diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_0.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f174a6f5b3f4b2ba4ecce6861c6942b30bde72a8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00470042 0.01272506 -0.00153169
+v 0.00771782 0.01250369 -0.00153169
+v 0.00771782 0.01378382 -0.00419528
+v 0.00484161 0.01384432 -0.00419528
+v 0.00470042 0.01384707 -0.00419528
+v 0.00470042 0.00022621 -0.00153169
+v 0.00771782 0.00022621 -0.00153169
+v 0.00771782 0.01412345 -0.00553045
+v 0.00617604 0.01420183 -0.00553045
+v 0.00470042 0.01427333 -0.00553045
+v 0.00470042 0.00022621 -0.01419960
+v 0.00771782 0.00022621 -0.01371678
+v 0.00470042 0.01396945 -0.00686427
+v 0.00771782 0.01363945 -0.00696137
+v 0.00617604 0.01383057 -0.00686427
+v 0.00750989 0.00022621 -0.01375724
+v 0.00470042 0.00077621 -0.01473906
+v 0.00771782 0.00101271 -0.01450170
+v 0.00771782 0.01151230 -0.01086707
+v 0.00771782 0.01089905 -0.01199050
+v 0.00750989 0.01090730 -0.01200669
+v 0.00617604 0.01095405 -0.01210244
+v 0.00470042 0.01087292 -0.01244365
+v 0.00470042 0.00089859 -0.01479840
+v 0.00470042 0.00196697 -0.01530954
+v 0.00771782 0.00183772 -0.01489550
+v 0.00771782 0.01034904 -0.01265809
+v 0.00750989 0.01038479 -0.01267427
+v 0.00617604 0.01053742 -0.01277002
+v 0.00523059 0.01061167 -0.01283206
+v 0.00470042 0.01063917 -0.01286308
+v 0.00470042 0.00330898 -0.01511399
+v 0.00617604 0.00330898 -0.01500744
+v 0.00771782 0.00330898 -0.01489550
+v 0.00750989 0.00197522 -0.01498451
+v 0.00771782 0.00197522 -0.01496024
+v 0.00771782 0.01024454 -0.01271473
+v 0.00750989 0.00971791 -0.01302762
+v 0.00617604 0.00986916 -0.01312877
+v 0.00470042 0.01008229 -0.01318541
+v 0.00470042 0.00864540 -0.01373701
+v 0.00771782 0.00968216 -0.01301143
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 13
+f 1 13 23
+f 1 23 31
+f 1 31 40
+f 1 40 41
+f 1 41 32
+f 1 32 25
+f 1 25 24
+f 1 24 17
+f 1 17 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 18
+f 2 18 26
+f 2 26 36
+f 2 36 34
+f 2 34 42
+f 2 42 37
+f 2 37 27
+f 2 27 20
+f 2 20 19
+f 2 19 14
+f 2 14 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 6 11 16
+f 6 16 12
+f 6 12 7
+f 8 13 9
+f 8 14 15
+f 8 15 13
+f 9 13 10
+f 11 17 18
+f 11 18 16
+f 12 16 18
+f 13 15 14
+f 13 14 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 22
+f 22 31 23
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 29 40 30
+f 30 40 31
+f 32 41 33
+f 33 41 34
+f 34 36 35
+f 34 41 42
+f 37 42 38
+f 38 42 41
+f 38 41 39
+f 39 41 40
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_100.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05126c2aea49ad1f5cb328ac164554cf7e569632
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_100.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01760595 -0.00068747 0.00385801
+v 0.01209080 -0.00068747 0.00385801
+v 0.01760595 -0.00141829 0.00385801
+v 0.01760595 -0.00068747 -0.01029275
+v 0.01209080 -0.00141829 0.00385801
+v 0.01209080 -0.00068747 -0.01155968
+v 0.01760595 -0.00213073 0.00385646
+v 0.01760595 -0.00141179 -0.01072020
+v 0.01553615 -0.00068747 -0.01119086
+v 0.01209836 -0.00213073 0.00385646
+v 0.01209080 -0.00141829 -0.01141154
+v 0.01434091 -0.00068747 -0.01155968
+v 0.01209836 -0.00213073 -0.01190689
+v 0.01209080 -0.00130710 -0.01155968
+v 0.01760595 -0.00213073 -0.01100260
+v 0.01457683 -0.00068776 -0.01155968
+v 0.01209080 -0.00141786 -0.01153807
+v 0.01209080 -0.00136404 -0.01155196
+v 0.01672329 -0.00213073 -0.01115074
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 18
+f 2 18 17
+f 2 17 11
+f 2 11 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 5 11 13
+f 5 13 10
+f 6 12 13
+f 6 13 14
+f 7 10 13
+f 7 13 19
+f 7 19 15
+f 8 15 16
+f 8 16 9
+f 9 16 12
+f 11 17 13
+f 12 16 13
+f 13 17 18
+f 13 18 14
+f 13 16 19
+f 15 19 16
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_101.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd14dd43937207ad6ee6268da386f5e06c156cab
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_101.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00898089 -0.00213080 -0.00314305
+v 0.00752363 -0.00213080 -0.00314305
+v 0.00898189 -0.00213668 -0.00314305
+v 0.00898303 -0.00213080 -0.01034058
+v 0.00752363 -0.00213080 -0.01192923
+v 0.00752363 -0.01415118 -0.00314305
+v 0.00898317 -0.00228494 -0.00314305
+v 0.00898317 -0.00213080 -0.01129875
+v 0.00898317 -0.00213080 -0.01192923
+v 0.00752363 -0.01012360 -0.01192923
+v 0.00752363 -0.01415118 -0.00856528
+v 0.00898317 -0.01415118 -0.00314305
+v 0.00898317 -0.00976003 -0.01192923
+v 0.00851899 -0.00987769 -0.01192923
+v 0.00752363 -0.01271923 -0.01064506
+v 0.00752363 -0.01379820 -0.00952088
+v 0.00898317 -0.01415118 -0.00821005
+v 0.00898317 -0.01274512 -0.01045067
+v 0.00877330 -0.01278866 -0.01045497
+v 0.00854185 -0.01307222 -0.01034144
+v 0.00828098 -0.01338991 -0.01021328
+v 0.00752363 -0.01328872 -0.01034144
+v 0.00752363 -0.01343933 -0.01026058
+v 0.00898317 -0.01361817 -0.00957592
+v 0.00898317 -0.01305457 -0.01027779
+v 0.00898317 -0.01344521 -0.00988213
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 22
+f 2 22 23
+f 2 23 16
+f 2 16 11
+f 2 11 6
+f 3 7 4
+f 4 7 8
+f 5 9 13
+f 5 13 14
+f 5 14 10
+f 6 11 17
+f 6 17 12
+f 7 12 17
+f 7 17 24
+f 7 24 26
+f 7 26 25
+f 7 25 18
+f 7 18 13
+f 7 13 9
+f 7 9 8
+f 10 14 15
+f 11 16 17
+f 13 18 14
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 16 23 21
+f 16 21 24
+f 16 24 17
+f 18 25 21
+f 18 21 20
+f 18 20 19
+f 21 25 26
+f 21 26 24
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_102.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54a4113b302d3701d0471a77e26c5869984c601
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_102.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00379905 0.01336959 -0.00252053
+v -0.00286020 0.01324391 -0.00252053
+v -0.00286020 0.01328352 -0.00260545
+v -0.00286020 0.01392969 -0.00424857
+v -0.00379905 0.01404854 -0.00424857
+v -0.00379905 0.00009374 -0.00252053
+v -0.00286020 0.00009374 -0.00252053
+v -0.00286020 0.00009374 -0.00424857
+v -0.00379905 0.00009374 -0.00424857
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 9 8
+f 6 8 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_108.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20df24828002e26ef5bfd57c79dbf9d533593ed2
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_108.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01117345 0.00201761 -0.00106094
+v 0.01321589 0.00201761 -0.00106094
+v 0.01117345 0.00201761 -0.00006252
+v 0.01117345 0.01314337 -0.00106094
+v 0.01321589 0.00201761 -0.00006252
+v 0.02221930 0.00201890 -0.00106094
+v 0.01117345 0.01337957 -0.00006252
+v 0.01157566 0.01352283 -0.00106094
+v 0.02176735 0.00201890 -0.00006252
+v 0.01717860 0.01345314 -0.00106094
+v 0.01744891 0.01181654 -0.00006252
+v 0.01405601 0.01424304 -0.00006252
+v 0.01503128 0.01509232 -0.00106094
+v 0.01446796 0.01485612 -0.00106094
+v 0.01242876 0.01397328 -0.00106094
+v 0.01652446 0.01387132 -0.00006252
+v 0.01709427 0.01261935 -0.00006252
+v 0.01711481 0.01257418 -0.00006252
+v 0.01694398 0.01396554 -0.00106094
+v 0.01552000 0.01450892 -0.00006252
+v 0.01552000 0.01485096 -0.00054736
+v 0.01552108 0.01520073 -0.00106094
+v 0.01649743 0.01392940 -0.00006252
+v 0.01640228 0.01502907 -0.00106094
+v 0.01631146 0.01481611 -0.00062428
+v 0.01652554 0.01398748 -0.00018410
+v 0.01571462 0.01448698 -0.00006252
+v 0.01644229 0.01397716 -0.00006252
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 14
+f 1 14 13
+f 1 13 22
+f 1 22 24
+f 1 24 19
+f 1 19 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 11
+f 3 11 18
+f 3 18 17
+f 3 17 16
+f 3 16 23
+f 3 23 28
+f 3 28 27
+f 3 27 20
+f 3 20 12
+f 3 12 7
+f 4 7 8
+f 5 6 9
+f 6 10 11
+f 6 11 9
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 10 19 16
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 16 19 23
+f 19 24 25
+f 19 25 26
+f 19 26 23
+f 20 25 21
+f 20 27 25
+f 21 25 22
+f 22 25 24
+f 23 26 25
+f 23 25 28
+f 25 27 28
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_11.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bde3fd57b075235851eea737da86b4bfb8e0f19
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v 0.00751128 -0.00336665 0.01544094
+v 0.00484131 -0.00336665 0.01532643
+v 0.00470042 -0.00337677 0.01531849
+v 0.00470042 -0.00413324 0.01517677
+v 0.00751128 -0.00444711 0.01523686
+v 0.00751128 -0.00230933 0.01536158
+v 0.00470042 -0.00242359 0.01530262
+v 0.00470042 -0.00478990 0.01505205
+v 0.00484131 -0.00603670 0.01482189
+v 0.00617561 -0.00603670 0.01487858
+v 0.00751045 -0.00603670 0.01493527
+v 0.00751128 -0.00603670 0.01493527
+v 0.00751128 -0.00164254 0.01495341
+v 0.00751045 -0.00164254 0.01495341
+v 0.00470042 -0.00182623 0.01491599
+v 0.00470042 -0.00603670 0.01481508
+v 0.00751045 -0.00737028 0.01468016
+v 0.00751128 -0.00737028 0.01468016
+v 0.00751128 -0.00089331 0.01428560
+v 0.00470042 -0.00175536 0.01486951
+v 0.00484131 0.00022621 0.01320508
+v 0.00470042 0.00022621 0.01320055
+v 0.00470042 -0.00737028 0.01452256
+v 0.00484131 -0.00737028 0.01453163
+v 0.00617561 -0.00737028 0.01461213
+v 0.00751045 -0.00870530 0.01438424
+v 0.00751128 -0.00870530 0.01438424
+v 0.00751128 0.00022621 0.01328558
+v 0.00470042 0.00022621 0.00385801
+v 0.00470042 -0.00870530 0.01417335
+v 0.00484131 -0.00870530 0.01418469
+v 0.00617561 -0.00870530 0.01429013
+v 0.00484131 -0.00963389 0.01391144
+v 0.00617561 -0.00975683 0.01396587
+v 0.00751045 -0.00984651 0.01401915
+v 0.00751128 -0.00984651 0.01401915
+v 0.00751128 0.00022621 0.00385801
+v 0.00470042 -0.01426381 0.00385801
+v 0.00470042 -0.00961798 0.01390577
+v 0.00470042 -0.00968885 0.01387289
+v 0.00484131 -0.01030213 0.01358604
+v 0.00617561 -0.01042507 0.01362913
+v 0.00751045 -0.01051330 0.01366654
+v 0.00751128 -0.01051330 0.01366654
+v 0.00751128 -0.01385304 0.00385801
+v 0.00470538 -0.01426381 0.00385801
