -0.03183676 0.04326322
+v 0.02253027 -0.03642093 0.04409564
+v 0.03046546 -0.02907554 0.04246688
+v 0.01902708 -0.03891586 0.04619680
+v 0.02912231 -0.03040700 0.04246688
+v 0.02791269 -0.03157404 0.04246688
+v 0.02434077 -0.03407612 0.04231840
+v 0.02411102 -0.03422446 0.04231802
+v 0.02411102 -0.02561194 0.04231802
+v 0.01845369 -0.02976361 0.04231802
+v 0.01845369 -0.03913390 0.04619680
+v 0.02607273 -0.03291623 0.04246688
+v 0.01912526 -0.03708577 0.04231802
+v 0.01923130 -0.03703930 0.04231802
+v 0.02155236 -0.03587762 0.04231802
+v 0.02411299 -0.03422446 0.04231840
+v 0.02411102 -0.03437280 0.04254245
+v 0.01884446 -0.03898556 0.04619680
+v 0.01846547 -0.03733776 0.04231802
+v 0.01845369 -0.03734133 0.04231802
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 22
+f 1 22 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 20
+f 6 20 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 20 21
+f 7 21 16
+f 8 19 10
+f 9 11 22
+f 10 23 24
+f 10 24 11
+f 10 19 18
+f 10 18 25
+f 10 25 23
+f 11 24 26
+f 11 26 22
+f 12 22 27
+f 12 27 28
+f 12 28 13
+f 13 29 30
+f 13 30 14
+f 13 28 29
+f 14 30 41
+f 14 41 48
+f 14 48 34
+f 14 34 21
+f 14 21 20
+f 14 20 15
+f 16 31 17
+f 16 21 32
+f 16 32 31
+f 17 31 18
+f 18 31 33
+f 18 33 25
+f 21 34 32
+f 22 26 27
+f 23 25 26
+f 23 26 24
+f 25 33 26
+f 26 33 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 29
+f 29 40 30
+f 29 39 38
+f 29 38 45
+f 29 45 44
+f 29 44 43
+f 29 43 49
+f 29 49 50
+f 29 50 40
+f 30 40 50
+f 30 50 41
+f 31 36 35
+f 31 35 33
+f 31 32 37
+f 31 37 42
+f 31 42 36
+f 32 34 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 37
+f 34 48 49
+f 34 49 43
+f 36 42 37
+f 37 47 46
+f 37 46 38
+f 38 46 45
+f 41 50 49
+f 41 49 48
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_633.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_633.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e461ea9afddc6faf7fe3bdfc66d2f124c6f9490f
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_633.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01252792 -0.03427264 0.05817171
+v 0.01252792 -0.03658154 0.06077778
+v 0.01252792 -0.04410800 0.05817171
+v 0.00118674 -0.03620478 0.05817171
+v 0.00118674 -0.03791174 0.06077778
+v 0.01252792 -0.04429254 0.06077778
+v 0.00971927 -0.04473630 0.05817171
+v 0.00118674 -0.04541513 0.05817171
+v 0.00118674 -0.04549312 0.06077778
+v 0.01232588 -0.04433757 0.06077778
+v 0.00911646 -0.04495819 0.06077778
+v 0.00911646 -0.04485274 0.05817171
+v 0.00395876 -0.04540635 0.05817171
+v 0.00395876 -0.04548434 0.06077778
+v 0.00716595 -0.04517018 0.06077778
+v 0.00456045 -0.04534813 0.05817171
+v 0.00690840 -0.04519545 0.06077778
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 17
+f 2 17 15
+f 2 15 11
+f 2 11 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 7 11 12
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 11 16 12
+f 13 16 14
+f 14 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_635.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_635.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed971e9453b9283365e3ae385ff164de00b7cb44
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_635.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01538739 -0.04987498 0.01113248
+v -0.01152072 -0.05022508 0.01113248
+v -0.00744010 -0.05066120 0.01146816
+v -0.00744010 -0.05012705 0.01416997
+v -0.01538739 -0.04927281 0.01416997
+v -0.01538739 -0.04829453 0.00775997
+v -0.00744010 -0.05010904 0.01038008
+v -0.00744010 -0.03264608 0.01416997
+v -0.01538739 -0.03022539 0.01416997
+v -0.01538739 -0.04801645 0.00721457
+v -0.01077539 -0.04828252 0.00721457
+v -0.00744010 -0.04845057 0.00721457
+v -0.00744010 -0.03421652 0.00721457
+v -0.01538739 -0.03078955 0.01113248
+v -0.01538739 -0.03238000 0.00721457
+v -0.00760270 -0.03417251 0.00721457
+v -0.01538739 -0.03099360 0.01038212
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 17
+f 1 17 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 13
+f 10 13 12
+f 10 12 11
+f 13 16 17
+f 13 17 14
+f 15 17 16
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_64.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb81ece3902d31384760a804b1be5071365555a3
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02116123 0.02618192 -0.00069019
+v 0.02127054 0.02618192 0.00069428
+v 0.02579463 0.02618192 -0.00069019
+v 0.02122972 0.00638284 -0.00069019
+v 0.02579463 0.02618192 0.00069428
+v 0.02139755 0.00638284 0.00069428
+v 0.02579463 0.00638284 -0.00069019
+v 0.02579463 0.00638284 0.00069428
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 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_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_644.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_644.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5dbae61f67abdf7c3dc80c7f509928c554c9da