+v 0.00470042 -0.01452706 0.00500769
+v 0.00470042 -0.01028477 0.01358151
+v 0.00470042 -0.01037155 0.01351121
+v 0.00470042 -0.01096747 0.01291370
+v 0.00484131 -0.01096892 0.01291823
+v 0.00617561 -0.01097615 0.01296132
+v 0.00751045 -0.01098483 0.01299873
+v 0.00751128 -0.01098483 0.01299873
+v 0.00751128 -0.01389498 0.00385914
+v 0.00751045 -0.01389498 0.00385801
+v 0.00488589 -0.01424501 0.00385801
+v 0.00751128 -0.01433903 0.00514828
+v 0.00617561 -0.01445763 0.00514828
+v 0.00484131 -0.01454297 0.00514828
+v 0.00470042 -0.01455020 0.00514828
+v 0.00470042 -0.01103256 0.01280258
+v 0.00470042 -0.01158219 0.01182071
+v 0.00484131 -0.01158508 0.01182071
+v 0.00751045 -0.01161546 0.01182071
+v 0.00751128 -0.01161546 0.01182071
+v 0.00622046 -0.01408301 0.00385801
+v 0.00751128 -0.01428117 0.00648276
+v 0.00470042 -0.01436940 0.00634217
+v 0.00617561 -0.01431299 0.00648276
+v 0.00470042 -0.01162558 0.01173908
+v 0.00470042 -0.01234300 0.01038758
+v 0.00751045 -0.01200598 0.01108600
+v 0.00751128 -0.01200598 0.01108600
+v 0.00751128 -0.01367079 0.00794083
+v 0.00470042 -0.01434337 0.00648276
+v 0.00484131 -0.01434192 0.00648276
+v 0.00470042 -0.01299677 0.00915287
+v 0.00751128 -0.01303871 0.00913700
+v 0.00687536 -0.01337572 0.00848506
+v 0.00470042 -0.01340031 0.00838982
+v 0.00617561 -0.01372431 0.00780931
+v 0.00470042 -0.01378361 0.00765625
+v 0.00470042 -0.01371563 0.00779231
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 27
+f 1 27 36
+f 1 36 44
+f 1 44 54
+f 1 54 66
+f 1 66 74
+f 1 74 79
+f 1 79 75
+f 1 75 68
+f 1 68 58
+f 1 58 55
+f 1 55 45
+f 1 45 37
+f 1 37 28
+f 1 28 19
+f 1 19 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 15
+f 3 15 20
+f 3 20 22
+f 3 22 29
+f 3 29 38
+f 3 38 47
+f 3 47 61
+f 3 61 69
+f 3 69 76
+f 3 76 83
+f 3 83 84
+f 3 84 81
+f 3 81 78
+f 3 78 72
+f 3 72 71
+f 3 71 63
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+f 3 62 50
+f 3 50 49
+f 3 49 48
+f 3 48 40
+f 3 40 39
+f 3 39 30
+f 3 30 23
+f 3 23 16
+f 3 16 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 20 15
+f 14 19 21
+f 14 21 22
+f 14 22 20
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 28 21
+f 21 28 37
+f 21 37 29
+f 21 29 22
+f 23 30 31
+f 23 31 32
+f 23 32 26
+f 23 26 24
+f 24 26 25
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 29 37 45
+f 29 45 56
+f 29 56 67
+f 29 67 57
+f 29 57 46
+f 29 46 38
+f 30 39 31
+f 31 39 32
+f 32 39 33
+f 33 40 34
+f 33 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 38 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 45 55 56
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 61
+f 50 62 51
+f 51 62 52
+f 52 62 53
+f 53 62 63
+f 53 63 64
+f 53 64 65
+f 53 65 66
+f 53 66 54
+f 55 58 56
+f 56 58 67
+f 57 67 58
+f 58 68 59
+f 59 68 60
+f 60 68 61
+f 61 68 70
+f 61 70 69
+f 63 71 64
+f 64 71 72
+f 64 72 73
+f 64 73 65
+f 65 73 74
+f 65 74 66
+f 68 75 70
+f 69 70 77
+f 69 77 76
+f 70 75 77
+f 72 78 79
+f 72 79 73
+f 73 79 74
+f 75 79 80
+f 75 80 81
+f 75 81 82
+f 75 82 76
+f 75 76 77
+f 76 82 83
+f 78 81 79
+f 79 81 80
+f 81 84 82
+f 82 84 83
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_111.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025a03e84d8c3733ea040cd6410aa2b0cfd3b9e9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_111.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00334753 0.01476673 0.00262548
+v -0.00323205 0.01476295 0.00262548
+v -0.00334753 0.01483993 0.00240815
+v -0.00334753 0.00197008 0.00262548
+v -0.00316731 0.01476042 0.00262548
+v -0.00316731 0.01484119 0.00238267
+v -0.00334753 0.01486138 0.00105977
+v -0.00334753 0.00197008 -0.00043640
+v -0.00301654 0.00197008 0.00262548
+v -0.00310448 0.01475790 0.00262548
+v -0.00301654 0.01483740 0.00237397
+v -0.00301654 0.01475411 0.00262548
+v -0.00301654 0.01483740 0.00225646
+v -0.00301654 0.01482857 0.00106277
+v -0.00334753 0.01475285 0.00066886
+v -0.00301654 0.00197008 -0.00043640
+v -0.00334753 0.01417864 -0.00043640
+v -0.00301654 0.01466199 0.00047431
+v -0.00334753 0.01468470 0.00042665
+v -0.00301654 0.01412311 -0.00043640
+v -0.00334753 0.01434522 -0.00015581
+v -0.00301654 0.01431746 -0.00010845
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 19
+f 1 19 21
+f 1 21 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 16
+f 4 16 9
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 11
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 8 17 20
+f 8 20 16
+f 9 16 20
+f 9 20 22
+f 9 22 18
+f 9 18 14
+f 9 14 13
+f 9 13 11
+f 9 11 12
+f 14 18 19
+f 14 19 15
+f 17 21 20
+f 18 22 21
+f 18 21 19
+f 20 21 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_112.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fded6f31781a8d54c073fd8516103d6790558b39
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_112.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00771812 0.00201632 -0.01496170
+v 0.00771812 0.00330749 -0.01489776
+v 0.00926256 0.00330749 -0.01478619
+v 0.00884516 0.00201632 -0.01483381
+v 0.00771812 0.00201632 -0.00106353
+v 0.00771812 0.00968232 -0.01301337
+v 0.00926256 0.00201632 -0.01478619
+v 0.00884516 0.00948133 -0.01292630
+v 0.00926256 0.00939084 -0.01289636
+v 0.00926256 0.00201632 -0.00106353
+v 0.00771812 0.00730518 -0.00106217
+v 0.00771812 0.01034948 -0.01265963
+v 0.00884516 0.01014849 -0.01256983
+v 0.00926256 0.01004852 -0.01254942
+v 0.00926256 0.00730518 -0.00106217
+v 0.00771812 0.01263823 -0.00106217
+v 0.00771812 0.01089983 -0.01199159
+v 0.00926256 0.01084617 -0.01187050
+v 0.00926256 0.01276135 -0.00106217
+v 0.00771812 0.01276661 -0.00226763
+v 0.00771812 0.01151333 -0.01086776
+v 0.00926256 0.01140389 -0.01086776
+v 0.00926256 0.01276661 -0.00189891
+v 0.00771812 0.01276661 -0.00855072
+v 0.00926256 0.01276661 -0.00835207
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 14
+f 3 14 18
+f 3 18 22
+f 3 22 25
+f 3 25 23
+f 3 23 19
+f 3 19 15
+f 3 15 10
+f 3 10 7
+f 5 10 15
+f 5 15 11
+f 6 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 11 15 19
+f 11 19 16
+f 12 17 18
+f 12 18 13
+f 13 18 14
+f 16 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 25
+f 20 25 24
+f 21 24 25
+f 21 25 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_121.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fedcb0dbf686db6bca46260f7e26f0535710f433
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_121.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
+v -0.01331853 0.01602198 0.00240325
+v -0.01518054 0.01611185 0.00240325
+v -0.01331853 0.01258222 0.00240325
+v -0.01331853 0.01633554 0.00114378
+v -0.01518054 0.01642581 0.00114378
+v -0.01528608 0.01610868 0.00240325
+v -0.02294426 0.01258222 0.00240325
+v -0.01331853 0.01258222 -0.00834596
+v -0.01331853 0.01646501 0.00061663
+v -0.01331853 0.01662615 -0.00019146
+v -0.01384528 0.01662655 -0.00019146
+v -0.01651485 0.01636484 0.00114378
+v -0.01651485 0.01606553 0.00240325
+v -0.02293483 0.01259806 0.00240325
+v -0.02291222 0.01258341 0.00114378
+v -0.02291316 0.01258222 0.00116692
+v -0.01375953 0.01258222 -0.00825968
+v -0.01331853 0.01323826 -0.00740530
+v -0.01331853 0.01661546 -0.00071861
+v -0.01518054 0.01654222 -0.00019146
+v -0.01759569 0.01613125 0.00010947
+v -0.01767013 0.01612967 0.00114378
+v -0.01741948 0.01603306 0.00201184
+v -0.01779734 0.01587073 0.00240325
+v -0.02248347 0.01326558 0.00240325
+v -0.02247593 0.01325053 0.00114378
+v -0.02272093 0.01258222 -0.00019146
+v -0.02291127 0.01258222 0.00113641
+v -0.02291222 0.01258222 0.00114378
+v -0.01381513 0.01258222 -0.00824811
+v -0.01384528 0.01261231 -0.00819865
+v -0.01384528 0.01320421 -0.00734532
+v -0.01331853 0.01363576 -0.00678135
+v -0.01331853 0.01644878 -0.00159088
+v -0.01518054 0.01623973 -0.00133098
+v -0.01658835 0.01627259 -0.00027774
+v -0.01619258 0.01610670 -0.00107740
+v -0.01708213 0.01595111 -0.00078069
+v -0.01796413 0.01582006 -0.00027774
+v -0.02123584 0.01469604 0.00038620
+v -0.02051874 0.01522895 0.00114378
+v -0.01918349 0.01569732 0.00114378
+v -0.01833729 0.01594754 0.00114378
+v -0.02044336 0.01526537 0.00240325
+v -0.01913543 0.01560507 0.00240325
+v -0.02199346 0.01398536 0.00240325
+v -0.02196237 0.01398536 0.00114378
+v -0.02236850 0.01310285 -0.00019146
+v -0.02244483 0.01258222 -0.00152669
+v -0.01384528 0.01258222 -0.00824179
+v -0.01398757 0.01258222 -0.00820917
+v -0.01518054 0.01308425 -0.00711174
+v -0.01384528 0.01361122 -0.00667823
+v -0.01514567 0.01258222 -0.00790930
+v -0.01331853 0.01436148 -0.00558290
+v -0.01331853 0.01627576 -0.00204437
+v -0.01393292 0.01633515 -0.00163928
+v -0.01331853 0.01610156 -0.00240212
+v -0.01518054 0.01588063 -0.00199913
+v -0.01610966 0.01473088 -0.00367106
+v -0.01688518 0.01323984 -0.00604797
+v -0.01699920 0.01459587 -0.00341959
+v -0.01756176 0.01347304 -0.00515781
+v -0.01761453 0.01482867 -0.00253048
+v -0.01850313 0.01464694 -0.00218221
+v -0.02041320 0.01419599 -0.00141832
+v -0.01989870 0.01467308 -0.00090169
+v -0.01918349 0.01533189 -0.00019146
+v -0.01918349 0.01450124 -0.00188339
+v -0.02133950 0.01481165 0.00114378
+v -0.02041320 0.01483382 -0.00011149
+v -0.02078824 0.01447907 -0.00050396
+v -0.02127825 0.01337208 -0.00230426
+v -0.02178238 0.01258222 -0.00322598
+v -0.02201042 0.01258222 -0.00281352
+v -0.02214800 0.01293498 -0.00152669
+v -0.02136305 0.01483659 0.00240325
+v -0.02131688 0.01485995 0.00240325
+v -0.02051874 0.01523885 0.00240325
+v -0.02139792 0.01478987 0.00240325
+v -0.01647057 0.01295953 -0.00677188
+v -0.01599564 0.01335585 -0.00626577
+v -0.01518054 0.01345324 -0.00644464
+v -0.01649412 0.01258222 -0.00743265
+v -0.01382926 0.01431793 -0.00544611
+v -0.01331853 0.01468179 -0.00499998
+v -0.01337318 0.01469841 -0.00494632
+v -0.01518054 0.01395329 -0.00552924
+v -0.01743078 0.01258222 -0.00688551
+v -0.01792079 0.01258222 -0.00657512
+v -0.01794434 0.01309890 -0.00557343
+v -0.01797544 0.01447234 -0.00292927
+v -0.01990907 0.01334239 -0.00357426
+v -0.02079861 0.01315472 -0.00319337
+v -0.02099555 0.01258222 -0.00408878
+v -0.01927018 0.01258222 -0.00552398
+v -0.01918349 0.01261508 -0.00552924
+v -0.01918349 0.01314126 -0.00452544
+v -0.02041980 0.01286055 -0.00408878
+v -0.02040755 0.01258222 -0.00463171
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 45
+f 1 45 44
+f 1 44 79
+f 1 79 78
+f 1 78 77
+f 1 77 80
+f 1 80 46
+f 1 46 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 33
+f 1 33 55
+f 1 55 86
+f 1 86 58
+f 1 58 56
+f 1 56 34
+f 1 34 19
+f 1 19 10
+f 1 10 9
+f 1 9 4
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+f 3 27 49
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+f 3 95 100
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+f 3 89 84
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+f 3 50 30
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+f 5 13 6
+f 7 14 15
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+f 8 17 18
+f 10 19 11
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+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 17 30 31
+f 17 31 18
+f 18 32 33
+f 18 31 32
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 22 43 44
+f 22 44 45
+f 22 45 23
+f 23 45 24
+f 25 46 26
+f 26 47 48
+f 26 48 27
+f 26 46 47
+f 27 48 49
+f 30 50 31
+f 31 50 51
+f 31 51 32
+f 32 52 53
+f 32 53 33
+f 32 51 54
+f 32 54 52
+f 33 53 55
+f 34 56 57
+f 34 57 35
+f 35 37 36
+f 35 57 56
+f 35 56 58
+f 35 58 59
+f 35 59 37
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 39
+f 39 66 67
+f 39 67 68
+f 39 68 40
+f 39 65 69
+f 39 69 66
+f 40 70 41
+f 40 68 71
+f 40 71 72
+f 40 72 73
+f 40 73 74
+f 40 74 75
+f 40 75 76
+f 40 76 49
+f 40 49 70
+f 41 70 77
+f 41 77 78
+f 41 78 79
+f 41 79 44
+f 41 44 42
+f 42 44 43
+f 46 80 47
+f 47 70 48
+f 47 80 77
+f 47 77 70
+f 48 70 49
+f 49 76 75
+f 52 81 82
+f 52 82 83
+f 52 83 55
+f 52 55 53
+f 52 54 84
+f 52 84 81
+f 55 85 86
+f 55 83 85
+f 58 86 87
+f 58 87 85
+f 58 85 83
+f 58 83 88
+f 58 88 59
+f 59 88 82
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+f 60 81 61
+f 61 81 84
+f 61 84 89
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+f 61 90 63
+f 61 63 62
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 64 92 65
+f 65 92 93
+f 65 93 94
+f 65 94 69
+f 66 72 67
+f 66 69 94
+f 66 94 72
+f 67 72 68
+f 68 72 71
+f 72 94 73
+f 73 94 95
+f 73 95 74
+f 82 88 83
+f 85 87 86
+f 90 96 97
+f 90 97 91
+f 91 97 92
+f 92 97 98
+f 92 98 93
+f 93 99 94
+f 93 98 97
+f 93 97 96
+f 93 96 100
+f 93 100 99
+f 94 99 100
+f 94 100 95
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_124.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91db48ed5d0c1af46f5586021f99adfaa1ac6ad
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_124.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01044719 -0.00580754 0.01351691
+v -0.01157477 -0.00580754 0.01337987
+v -0.01157477 -0.00587580 0.01336049
+v -0.01044719 -0.00603594 0.01345185
+v -0.01044719 -0.00580754 -0.00062437
+v -0.01384527 -0.00580754 0.01310302
+v -0.01157477 -0.00603594 0.01331481
+v -0.01066524 -0.00645985 0.01329682
+v -0.01044719 -0.00645985 0.01332312
+v -0.01044719 -0.00645985 -0.00062437
+v -0.01725868 -0.00580754 -0.00062437
+v -0.01526025 -0.00580754 0.01288570
+v -0.01384527 -0.00603594 0.01303520
+v -0.01117602 -0.00645985 0.01323453
+v -0.01725868 -0.00645985 -0.00062437
+v -0.01725868 -0.00580754 0.01248151
+v -0.01591772 -0.00580754 0.01278465
+v -0.01646451 -0.00580754 0.01269883
+v -0.01591772 -0.00595721 0.01273344
+v -0.01526025 -0.00613721 0.01277358
+v -0.01439806 -0.00645985 0.01278880
+v -0.01384527 -0.00645985 0.01287047
+v -0.01725868 -0.00645985 0.01189044
+v -0.01725868 -0.00637027 0.01199841
+v -0.01651385 -0.00645985 0.01224065
+v -0.01591772 -0.00645985 0.01244690
+v -0.01557431 -0.00645985 0.01256318
+v -0.01651385 -0.00580754 0.01268637
+v -0.01507554 -0.00645985 0.01268084
+v -0.01652586 -0.00645985 0.01223511
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 28
+f 1 28 18
+f 1 18 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 7
+f 4 7 8
+f 4 8 9
+f 5 10 15
+f 5 15 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 22
+f 8 22 21
+f 8 21 29
+f 8 29 27
+f 8 27 26
+f 8 26 25
+f 8 25 30
+f 8 30 23
+f 8 23 15
+f 8 15 10
+f 8 10 9
+f 11 15 23
+f 11 23 24
+f 11 24 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 18 28 27
+f 18 27 29
+f 18 29 19
+f 19 29 20
+f 20 29 21
+f 23 30 24
+f 24 30 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_128.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ac1bfcbca78a589f3474853610e048c4ec2659
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_128.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.00188398 0.00543153 0.01389279
+v -0.00188398 0.00609904 0.01346882
+v -0.00196768 0.00602991 0.01351178
+v -0.00301654 0.00608355 0.01346135
+v -0.00301654 0.00541723 0.01388346
+v -0.00247199 0.00542319 0.01388813
+v -0.00188398 0.00473780 0.01389279
+v -0.00188398 0.00780000 0.01237062
+v -0.00247199 0.00784291 0.01233513
+v -0.00301654 0.00620155 0.01338571
+v -0.00301654 0.00483912 0.01388346
+v -0.00247199 0.00479263 0.01388813
+v -0.00188398 0.00407029 0.01381061
+v -0.00188398 0.00949858 0.01127241
+v -0.00247199 0.01118881 0.01017046
+v -0.00301654 0.01015178 0.01083350
+v -0.00301654 0.00719447 0.01274509
+v -0.00301654 0.00417518 0.01379661
+v -0.00247199 0.00416445 0.01380875
+v -0.00301654 0.00339324 0.01360237
+v -0.00188398 0.00403691 0.01380221
+v -0.00188398 0.01119596 0.01017420
+v -0.00301654 0.01125914 0.01011443
+v -0.00301654 0.01118285 0.01016579
+v -0.00301654 0.00330742 0.01357902
+v -0.00247199 0.00330742 0.01359303
+v -0.00188398 0.00330980 0.01360797
+v -0.00188398 0.01186347 0.00971101
+v -0.00247199 0.01185632 0.00970914
+v -0.00301654 0.01185036 0.00970634
+v -0.00301654 0.00212378 0.01322976
+v -0.00188398 0.00325735 0.01359303
+v -0.00188398 0.01233788 0.00904610
+v -0.00247199 0.01234623 0.00904330
+v -0.00301654 0.01235099 0.00904330
+v -0.00301654 0.00197001 0.01317933
+v -0.00188398 0.00197120 0.01317373
+v -0.00188398 0.01292672 0.00781902
+v -0.00247199 0.01294341 0.00781809
+v -0.00301654 0.01295652 0.00781809
+v -0.00301654 0.00197001 0.00446743
+v -0.00247199 0.00197001 0.01269093
+v -0.00188398 0.00197120 0.00435350
+v -0.00188398 0.01322710 0.00696175
+v -0.00247199 0.01368244 0.00570105
+v -0.00301654 0.01352987 0.00617638
+v -0.00247188 0.00197120 0.00435350
+v -0.00247199 0.00197001 0.00446743
+v -0.00301654 0.01412347 0.00446743
+v -0.00188398 0.01413062 0.00435350
+v -0.00188398 0.01385885 0.00514914
+v -0.00247188 0.01414731 0.00435350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 13
+f 1 13 21
+f 1 21 27
+f 1 27 32
+f 1 32 37
+f 1 37 43
+f 1 43 50
+f 1 50 51
+f 1 51 44
+f 1 44 38
+f 1 38 33
+f 1 33 28
+f 1 28 22
+f 1 22 14
+f 1 14 8
+f 1 8 2
+f 2 4 3
+f 2 8 9
+f 2 9 10
+f 2 10 4
+f 4 10 17
+f 4 17 16
+f 4 16 24
+f 4 24 23
+f 4 23 30
+f 4 30 35
+f 4 35 40
+f 4 40 46
+f 4 46 49
+f 4 49 41
+f 4 41 36
+f 4 36 31
+f 4 31 25
+f 4 25 20
+f 4 20 18
+f 4 18 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 7 12 11
+f 7 11 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 13
+f 13 19 18
+f 13 18 20
+f 13 20 21
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 25 31 26
+f 26 32 27
+f 26 31 32
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 30
+f 31 36 37
+f 31 37 32
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 34 40 35
+f 36 41 48
+f 36 48 42
+f 36 42 37
+f 37 42 48
+f 37 48 43
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 41 47 43
+f 41 43 48
+f 41 49 52
+f 41 52 47
+f 43 47 52
+f 43 52 50
+f 44 51 45
+f 45 51 49
+f 45 49 46
+f 49 51 52
+f 50 52 51
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_133.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf112261b207dde22200efdda52015419b140ea
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_133.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00898349 -0.01320030 0.00159389
+v 0.01080665 -0.01321006 0.00159389
+v 0.00898349 -0.01318294 0.00211865
+v 0.00898349 -0.00213080 0.00159389
+v 0.01080665 -0.01306148 0.00211865
+v 0.01017995 -0.01310811 0.00211865
+v 0.01080665 -0.00213080 0.00159389
+v 0.00898349 -0.00213080 0.00211865
+v 0.01080665 -0.00213080 0.00211865
+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 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 8
+f 4 8 9
+f 4 9 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_134.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfbad27c989bdc05e6dfbb10e6b1e11265bfdcd2
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_134.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02588934 -0.00335632 -0.00465168
+v -0.01044870 -0.00335632 -0.00465168
+v -0.02581368 -0.00372360 -0.00465168
+v -0.02613794 -0.00335632 -0.00417507
+v -0.01044870 -0.00335632 0.00052263
+v -0.01044870 -0.00372360 -0.00465168
+v -0.02589397 -0.00372360 -0.00449720
+v -0.02597272 -0.00372360 -0.00416545
+v -0.02614257 -0.00335632 -0.00415430
+v -0.01044870 -0.00372360 0.00052263
+v -0.02597427 -0.00335632 0.00052263
+v -0.02613331 -0.00372360 -0.00303395
+v -0.02622132 -0.00335632 -0.00373898
+v -0.02573802 -0.00372360 0.00052263
+v -0.02609007 -0.00335632 -0.00021229
+v -0.02585383 -0.00372360 -0.00020469
+v -0.02612713 -0.00372360 -0.00285971
+v -0.02622132 -0.00358717 -0.00285971
+v -0.02622132 -0.00358735 -0.00286326
+v -0.02622132 -0.00335632 -0.00123641
+v -0.02622132 -0.00341115 -0.00152663
+v -0.02615492 -0.00350595 -0.00152663
+v -0.02600206 -0.00372360 -0.00152663
+v -0.02602985 -0.00372360 -0.00180216
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 14
+f 3 14 16
+f 3 16 23
+f 3 23 24
+f 3 24 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 11 14
+f 5 14 10
+f 8 12 13
+f 8 13 9
+f 11 15 16
+f 11 16 14
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 18
+f 13 18 21