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_644.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01574239 -0.00960673 0.04945595
+v -0.01574239 -0.00960673 0.04345101
+v -0.02158033 -0.00960673 0.04945595
+v -0.01574239 -0.01661790 0.04945595
+v -0.02158033 -0.00960673 0.04641704
+v -0.01574239 -0.01661790 0.04614312
+v -0.02158033 -0.01661790 0.04734634
+v -0.02158033 -0.01661790 0.04945595
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_655.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_655.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e969f67d1dd051d22f98f70ea6f533bea18bea55
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_655.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01845314 0.02839428 0.04945595
+v 0.01845314 0.02360331 0.04945595
+v 0.01845314 0.02839428 0.04661233
+v 0.01289301 0.02839428 0.04945595
+v 0.01845314 0.02360331 0.04748864
+v 0.01289301 0.02360331 0.04945595
+v 0.00431376 0.02360331 0.04579570
+v 0.00100774 0.02360331 0.04578240
+v 0.00100774 0.02839428 0.04742212
+v 0.00100774 0.02839428 0.04945523
+v 0.00100774 0.02360331 0.04945523
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_660.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_660.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f522fc017a02c5787bb0a72a1b6b22fc17cbf4
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_660.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01082891 0.03270975 0.04573359
+v 0.01082891 0.03291022 0.04270499
+v 0.01845239 0.03015312 0.04270499
+v 0.01845239 0.03034684 0.04573359
+v 0.01082891 0.04165908 0.04573359
+v 0.01082891 0.04016677 0.04270499
+v 0.01845239 0.03755721 0.04270499
+v 0.01845239 0.03895716 0.04573359
+v 0.01382158 0.04082226 0.04573359
+v 0.01151999 0.04118041 0.04476171
+v 0.01082891 0.04157911 0.04546408
+v 0.01082891 0.04086393 0.04389449
+v 0.01364322 0.03938739 0.04270499
+v 0.01789490 0.03777120 0.04270499
+v 0.01845239 0.03758987 0.04276992
+v 0.01453206 0.04055871 0.04573359
+v 0.01427757 0.04065670 0.04573359
+v 0.01082891 0.04125925 0.04462681
+v 0.01427757 0.03915651 0.04270499
+v 0.01449550 0.04057335 0.04573359
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 20
+f 1 20 17
+f 1 17 9
+f 1 9 5
+f 1 5 11
+f 1 11 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 14
+f 2 14 7
+f 2 7 3
+f 3 7 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 8 15 16
+f 9 17 10
+f 10 12 18
+f 10 18 11
+f 10 17 19
+f 10 19 13
+f 10 13 12
+f 14 19 15
+f 15 19 20
+f 15 20 16
+f 17 20 19
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_68.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3daba448bccfc105304f17c57fad3303a7b8e1e
--- /dev/null
+++ b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.03394090 -0.01814224 0.00051650
+v 0.03394090 -0.01814224 -0.01279413
+v 0.03274354 -0.01814224 0.00051650
+v 0.03394090 -0.04005047 0.00051650
+v 0.03394090 -0.03940541 -0.01279413
+v 0.03274354 -0.01814224 -0.01279413
+v 0.03274354 -0.04040569 0.00051650
+v 0.03394090 -0.04005047 -0.01001500
+v 0.03394090 -0.03991100 -0.01210619
+v 0.03379709 -0.03991754 -0.01279413
+v 0.03274354 -0.04014854 -0.01279413
+v 0.03274354 -0.04040569 -0.01001500
+v 0.03394090 -0.04000035 -0.01116939
+v 0.03274354 -0.04032724 -0.01187297
+v 0.03389249 -0.03997420 -0.01211010
+v 0.03274354 -0.04031634 -0.01211010
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 6 11
+f 3 11 16
+f 3 16 14
+f 3 14 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 15 10
+f 9 13 15
+f 10 15 16
+f 10 16 11
+f 14 16 15
\ No newline at end of file
diff --git a/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_94.obj b/new_coffee_grinder/new_coffee_grinder_0/collision/model_normalized_collision_94.obj
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+# https://github.com/mikedh/trimesh
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_60.obj b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371332ad2a1e3e3952c53a9851694f2d5aba8fc0
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.06015300 0.01584040 0.00737829
+v 0.06015300 0.01401973 0.00736737
+v 0.06219616 0.01401973 0.00735957
+v 0.06219616 0.01573107 0.00736737
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+v 0.06219616 0.03204562 0.00736737
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\ No newline at end of file
diff --git a/new_gingerbread/new_gingerbread_0/model.xml b/new_gingerbread/new_gingerbread_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16aa778d5e5315fc2c33bd78d50975b655471ab5
--- /dev/null
+++ b/new_gingerbread/new_gingerbread_0/model.xml
@@ -0,0 +1,150 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_gingerbread_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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