+f 13 21 20
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 17 24 21
+f 17 21 18
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_14.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7f884076521f868462c8dc7cf4593da1968ac0
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00470042 0.00009238 0.01328722
+v 0.00350613 0.00196882 0.01296189
+v 0.00217157 0.00196882 0.01303583
+v 0.00083603 0.00196882 0.01310237
+v -0.00525135 0.00009238 0.01363029
+v 0.00470042 0.00009238 -0.00147663
+v 0.00470042 0.00196882 0.01289535
+v -0.00049659 0.00196882 0.01314822
+v -0.00183213 0.00196882 0.01317188
+v -0.00525135 0.00196882 0.01321772
+v -0.00525135 0.00009238 -0.00147663
+v 0.00470042 0.00196882 -0.00147663
+v -0.00525135 0.00196882 -0.00147663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 12
+f 2 12 13
+f 2 13 10
+f 2 10 9
+f 2 9 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 13
+f 5 13 11
+f 6 11 13
+f 6 13 12
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_140.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466c12c6727410aa45930484d8f752d534e07028
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_140.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00962747 -0.00024667 0.00385801
+v 0.00470042 -0.00024667 0.00385801
+v 0.00962747 -0.00068747 0.00385801
+v 0.00962747 -0.00024667 -0.01293801
+v 0.00470042 -0.00068747 0.00385801
+v 0.00470042 -0.00024667 -0.01383879
+v 0.00962747 -0.00068747 -0.01256904
+v 0.00484125 -0.00068747 -0.01351139
+v 0.00612558 -0.00024667 -0.01360147
+v 0.00470042 -0.00068747 -0.01353564
+v 0.00484125 -0.00024667 -0.01381800
+v 0.00470042 -0.00068571 -0.01353910
+v 0.00472213 -0.00068747 -0.01353391
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 8
+f 3 8 7
+f 4 8 9
+f 4 7 8
+f 6 11 12
+f 8 13 9
+f 9 13 12
+f 9 12 11
+f 10 12 13
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_142.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17aa0a9e1341ad60938906fb8467ac1e573dca59
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_142.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01209754 -0.00141839 0.00385630
+v 0.01209754 -0.00213066 0.00385630
+v 0.01209754 -0.00141839 -0.01153282
+v 0.01208958 -0.00068762 0.00385801
+v 0.01208958 -0.00141839 0.00385801
+v 0.00852207 -0.00213066 0.00385801
+v 0.01209754 -0.00213066 -0.01190235
+v 0.01208958 -0.00068762 -0.01213564
+v 0.00470115 -0.00068762 0.00385801
+v 0.00470042 -0.00213066 0.00385801
+v 0.01178619 -0.00213066 -0.01196195
+v 0.00470115 -0.00068762 -0.01353884
+v 0.00470042 -0.00141839 0.00385801
+v 0.00470042 -0.00213066 -0.01323572
+v 0.00494082 -0.00213066 -0.01319655
+v 0.00470042 -0.00141839 -0.01336003
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 14
+f 2 14 15
+f 2 15 11
+f 2 11 7
+f 3 7 8
+f 4 9 13
+f 4 13 10
+f 4 10 6
+f 4 6 5
+f 4 8 12
+f 4 12 9
+f 7 11 8
+f 8 11 12
+f 9 12 16
+f 9 16 13
+f 10 13 16
+f 10 16 14
+f 11 15 12
+f 12 15 14
+f 12 14 16
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_146.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bd0b1d7548bfc31d4ddea2c2e36b92a67dfe84
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_146.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01251811 0.00664412 0.01330748
+v -0.01251811 0.00733532 0.01297845
+v -0.01519533 0.00664412 0.01381997
+v -0.01251811 0.00664412 0.00357417
+v -0.01520074 0.00733532 0.01344687
+v -0.01565005 0.00672187 0.01386404
+v -0.01559712 0.00664412 0.01389684
+v -0.01251811 0.00733532 0.00357417
+v -0.01866229 0.00664412 0.00357417
+v -0.01651438 0.00733532 0.01367545
+v -0.01574027 0.00664412 0.01392144
+v -0.01866229 0.00733532 0.00357417
+v -0.01866229 0.00664412 0.01363855
+v -0.01679468 0.00733532 0.01367340
+v -0.01651438 0.00664412 0.01404547
+v -0.01866229 0.00733532 0.01334438
+v -0.01840966 0.00664412 0.01378717
+v -0.01866229 0.00730528 0.01336078
+v -0.01793509 0.00733532 0.01354937
+v -0.01755074 0.00684211 0.01392862
+v -0.01765179 0.00664412 0.01400139
+v -0.01828215 0.00664412 0.01382407
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 21
+f 1 21 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 12
+f 2 12 16
+f 2 16 19
+f 2 19 14
+f 2 14 10
+f 2 10 5
+f 4 9 12
+f 4 12 8
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 9 13 18
+f 9 18 16
+f 9 16 12
+f 10 14 15
+f 10 15 11
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 16 18 20
+f 16 20 19
+f 17 22 18
+f 18 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_148.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e051000974f43f8c0573f0efb6bce9bb1d540a78
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_148.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00544418 0.00186220 -0.00152910
+v 0.00544418 0.00655139 -0.00152910
+v 0.00622318 0.00186220 -0.00152910
+v 0.00544418 0.00186220 0.01282937
+v 0.00544418 0.00761471 -0.00152757
+v 0.00557266 0.00761471 -0.00152910
+v 0.00622318 0.00761471 -0.00152910
+v 0.00622318 0.00186220 0.01275920
+v 0.00622318 0.00392069 0.01385291
+v 0.00544418 0.00389479 0.01386358
+v 0.00544418 0.00761471 0.01265090
+v 0.00622318 0.00761471 0.01286445
+v 0.00622318 0.00394716 0.01386511
+v 0.00622318 0.00464215 0.01405426
+v 0.00544418 0.00422031 0.01395206
+v 0.00544418 0.00730270 0.01289954
+v 0.00622318 0.00750432 0.01293767
+v 0.00622318 0.00568857 0.01402527
+v 0.00544418 0.00510848 0.01400544
+v 0.00544418 0.00464215 0.01401765
+v 0.00544418 0.00676259 0.01324885
+v 0.00544418 0.00625233 0.01357376
+v 0.00544418 0.00588625 0.01380409
+v 0.00622318 0.00637905 0.01363172
+v 0.00622318 0.00572687 0.01400392
+v 0.00544418 0.00558494 0.01397646
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 19
+f 1 19 26
+f 1 26 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 17
+f 3 17 24
+f 3 24 25
+f 3 25 18
+f 3 18 14
+f 3 14 13
+f 3 13 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 18 25 26
+f 18 26 19
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_155.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088ee7954549bbf3c2b1c41453d4e8f7c90adce9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_155.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00705591 0.00186164 -0.00030850
+v 0.00705591 0.00733862 -0.00030993
+v 0.00771812 0.00186164 -0.00030850
+v 0.00705591 0.00186164 0.01275362
+v 0.00771812 0.00733862 -0.00030993
+v 0.00705591 0.00895423 -0.00030993
+v 0.00771812 0.00186164 0.01276792
+v 0.00771812 0.00401826 0.01394472
+v 0.00705591 0.00391055 0.01386036
+v 0.00771812 0.00895423 -0.00030993
+v 0.00705591 0.01288616 -0.00030850
+v 0.00771812 0.00464222 0.01424357
+v 0.00705591 0.00439709 0.01409343
+v 0.00771812 0.01284902 -0.00030850
+v 0.00705591 0.01391619 0.00114714
+v 0.00771812 0.01389390 0.00114714
+v 0.00771812 0.00485021 0.01429219
+v 0.00751056 0.00464222 0.01421783
+v 0.00705591 0.00464222 0.01416064
+v 0.00705591 0.01440768 0.00251841
+v 0.00771812 0.01447329 0.00250411
+v 0.00771812 0.00603746 0.01429791
+v 0.00705591 0.00561778 0.01415349
+v 0.00771812 0.01450920 0.00269000
+v 0.00771812 0.01450920 0.00264138
+v 0.00705591 0.01423560 0.00377100
+v 0.00771812 0.01443244 0.00364088
+v 0.00771812 0.00630240 0.01420353
+v 0.00705591 0.00593595 0.01414491
+v 0.00705591 0.01357945 0.00648066
+v 0.00771812 0.01315233 0.00935332
+v 0.00771812 0.01334546 0.00852970
+v 0.00771812 0.01410684 0.00515085
+v 0.00771812 0.01439901 0.00379960
+v 0.00771812 0.00685951 0.01395044
+v 0.00705591 0.00703283 0.01356723
+v 0.00705591 0.01290102 0.00919746
+v 0.00705591 0.01276607 0.00949345
+v 0.00705591 0.01229439 0.01029705
+v 0.00771812 0.01252837 0.01036855
+v 0.00771812 0.01182147 0.01106062
+v 0.00705591 0.01069983 0.01138377
+v 0.00705591 0.01153549 0.01088617
+v 0.00771812 0.01231667 0.01061592
+v 0.00771812 0.01244295 0.01050010
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 23
+f 1 23 29
+f 1 29 36
+f 1 36 42
+f 1 42 43
+f 1 43 39
+f 1 39 38
+f 1 38 37
+f 1 37 30
+f 1 30 26
+f 1 26 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 16
+f 3 16 21
+f 3 21 25
+f 3 25 24
+f 3 24 27
+f 3 27 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 40
+f 3 40 45
+f 3 45 44
+f 3 44 41
+f 3 41 35
+f 3 35 28
+f 3 28 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 11 15 16
+f 11 16 14
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 15 20 21
+f 15 21 16
+f 17 22 19
+f 17 19 18
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 20 26 27
+f 20 27 24
+f 22 28 29
+f 22 29 23
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 28 35 29
+f 29 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 35 41 36
+f 36 41 42
+f 39 43 41
+f 39 41 44
+f 39 44 45
+f 39 45 40
+f 41 43 42
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_157.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c421869ee032abce026ca00e34d50dd049ccc33
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_157.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 0.00739393 -0.01304898
+v -0.01044637 0.00739393 -0.01253459
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+v -0.00897662 0.01611981 -0.00152106
+v -0.00887115 0.01607472 -0.00134026
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+v -0.00996900 0.01436201 0.00635011
+v -0.01044637 0.01466775 0.00575169
+v -0.01044637 0.01660684 -0.00152106
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+v -0.00889151 0.01605848 0.00072239
+v -0.00888025 0.01609636 -0.00018671
+v -0.00887115 0.01609185 -0.00018671
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+v -0.01044637 0.01476335 0.00547667
+v -0.00887115 0.01466775 0.00496228
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+v -0.01044637 0.01645802 -0.00018671
+v -0.00887115 0.01604766 0.00074531
+v -0.00887115 0.01609095 -0.00015869
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+v -0.01044637 0.01513133 0.00441479
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+v -0.01041044 0.01600256 0.00185557
+v -0.00887115 0.01554350 0.00244890
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+v -0.01044637 0.01600347 0.00186066
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+f 89 93 95
+f 91 96 93
+f 93 96 95
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_163.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4767a76cc25d1b6310082df0dd9bd9f40177719e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_163.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00264322 0.01247171 0.00306149
+v 0.00264322 0.01435385 0.00306149
+v 0.00300745 0.01247171 0.00306149
+v 0.00264322 0.01247171 0.00861419
+v 0.00264322 0.01412335 0.00381374
+v 0.00300745 0.01410695 0.00381374
+v 0.00300745 0.01433284 0.00306149
+v 0.00300745 0.01247171 0.00860495
+v 0.00264322 0.01281350 0.00781737
+v 0.00264322 0.01393615 0.00439531
+v 0.00264322 0.01384550 0.00467686
+v 0.00300745 0.01394628 0.00431270
+v 0.00300745 0.01280208 0.00781737
+v 0.00264322 0.01317998 0.00672760
+v 0.00264322 0.01369367 0.00514810
+v 0.00300745 0.01367709 0.00514810
+v 0.00300745 0.01317316 0.00670423
+v 0.00264322 0.01339832 0.00606069
+v 0.00300745 0.01339021 0.00603677
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 16
+f 3 16 19
+f 3 19 17
+f 3 17 13
+f 3 13 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 18 19
+f 15 19 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_167.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6523569d24bbdf11aa42a17ec26755c0e3e84b5
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_167.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01044798 0.00545864 0.00420382
+v -0.01044798 0.00545864 0.00307138
+v -0.02473739 0.00545864 0.00420382
+v -0.01044951 0.00470660 0.00424471
+v -0.01044798 0.00470682 0.00420382
+v -0.01044798 0.00470682 0.00307138
+v -0.02488836 0.00545864 0.00307138
+v -0.02564782 0.00442876 0.00307138
+v -0.02534740 0.00417815 0.00424471
+v -0.02499054 0.00470660 0.00424471
+v -0.01044951 0.00323261 0.00424471
+v -0.01044951 0.00323261 0.00307138
+v -0.02602755 0.00330757 0.00307138
+v -0.02555327 0.00356079 0.00424471
+v -0.02558072 0.00323261 0.00424471
+v -0.02602145 0.00323261 0.00307138
+v -0.02558072 0.00328055 0.00424471
+v -0.02557920 0.00333198 0.00424471
+f 1 2 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 13
+f 2 13 8
+f 2 8 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 14
+f 4 14 18
+f 4 18 17
+f 4 17 15
+f 4 15 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 13 16 15
+f 13 15 17
+f 13 17 18
+f 13 18 14
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_169.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94f517e70a89d443b9076dceda68b90436e8e31
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_169.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00887115 0.00142977 0.00071327
+v -0.00887115 0.00341694 0.00071327
+v -0.00755157 0.00142977 0.00071327
+v -0.00887115 0.00142977 0.01453224
+v -0.00755157 0.00341694 0.00071327
+v -0.00887115 0.00341694 0.01401812
+v -0.00755157 0.00142977 0.01390718
+v -0.00861204 0.00142977 0.01442400
+v -0.00887115 0.00143463 0.01453224
+v -0.00755157 0.00341694 0.01369747
+v -0.00887115 0.00330023 0.01405736
+v -0.00845846 0.00142977 0.01435906
+v -0.00887115 0.00199367 0.01443347
+v -0.00887115 0.00315784 0.01410065
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 10
+f 7 10 12
+f 8 12 10
+f 8 10 9
+f 9 10 13
+f 10 11 14
+f 10 14 13
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_173.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7814301d5c49aed2af26f7d34ffd2d728ee06df3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_173.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01465860 0.00332883 0.00115110
+v 0.01465860 0.01411041 0.00115110
+v 0.02064234 0.00332883 0.00115110
+v 0.01465860 0.00332883 0.01377570
+v 0.01465860 0.01437314 0.00202867
+v 0.01558814 0.01388660 0.00115110
+v 0.02054569 0.00354831 0.00115110
+v 0.01772017 0.00456787 0.00641403
+v 0.01932856 0.00332883 0.00405943
+v 0.01519102 0.00332883 0.01320466
+v 0.01471365 0.00380239 0.01365334
+v 0.01465860 0.00374941 0.01371761
+v 0.01561684 0.01387471 0.00115110
+v 0.01560278 0.01388120 0.00115110
+v 0.01465860 0.01407581 0.00389504
+v 0.01747006 0.01052736 0.00115110
+v 0.01737752 0.00765357 0.00416326
+v 0.01628632 0.00820606 0.00603828
+v 0.01712917 0.00590854 0.00641403
+v 0.01478336 0.00515495 0.01233451
+v 0.01585406 0.00332883 0.01174617
+v 0.01465860 0.00412999 0.01347906
+v 0.01519980 0.00332883 0.01318612
+v 0.01519570 0.00333856 0.01318612
+v 0.01465860 0.00488574 0.01282150
+v 0.01465860 0.00458949 0.01309095
+v 0.01621369 0.01335358 0.00115110
+v 0.01524549 0.01389309 0.00247981
+v 0.01465860 0.01407149 0.00390369
+v 0.01466211 0.01407149 0.00389504
+v 0.01651709 0.01268865 0.00115110
+v 0.01591673 0.01267027 0.00249959
+v 0.01465860 0.01138799 0.00653021
+v 0.01501413 0.01368442 0.00350446
+v 0.01465860 0.00602422 0.01176101
+v 0.01465860 0.00579069 0.01198843
+v 0.01558814 0.00332883 0.01233204
+v 0.01465860 0.00614856 0.01163988
+v 0.01610592 0.01312977 0.00163067
+v 0.01465860 0.01301301 0.00494318
+v 0.01465860 0.01272433 0.00522622
+v 0.01465860 0.01273190 0.00521881
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 27
+f 1 27 31
+f 1 31 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 37
+f 1 37 23
+f 1 23 10
+f 1 10 4
+f 1 4 12
+f 1 12 22
+f 1 22 26
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+f 1 36 35
+f 1 35 38
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+f 5 14 6
+f 5 15 13
+f 7 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
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+f 10 22 11
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+f 10 24 20
+f 10 20 25
+f 10 25 26
+f 10 26 22
+f 11 22 12
+f 13 15 28
+f 13 28 27
+f 15 29 30
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+f 15 27 28
+f 16 31 32
+f 16 32 17
+f 17 32 18
+f 18 33 20
+f 18 20 19
+f 18 32 34
+f 18 34 33
+f 20 35 36
+f 20 36 25
+f 20 24 37
+f 20 37 21
+f 20 33 38
+f 20 38 35
+f 23 37 24
+f 27 39 31
+f 27 30 29
+f 27 29 39
+f 29 40 34
+f 29 34 39
+f 31 39 32
+f 32 39 34
+f 33 34 41
+f 34 40 42
+f 34 42 41
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_174.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18185200bfb7231486f9551f2d42240543f2d57b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_174.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01151446 0.00850340 0.01459444
+v 0.01151446 0.00782239 0.01506495
+v 0.01238980 0.00706734 0.01533713
+v 0.01197103 0.00825874 0.01459444
+v 0.01015980 0.00781713 0.01459444
+v 0.01053948 0.00690198 0.01528129
+v 0.01151446 0.00715529 0.01538463
+v 0.01294043 0.00599735 0.01459444
+v 0.01293312 0.00605447 0.01459444
+v 0.01269732 0.00743190 0.01461363
+v 0.01268358 0.00748527 0.01459444
+v 0.01238980 0.00628937 0.01533713
+v 0.00959714 0.00733569 0.01459444
+v 0.01012887 0.00733268 0.01485858
+v 0.00855301 0.00599246 0.01459444
+v 0.00884551 0.00597705 0.01469848
+v 0.01053948 0.00636416 0.01528129
+v 0.01151446 0.00616798 0.01538463
+v 0.01151446 0.00466427 0.01459444
+v 0.01270677 0.00743190 0.01459444
+v 0.01269990 0.00744806 0.01459444
+v 0.01151446 0.00550050 0.01506216
+v 0.00855602 0.00568728 0.01459444
+v 0.00928446 0.00508670 0.01459444
+v 0.01044112 0.00480971 0.01459444
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 20
+f 1 20 9
+f 1 9 8
+f 1 8 19
+f 1 19 25
+f 1 25 24
+f 1 24 23
+f 1 23 15
+f 1 15 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 18
+f 3 18 12
+f 3 12 8
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 12 19
+f 9 20 10
+f 10 21 11
+f 10 20 21
+f 12 18 22
+f 12 22 19
+f 15 23 16
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 24 22
+f 19 22 25
+f 22 24 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_175.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6368cacfa0097141d1b4ef32c26b9eb83b3bab5d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_175.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00300748 0.00316558 -0.00043529
+v 0.00300748 0.01126207 -0.00043670
+v 0.00365539 0.00316558 -0.00043529
+v 0.00300748 0.00316558 0.01356132
+v 0.00365539 0.01126207 -0.00043670
+v 0.00300748 0.01324757 -0.00043670
+v 0.00365539 0.00316558 0.01354438
+v 0.00348802 0.00316558 0.01355144
+v 0.00365539 0.00325916 0.01359380
+v 0.00350635 0.00384884 0.01388049
+v 0.00300748 0.00360756 0.01377316
+v 0.00365539 0.01316075 -0.00043670
+v 0.00300748 0.01360724 0.00008018
+v 0.00365539 0.00385222 0.01387907
+v 0.00365539 0.00393791 0.01389320
+v 0.00365539 0.00464259 0.01399064
+v 0.00350635 0.00464259 0.01398923
+v 0.00300748 0.00435395 0.01394262
+v 0.00300748 0.00385673 0.01387342
+v 0.00365539 0.01356552 0.00014514
+v 0.00300748 0.01432319 0.00115629
+v 0.00365539 0.01430741 0.00124244
+v 0.00365539 0.00549723 0.01393274
+v 0.00300748 0.00548933 0.01392850
+v 0.00300748 0.00464259 0.01397793
+v 0.00300748 0.01468286 0.00174943
+v 0.00318696 0.01467723 0.00176214
+v 0.00358163 0.01431981 0.00124950
+v 0.00365539 0.01449908 0.00240471
+v 0.00365539 0.00616470 0.01351331
+v 0.00300748 0.00615681 0.01350766
+v 0.00300748 0.01468286 0.00191890
+v 0.00318696 0.01467723 0.00190054
+v 0.00358163 0.01450585 0.00239906
+v 0.00365539 0.01407628 0.00381411
+v 0.00365539 0.01126207 0.01021434
+v 0.00300748 0.00680511 0.01308823
+v 0.00300748 0.01450585 0.00251204
+v 0.00350635 0.01408417 0.00381411
+v 0.00365539 0.01340655 0.00589856
+v 0.00365539 0.01132182 0.01017338
+v 0.00300748 0.01126207 0.01020163
+v 0.00300748 0.01410559 0.00381411
+v 0.00300748 0.01338963 0.00603696
+v 0.00365539 0.01315963 0.00666258
+v 0.00365539 0.01192728 0.00975254
+v 0.00300748 0.01191939 0.00974548
+v 0.00300748 0.01166909 0.00991918
+v 0.00300748 0.01317203 0.00670353
+v 0.00350635 0.01316301 0.00667105
+v 0.00365539 0.01278079 0.00781355
+v 0.00365539 0.01226553 0.00909868
+v 0.00300748 0.01227906 0.00907608
+v 0.00300748 0.01280109 0.00781355
+v 0.00350635 0.01278643 0.00781355
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+f 1 42 48
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+f 1 32 26
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+f 34 38 35
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+f 36 41 42
+f 36 42 37
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+f 40 44 45
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+f 46 53 47
+f 49 51 50
+f 49 54 55
+f 49 55 51
+f 51 55 52
+f 52 55 54
+f 52 54 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_178.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3287042703bfcc3990067d94ee9c409a04eeffb
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_178.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.02498966 0.00470691 0.00420464
+v -0.02498681 0.00470691 0.00514860
+v -0.02485868 0.00545886 0.00591629
+v -0.02498824 0.00471140 0.00420464
+v -0.01044795 0.00470691 0.00420464
+v -0.02489000 0.00470691 0.00638045
+v -0.02482451 0.00545886 0.00644199
+v -0.02483020 0.00520573 0.00420464
+v -0.02476187 0.00545886 0.00451443
+v -0.01044795 0.00545886 0.00420464
+v -0.01044653 0.00470691 0.01186066
+v -0.02485583 0.00470691 0.00652961
+v -0.02462234 0.00545886 0.00729312
+v -0.02473766 0.00545886 0.00420464
+v -0.01044653 0.00545886 0.01186066
+v -0.01044653 0.00470691 0.01348991
+v -0.02481739 0.00470691 0.00662140
+v -0.02431625 0.00470691 0.00781778
+v -0.02440167 0.00545886 0.00781778
+v -0.01044653 0.00545886 0.01348991
+v -0.01044795 0.00470691 0.01402604
+v -0.02392758 0.00470691 0.00862197
+v -0.02396317 0.00545886 0.00868664
+v -0.01044795 0.00545886 0.01369226
+v -0.01044795 0.00491138 0.01395719
+v -0.01254506 0.00470691 0.01451523
+v -0.02391049 0.00470691 0.00865431
+v -0.02356596 0.00470691 0.00928953
+v -0.02254943 0.00498955 0.01120875
+v -0.02360012 0.00545886 0.00935420
+v -0.01522305 0.00545886 0.01444743
+v -0.01384633 0.00470691 0.01474679
+v -0.01364416 0.00470691 0.01471341
+v -0.02275017 0.00470691 0.01078944
+v -0.02256936 0.00545886 0.01124630
+v -0.02295946 0.00545886 0.01053076
+v -0.02226611 0.00470691 0.01156443
+v -0.02214510 0.00470691 0.01174070
+v -0.02216218 0.00545886 0.01186066
+v -0.02236577 0.00545886 0.01156339
+v -0.01651435 0.00545886 0.01459137
+v -0.01525437 0.00470691 0.01483545
+v -0.02215649 0.00541720 0.01186066
+v -0.02139766 0.00470691 0.01266798
+v -0.02145460 0.00545886 0.01271283
+v -0.01789819 0.00545886 0.01437337
+v -0.01651435 0.00470691 0.01486048
+v -0.02051638 0.00470691 0.01321976
+v -0.02051638 0.00545886 0.01325313
+v -0.01785263 0.00470691 0.01457155
+v -0.01890333 0.00545886 0.01402812
+v -0.01959382 0.00470691 0.01372772
+v -0.01896739 0.00470691 0.01406463
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+f 29 36 30
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+f 29 37 38
+f 29 38 39
+f 29 39 40
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+f 38 44 43
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+f 39 44 45
+f 41 46 47
+f 41 47 42
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+f 45 48 49
+f 46 50 47
+f 46 51 50
+f 48 52 49
+f 49 52 53
+f 49 53 51
+f 50 51 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_18.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2992a190482eeea7736dc8a56c11f15e34bfb740
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.01044769 -0.01084397 0.00871512
+v -0.01044896 -0.00902444 0.00927096
+v -0.01044896 -0.01052210 0.00927096
+v -0.01044769 -0.01114869 0.00836444
+v -0.01044769 -0.01084397 -0.00559412
+v -0.01566826 -0.00902444 0.00927096
+v -0.01044896 -0.00902444 -0.00559412
+v -0.01536192 -0.00911737 0.00927096
+v -0.01611697 -0.00948191 0.00861326
+v -0.01251202 -0.01309904 0.00558088
+v -0.01114809 -0.01309904 0.00588645
+v -0.01059895 -0.01309904 0.00600576
+v -0.01044769 -0.01309904 0.00603632
+v -0.01044769 -0.01309904 -0.00559412
+v -0.01646272 -0.00902444 0.00900468
+v -0.02125619 -0.00902444 -0.00559412
+v -0.01667246 -0.00902444 0.00889991
+v -0.01700423 -0.00930164 0.00838918
+v -0.01677034 -0.01309904 0.00363108
+v -0.01393570 -0.01309904 0.00502941
+v -0.01384672 -0.01227981 0.00608434
+v -0.01298107 -0.01309904 0.00540045
+v -0.01197306 -0.01309904 -0.00559412
+v -0.02150152 -0.00902444 -0.00539186
+v -0.02051766 -0.00939297 -0.00559412
+v -0.01783683 -0.00902444 0.00830915
+v -0.01918169 -0.01227064 0.00341427
+v -0.01996090 -0.01209714 0.00321783
+v -0.01781649 -0.01309904 0.00271438
+v -0.01387214 -0.01309904 0.00505414
+v -0.01917025 -0.01002873 -0.00559412
+v -0.01533014 -0.01309904 -0.00332128
+v -0.01731947 -0.01212107 -0.00363122
+v -0.02160449 -0.00902444 -0.00529146
+v -0.02051766 -0.00961792 -0.00522162
+v -0.01847112 -0.00902444 0.00797012
+v -0.01917534 -0.00902444 0.00759325
+v -0.01931643 -0.00902444 0.00751759
+v -0.02256801 -0.01075303 0.00322511
+v -0.02256801 -0.01075303 0.00296902
+v -0.01918169 -0.01249559 0.00247720
+v -0.01794487 -0.01309904 0.00258924
+v -0.02051766 -0.00959957 0.00611344
+v -0.02127018 -0.00943365 0.00589518
+v -0.02106679 -0.01066050 0.00441827
+v -0.02185236 -0.01094967 0.00349430
+v -0.02223751 -0.01084397 0.00335025
+v -0.01612714 -0.01309904 -0.00274944
+v -0.02123585 -0.00940653 -0.00492624
+v -0.01628095 -0.01309904 -0.00263449
+v -0.02212057 -0.00902444 -0.00429182
+v -0.02028377 -0.00902444 0.00695011
+v -0.02256928 -0.00945559 0.00455360
+v -0.02269258 -0.01019425 0.00357869
+v -0.02274597 -0.00995614 0.00372857
+v -0.02313875 -0.00902444 0.00379113
+v -0.02343366 -0.00902444 0.00248448
+v -0.02239641 -0.01062301 0.00207851
+v -0.01678941 -0.01309904 -0.00153736
+v -0.01987701 -0.01205806 0.00175403
+v -0.01781649 -0.01309904 0.00105413
+v -0.01995455 -0.01209555 0.00247720
+v -0.02284639 -0.01019425 0.00255723
+v -0.02338535 -0.00902444 0.00114580
+v -0.02326714 -0.00902444 -0.00018996
+v -0.02283241 -0.00964943 -0.00018996
+v -0.02268623 -0.00949468 -0.00129145
+v -0.02251335 -0.00936984 -0.00218050
+v -0.02051258 -0.00902444 0.00681479
+v -0.02139729 -0.00902444 0.00615273
+v -0.02256801 -0.00902444 -0.00324999
+v -0.02235954 -0.00902444 0.00508033
+v -0.02266589 -0.00902444 0.00469474
+v -0.02288071 -0.01012286 0.00250630
+v -0.02301418 -0.00902444 -0.00154900
+v -0.02281080 -0.00902444 -0.00248753
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+f 1 5 7
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+f 2 24 34
+f 2 34 51
+f 2 51 71
+f 2 71 76
+f 2 76 75
+f 2 75 65
+f 2 65 64
+f 2 64 57
+f 2 57 56
+f 2 56 73
+f 2 73 72
+f 2 72 70
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+f 2 69 52
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+f 2 36 26
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+f 2 17 15
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+f 3 8 9
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+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 23
+f 5 23 31
+f 5 31 25
+f 5 25 16
+f 5 16 7
+f 6 15 8
+f 8 15 9
+f 9 15 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
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+f 10 20 19
+f 10 19 29
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+f 17 26 18
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+f 19 27 28
+f 19 28 29
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+f 23 32 33
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+f 28 40 41
+f 28 41 42
+f 28 42 29
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+f 28 43 44
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+f 28 46 47
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+f 33 49 34
+f 33 48 50
+f 33 50 49
+f 34 49 51
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+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 41
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+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 67
+f 40 67 68
+f 40 68 58
+f 41 62 61
+f 41 61 42
+f 44 52 69
+f 44 69 70
+f 44 70 53
+f 44 47 46
+f 44 46 45
+f 49 50 59
+f 49 59 58
+f 49 58 68
+f 49 68 51
+f 51 68 71
+f 53 70 72
+f 53 72 73
+f 53 73 56
+f 53 56 55
+f 53 55 54
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+f 57 74 63
+f 59 61 60
+f 63 74 64
+f 65 75 66
+f 66 75 76
+f 66 76 67
+f 67 76 71
+f 67 71 68
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_180.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce96b4a0e8199b6e51c53c060c6b87ed737c90d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_180.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01953205 0.00127529 0.00560726
+v 0.01953205 0.00127529 -0.00971946
+v 0.01953205 0.00164254 0.00524859
+v 0.01719060 0.00201632 0.01006602
+v 0.01627999 0.00127529 0.01280411
+v 0.01890368 0.00127529 -0.01005235
+v 0.01953205 0.00190258 -0.01005469
+v 0.01953205 0.00201632 0.00488288
+v 0.01925907 0.00201632 0.00548770
+v 0.01586382 0.00201632 0.01300103
+v 0.01586382 0.00127529 0.01372306
+v 0.01886969 0.00127529 -0.01005469
+v 0.01953205 0.00201632 -0.01005469
+v 0.01580716 0.00201632 0.01312293
+v 0.01583807 0.00127529 0.01377932
+v 0.00900843 0.00127529 -0.01005469
+v 0.00900843 0.00201632 -0.01005469
+v 0.01544559 0.00201632 0.01389419
+v 0.01578450 0.00127529 0.01389419
+v 0.00900843 0.00127529 0.01328234
+v 0.00900843 0.00201632 0.01310652
+v 0.01138695 0.00201632 0.01389419
+v 0.01047222 0.00127529 0.01389419
+v 0.00927935 0.00201632 0.01320029
+v 0.01023220 0.00201632 0.01351911
+v 0.01069163 0.00147273 0.01389419
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 20
+f 1 20 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 5
+f 4 9 8
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+f 4 13 17
+f 4 17 21
+f 4 21 24
+f 4 24 25
+f 4 25 22
+f 4 22 18
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+f 4 14 10
+f 5 10 11
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+f 14 18 19
+f 14 19 15
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+f 16 21 17
+f 18 22 26
+f 18 26 23
+f 18 23 19
+f 20 23 21
+f 21 23 24
+f 22 25 26
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_186.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63ce0b66d792ba49095a96f63c94141574e1c08
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_186.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01352790 -0.00071739 0.01682198
+v 0.01290530 -0.00049935 0.01667097
+v 0.01290530 -0.00073269 0.01669889
+v 0.01290530 -0.00074544 0.01669889
+v 0.01290530 -0.00200138 0.01660245
+v 0.01352790 -0.00136512 0.01676995
+v 0.01352790 0.00021851 0.01666716
+v 0.01321166 0.00018536 0.01664813
+v 0.01303596 -0.00020736 0.01666209
+v 0.01290530 -0.00020736 0.01661006
+v 0.01290530 -0.00330322 0.01632708
+v 0.01352790 -0.00356716 0.01638926
+v 0.01352790 -0.00209573 0.01669889
+v 0.01352790 -0.00201668 0.01671539
+v 0.01352790 0.00022489 0.01666209
+v 0.01326267 0.00022489 0.01662275
+v 0.01317619 0.00022489 0.01658976
+v 0.01290530 0.00001323 0.01656184
+v 0.01290530 -0.00470835 0.01601871
+v 0.01352790 -0.00463695 0.01615576
+v 0.01352790 0.00022489 0.00385928
+v 0.01290530 0.00022489 0.01638799
+v 0.01352790 -0.00465862 0.01615069
+v 0.01290530 -0.00604462 0.01569385
+v 0.01352790 -0.00603825 0.01582329
+v 0.01290530 0.00022489 0.00385928
+v 0.01352790 -0.00511510 0.00385801
+v 0.01290530 -0.00740767 0.01534742
+v 0.01352790 -0.00735412 0.01549208
+v 0.01290530 -0.00511510 0.00385801
+v 0.01352790 -0.00538796 0.00385801
+v 0.01290530 -0.00755175 0.01531062
+v 0.01325932 -0.00820714 0.01520656
+v 0.01352790 -0.00796360 0.01532711
+v 0.01290530 -0.00538796 0.00385801
+v 0.01352790 -0.01269156 0.00385928
+v 0.01323433 -0.01279994 0.00385928
+v 0.01290530 -0.00858966 0.01500479
+v 0.01352790 -0.00824284 0.01523702
+v 0.01290530 -0.01279994 0.00385928
+v 0.01352790 -0.01279994 0.00407120
+v 0.01290530 -0.00865341 0.01497687
+v 0.01331362 -0.00854886 0.01508347
+v 0.01352790 -0.00846598 0.01514819
+v 0.01290530 -0.01279994 0.00952911
+v 0.01352790 -0.01279994 0.00930577
+v 0.01290530 -0.00975890 0.01429543
+v 0.01352790 -0.00854886 0.01510123
+v 0.01352790 -0.00849530 0.01513423
+v 0.01290938 -0.01279994 0.00952911
+v 0.01290530 -0.01194309 0.01099352
+v 0.01352790 -0.01225548 0.01021436
+v 0.01290530 -0.00978567 0.01426751
+v 0.01352790 -0.00938785 0.01455938
+v 0.01352790 -0.01186276 0.01086662
+v 0.01290530 -0.01143689 0.01182217
+v 0.01290530 -0.01042448 0.01345917
+v 0.01352790 -0.00970024 0.01422310
+v 0.01352790 -0.01078405 0.01261148
+v 0.01290530 -0.01085291 0.01277264
+v 0.01352790 -0.01037603 0.01326628
+v 0.01352790 -0.01002794 0.01380687
+v 0.01290530 -0.01045381 0.01341221
+v 0.01352790 -0.01059152 0.01292112
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 20
+f 1 20 23
+f 1 23 25
+f 1 25 29
+f 1 29 34
+f 1 34 39
+f 1 39 44
+f 1 44 49
+f 1 49 48
+f 1 48 54
+f 1 54 58
+f 1 58 62
+f 1 62 61
+f 1 61 64
+f 1 64 59
+f 1 59 55
+f 1 55 52
+f 1 52 46
+f 1 46 41
+f 1 41 36
+f 1 36 31
+f 1 31 27
+f 1 27 21
+f 1 21 15
+f 1 15 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 18
+f 2 18 22
+f 2 22 26
+f 2 26 30
+f 2 30 35
+f 2 35 40
+f 2 40 45
+f 2 45 51
+f 2 51 56
+f 2 56 60
+f 2 60 63
+f 2 63 57
+f 2 57 53
+f 2 53 47
+f 2 47 42
+f 2 42 38
+f 2 38 32
+f 2 32 28
+f 2 28 24
+f 2 24 19
+f 2 19 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 10
+f 8 10 9
+f 11 19 20
+f 11 20 12
+f 15 21 26
+f 15 26 22
+f 15 22 17
+f 15 17 16
+f 17 22 18
+f 19 23 20
+f 19 24 25
+f 19 25 23
+f 21 27 30
+f 21 30 26
+f 24 28 29
+f 24 29 25
+f 27 31 35
+f 27 35 30
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 31 36 37
+f 31 37 40
+f 31 40 35
+f 32 38 33
+f 33 38 39
+f 33 39 34
+f 36 41 37
+f 37 41 46
+f 37 46 50
+f 37 50 45
+f 37 45 40
+f 38 42 43
+f 38 43 39
+f 39 43 44
+f 42 47 43
+f 43 48 49
+f 43 49 44
+f 43 47 48
+f 45 50 51
+f 46 52 51
+f 46 51 50
+f 47 53 54
+f 47 54 48
+f 51 52 55
+f 51 55 56
+f 53 57 58
+f 53 58 54
+f 55 59 60
+f 55 60 56
+f 57 61 62
+f 57 62 58
+f 57 63 61
+f 59 64 60
+f 60 64 63
+f 61 63 64
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_189.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1b14db7c8fc92f25db73957390ad4d475fe572
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_189.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 0.00328464 0.00307137
+v -0.01594433 0.00328464 0.00307137
+v -0.01044652 0.00124012 0.00307137
+v -0.01044652 0.00328464 -0.01435692
+v -0.01594433 0.00124012 0.00307137
+v -0.01594433 0.00328464 -0.01290114
+v -0.01044652 0.00124012 -0.01517680
+v -0.01044652 0.00241748 -0.01479991
+v -0.01117580 0.00300226 -0.01439086
+v -0.01117580 0.00328464 -0.01424617
+v -0.01594433 0.00124012 -0.01372638
+v -0.01382163 0.00328464 -0.01356026
+v -0.01211497 0.00281594 -0.01429440
+v -0.01254016 0.00201883 -0.01449267
+v -0.01594433 0.00156513 -0.01360491
+v -0.01117580 0.00124012 -0.01511071
+v -0.01044652 0.00190936 -0.01504283
+v -0.01117580 0.00197260 -0.01488386
+v -0.01254500 0.00328464 -0.01394609
+v -0.01552452 0.00124012 -0.01385856
+v -0.01278235 0.00328464 -0.01387464
+v -0.01252347 0.00124012 -0.01479991
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 17
+f 1 17 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 15
+f 2 15 11
+f 2 11 5
+f 3 5 11
+f 3 11 20
+f 3 20 22
+f 3 22 16
+f 3 16 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 13
+f 9 13 10
+f 10 13 19
+f 11 15 20
+f 12 21 13
+f 13 21 19
+f 13 18 14
+f 14 18 22
+f 14 22 15
+f 15 22 20
+f 16 22 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_190.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a991bbf435e5cf97830e6f3303d7c93074a13b9
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_190.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00006232 0.00457451 0.01391267
+v -0.00058681 0.00451799 0.01389299
+v -0.00058681 0.00451003 0.01389211
+v 0.00006232 0.00412312 0.01386010
+v 0.00006232 0.00545343 0.01390708
+v -0.00058681 0.00544547 0.01390209
+v -0.00058681 0.00539929 0.01390209
+v -0.00020966 0.00394080 0.01383338
+v -0.00058681 0.00342731 0.01367245
+v 0.00006232 0.00393125 0.01383690
+v 0.00006232 0.00573366 0.01373030
+v -0.00049778 0.00544706 0.01390268
+v -0.00058681 0.00606803 0.01350858
+v 0.00006232 0.00366216 0.01375732
+v -0.00058681 0.00342014 0.01367010
+v 0.00006232 0.00363987 0.01375056
+v 0.00006232 0.00611978 0.01348538
+v -0.00049778 0.00611341 0.01348127
+v -0.00058681 0.00611261 0.01348039
+v 0.00006232 0.00333576 0.01364954
+v -0.00058681 0.00196882 0.01315119
+v 0.00006232 0.00655366 0.01320552
+v 0.00006232 0.00711890 0.01284079
+v 0.00006232 0.00782108 0.01238766
+v -0.00058681 0.00714597 0.01281318
+v 0.00006232 0.00250222 0.01334912
+v -0.00058681 0.00196882 0.01091258
+v -0.00050153 0.00196882 0.01314972
+v 0.00006232 0.00861799 0.01187257
+v -0.00058681 0.00951362 0.01128407
+v -0.00049778 0.00864586 0.01184614
+v -0.00058681 0.00864586 0.01184467
+v 0.00006232 0.00197041 0.01313063
+v 0.00006232 0.00196882 0.01091258
+v -0.00058681 0.01008683 0.01091258
+v -0.00049778 0.00196882 0.01314943
+v 0.00006232 0.00949133 0.01130785
+v 0.00006232 0.00980102 0.01110757
+v -0.00049778 0.01008922 0.01091258
+v 0.00006232 0.00196882 0.01240117
+v 0.00006232 0.01010116 0.01091258
+v -0.00035772 0.01009240 0.01091258
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 16
+f 1 16 20
+f 1 20 26
+f 1 26 33
+f 1 33 40
+f 1 40 34
+f 1 34 41
+f 1 41 38
+f 1 38 37
+f 1 37 29
+f 1 29 24
+f 1 24 23
+f 1 23 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 19
+f 2 19 25
+f 2 25 32
+f 2 32 30
+f 2 30 35
+f 2 35 27
+f 2 27 21
+f 2 21 15
+f 2 15 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 4 8 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 8 14 10
+f 8 9 14
+f 9 15 16
+f 9 16 14
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 15 20 16
+f 15 21 20
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 21 26
+f 21 27 34
+f 21 34 40
+f 21 40 36
+f 21 36 28
+f 21 28 26
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 26 28 33
+f 27 35 39
+f 27 39 42
+f 27 42 41
+f 27 41 34
+f 28 36 33
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 35
+f 30 32 31
+f 33 36 40
+f 38 41 42
+f 38 42 39
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_193.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b36649d57c19b930bfb869261afbd62a1400d99
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_193.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00755157 0.01527048 -0.00118471
+v -0.00710654 0.01504435 -0.00118471
+v -0.00755157 0.01519315 -0.00201365
+v -0.00755157 0.00330078 -0.00118471
+v -0.00710536 0.01503967 -0.00120248
+v -0.00710536 0.01492484 -0.00201365
+v -0.00717057 0.01496702 -0.00201365
+v -0.00732222 0.01505724 -0.00201365
+v -0.00710536 0.01130558 -0.00118471
+v -0.00755157 0.00330078 -0.00201365
+v -0.00710536 0.00330078 -0.00118471
+v -0.00710536 0.00330078 -0.00201365
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 5
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 10
+f 4 10 12
+f 4 12 11
+f 5 9 11
+f 5 11 12
+f 5 12 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_194.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01dc573baa8097f275fdbd35008ae0559f12aa2f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_194.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01494225 -0.01349308 0.00687095
+v 0.01494225 -0.01342740 0.00670499
+v 0.01501977 -0.01347295 0.00691370
+v 0.01494225 -0.01349308 0.00726698
+v 0.01494225 -0.01318057 0.00616564
+v 0.01548031 -0.01183625 0.00385986
+v 0.01548031 -0.01297718 0.00647995
+v 0.01548031 -0.01304815 0.00780005
+v 0.01501977 -0.01347295 0.00735247
+v 0.01494225 -0.01348779 0.00737762
+v 0.01494225 -0.01205765 0.00385986
+v 0.01497406 -0.01204494 0.00385986
+v 0.01548031 -0.00904378 0.00385986
+v 0.01548031 -0.01237652 0.00920816
+v 0.01494225 -0.01275047 0.00883224
+v 0.01494225 -0.00904378 0.00385986
+v 0.01548031 -0.00267067 0.00386112
+v 0.01494225 -0.01253754 0.00918553
+v 0.01548031 -0.00943574 0.01392657
+v 0.01521955 -0.00947176 0.01398315
+v 0.01494225 -0.00267067 0.00386112
+v 0.01548031 -0.00267067 0.01670255
+v 0.01494225 -0.00969528 0.01374301
+v 0.01548031 -0.00918467 0.01429997
+v 0.01494225 -0.00950883 0.01403469
+v 0.01494225 -0.00267067 0.01664975
+v 0.01494225 -0.00333913 0.01664598
+v 0.01548031 -0.00336561 0.01669627
+v 0.01494225 -0.00930967 0.01432260
+v 0.01548031 -0.00909568 0.01442695
+v 0.01548031 -0.00452349 0.01655169
+v 0.01494225 -0.00420886 0.01651774
+v 0.01548031 -0.00833189 0.01537617
+v 0.01494225 -0.00860732 0.01515364
+v 0.01526784 -0.00499808 0.01641339
+v 0.01548031 -0.00477562 0.01649888
+v 0.01494225 -0.00487308 0.01637693
+v 0.01494225 -0.00831917 0.01535480
+v 0.01548031 -0.00831176 0.01538874
+v 0.01548031 -0.00554683 0.01633167
+v 0.01494225 -0.00554577 0.01622355
+v 0.01494225 -0.00778526 0.01561504
+v 0.01548031 -0.00739859 0.01583380
+v 0.01494225 -0.00597481 0.01612422
+v 0.01548031 -0.00593138 0.01624240
+v 0.01548031 -0.00736999 0.01584386
+v 0.01494225 -0.00738694 0.01574705
+v 0.01494225 -0.00661255 0.01596581
+v 0.01548031 -0.00607333 0.01620720
+v 0.01494225 -0.00736999 0.01575208
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 18
+f 1 18 23
+f 1 23 25
+f 1 25 29
+f 1 29 34
+f 1 34 38
+f 1 38 42
+f 1 42 47
+f 1 47 50
+f 1 50 48
+f 1 48 44
+f 1 44 41
+f 1 41 37
+f 1 37 32
+f 1 32 27
+f 1 27 26
+f 1 26 21
+f 1 21 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 3 7 8
+f 3 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 16
+f 6 16 13
+f 6 13 17
+f 6 17 22
+f 6 22 28
+f 6 28 31
+f 6 31 36
+f 6 36 40
+f 6 40 45
+f 6 45 49
+f 6 49 46
+f 6 46 43
+f 6 43 39
+f 6 39 33
+f 6 33 30
+f 6 30 24
+f 6 24 19
+f 6 19 14
+f 6 14 8
+f 6 8 7
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 13 16 21
+f 13 21 17
+f 14 18 15
+f 14 19 20
+f 14 20 18
+f 17 21 26
+f 17 26 22
+f 18 20 23
+f 19 24 20
+f 20 24 25
+f 20 25 23
+f 22 26 27
+f 22 27 28
+f 24 29 25
+f 24 30 29
+f 27 31 28
+f 27 32 31
+f 29 30 33
+f 29 33 34
+f 31 32 35
+f 31 35 36
+f 32 37 35
+f 33 38 34
+f 33 39 38
+f 35 37 40
+f 35 40 36
+f 37 41 40
+f 38 39 42
+f 39 43 42
+f 40 41 44
+f 40 44 45
+f 42 43 46
+f 42 46 47
+f 44 48 49
+f 44 49 45
+f 46 48 50
+f 46 50 47
+f 46 49 48
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_199.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a261937079c673ea8a8763fd03ad345f089054ad
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_199.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 0.00814931 0.00240325
+v -0.01284324 0.00814931 0.00240325
+v -0.01044652 0.00720992 0.00240325
+v -0.01044652 0.00814931 -0.01233383
+v -0.01284324 0.00720992 0.00240325
+v -0.01284324 0.00814931 -0.01161488
+v -0.01044652 0.00720992 -0.01258620
+v -0.01044652 0.00735605 -0.01254805
+v -0.01284324 0.00720992 -0.01201543
+v -0.01243405 0.00814931 -0.01174986
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_200.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7773e37d9605b9ef5929e71cb4eff62a603a0e3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_200.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00622322 0.00186286 -0.00030710
+v 0.00622322 0.01294366 -0.00030993
+v 0.00668825 0.00186286 -0.00030710
+v 0.00622322 0.00186286 0.01275703
+v 0.00631645 0.01294366 -0.00030993
+v 0.00622322 0.01295101 -0.00030993
+v 0.00668825 0.01290938 -0.00030710
+v 0.00668825 0.00186286 0.01275420
+v 0.00668825 0.00391618 0.01385535
+v 0.00622322 0.00392230 0.01385112
+v 0.00667323 0.01291550 -0.00030710
+v 0.00668825 0.01393787 0.00114415
+v 0.00622322 0.01396481 0.00114415
+v 0.00668825 0.01291428 -0.00030569
+v 0.00668825 0.00420024 0.01399088
+v 0.00622322 0.00394801 0.01386382
+v 0.00668825 0.01436886 0.00250082
+v 0.00622322 0.01432111 0.00248106
+v 0.00668825 0.00464347 0.01411229
+v 0.00622322 0.00464347 0.01405158
+v 0.00668825 0.01414724 0.00378832
+v 0.00622322 0.01403460 0.00381232
+v 0.00668825 0.00521037 0.01410664
+v 0.00622322 0.00469612 0.01405158
+v 0.00668825 0.01350444 0.00634496
+v 0.00622322 0.01340893 0.00617414
+v 0.00668825 0.00582746 0.01409111
+v 0.00622322 0.00568911 0.01402335
+v 0.00668825 0.01274653 0.00917689
+v 0.00622322 0.01323017 0.00681506
+v 0.00668825 0.00674454 0.01359559
+v 0.00622322 0.00572706 0.01400217
+v 0.00622322 0.01294366 0.00781457
+v 0.00622322 0.01254941 0.00915289
+v 0.00622322 0.01218331 0.00996887
+v 0.00668825 0.01250900 0.00970346
+v 0.00668825 0.01139235 0.01078202
+v 0.00622322 0.00637967 0.01363089
+v 0.00622322 0.01215637 0.01001122
+v 0.00668825 0.01223351 0.01017215
+v 0.00622322 0.01123073 0.01064649
+v 0.00622322 0.01120134 0.01066626
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 38
+f 1 38 42
+f 1 42 41
+f 1 41 39
+f 1 39 35
+f 1 35 34
+f 1 34 33
+f 1 33 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 7
+f 3 7 14
+f 3 14 12
+f 3 12 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 36
+f 3 36 40
+f 3 40 37
+f 3 37 31
+f 3 31 27
+f 3 27 23
+f 3 23 19
+f 3 19 15
+f 3 15 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 11 7
+f 5 6 12
+f 5 12 11
+f 6 13 12
+f 7 11 14
+f 9 15 16
+f 9 16 10
+f 11 12 14
+f 12 13 17
+f 13 18 17
+f 15 19 16
+f 16 19 20
+f 17 18 21
+f 18 22 21
+f 19 23 24
+f 19 24 20
+f 21 22 25
+f 22 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 33
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 31 37 38
+f 31 38 32
+f 35 39 40
+f 35 40 36
+f 37 40 39
+f 37 39 41
+f 37 41 42
+f 37 42 38
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_204.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d365e3299d35e5508df347dca4423d5cefb697b3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_204.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v 0.01294680 0.01100013 0.01069499
+v 0.01294680 0.01120323 0.01049771
+v 0.01246672 0.01100013 0.01175710
+v 0.01294680 0.01100013 0.00115095
+v 0.01294680 0.01132803 0.01037613
+v 0.01237101 0.01123211 0.01174218
+v 0.01236947 0.01100013 0.01197043
+v 0.01222309 0.01207780 0.01124554
+v 0.00771812 0.01100013 0.00115095
+v 0.01294680 0.01409756 0.00115095
+v 0.01294680 0.01265040 0.00908577
+v 0.01229987 0.01100013 0.01212069
+v 0.01199329 0.01296753 0.01081198
+v 0.01237971 0.01257356 0.01041513
+v 0.01222821 0.01340995 0.00992192
+v 0.00771812 0.01389788 0.00115095
+v 0.00771812 0.01100013 0.01153114
+v 0.01151423 0.01405596 0.00115095
+v 0.01284853 0.01519627 0.00251700
+v 0.01294680 0.01517963 0.00253535
+v 0.01294680 0.01294453 0.00879444
+v 0.01179061 0.01100013 0.01264371
+v 0.01110376 0.01352985 0.01136827
+v 0.01222054 0.01469072 0.00856160
+v 0.01294680 0.01386363 0.00788144
+v 0.01238176 0.01390669 0.00906398
+v 0.01236794 0.01397276 0.00902269
+v 0.00771812 0.01447440 0.00250209
+v 0.00884615 0.01456641 0.00210868
+v 0.01018045 0.01503330 0.00256403
+v 0.01151423 0.01515956 0.00252388
+v 0.00866804 0.01100013 0.01201746
+v 0.01078746 0.01203326 0.01251869
+v 0.00884615 0.01233473 0.01135221
+v 0.00771812 0.01182331 0.01106317
+v 0.01284853 0.01586382 0.00374427
+v 0.01294680 0.01578649 0.00365022
+v 0.01091439 0.01203326 0.01251869
+v 0.01144104 0.01100013 0.01286623
+v 0.01041076 0.01352985 0.01136827
+v 0.01180494 0.01469072 0.00856160
+v 0.01294680 0.01397276 0.00774380
+v 0.01294680 0.01400115 0.00770710
+v 0.01294680 0.01503721 0.00622520
+v 0.01294680 0.01599889 0.00452193
+v 0.01284853 0.01599987 0.00452652
+v 0.00771812 0.01450915 0.00263858
+v 0.00884615 0.01481454 0.00277622
+v 0.01163297 0.01575908 0.00391517
+v 0.01003049 0.01100013 0.01271483
+v 0.01026643 0.01100013 0.01283526
+v 0.00952175 0.01331011 0.01114346
+v 0.00771812 0.01231956 0.01061814
+v 0.01215758 0.01599644 0.00442788
+v 0.01284853 0.01599987 0.00441182
+v 0.01294680 0.01599889 0.00441526
+v 0.01294680 0.01582026 0.00376033
+v 0.01091490 0.01464618 0.00845379
+v 0.01005249 0.01374862 0.01061355
+v 0.01215758 0.01599644 0.00452652
+v 0.01142160 0.01486886 0.00793191
+v 0.00771812 0.01450915 0.00268561
+v 0.00812450 0.01467408 0.00302282
+v 0.00912253 0.01348091 0.01025340
+v 0.00823300 0.01329445 0.00971776
+v 0.00771812 0.01252951 0.01037269
+v 0.00771812 0.01244436 0.01050230
+v 0.01018045 0.01422285 0.00915115
+v 0.01011289 0.01397276 0.00992307
+v 0.00812450 0.01467408 0.00324763
+v 0.00771812 0.01443427 0.00363875
+v 0.00771812 0.01441274 0.00374083
+v 0.01062317 0.01474112 0.00756373
+v 0.00958675 0.01397276 0.00918212
+v 0.00874532 0.01361795 0.00922456
+v 0.00771812 0.01379217 0.00655553
+v 0.00771812 0.01334682 0.00853178
+v 0.00771812 0.01315399 0.00935302
+v 0.01017994 0.01448615 0.00793191
+v 0.00771812 0.01410784 0.00514933
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 22
+f 1 22 39
+f 1 39 51
+f 1 51 50
+f 1 50 32
+f 1 32 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 37
+f 1 37 57
+f 1 57 56
+f 1 56 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 25
+f 1 25 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 16
+f 4 16 18
+f 4 18 10
+f 5 11 8
+f 6 8 7
+f 7 8 12
+f 8 13 12
+f 8 11 14
+f 8 14 15
+f 8 15 13
+f 9 17 35
+f 9 35 53
+f 9 53 67
+f 9 67 66
+f 9 66 78
+f 9 78 77
+f 9 77 76
+f 9 76 80
+f 9 80 72
+f 9 72 71
+f 9 71 62
+f 9 62 47
+f 9 47 28
+f 9 28 16
+f 10 18 19
+f 10 19 20
+f 11 21 15
+f 11 15 14
+f 12 13 23
+f 12 23 22
+f 13 15 24
+f 13 24 23
+f 15 21 25
+f 15 25 26
+f 15 26 27
+f 15 27 24
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 18
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 18 31 19
+f 19 31 36
+f 19 36 37
+f 19 37 20
+f 22 38 39
+f 22 23 38
+f 23 40 33
+f 23 33 38
+f 23 24 41
+f 23 41 40
+f 24 27 25
+f 24 25 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 41
+f 25 27 26
+f 28 47 48
+f 28 48 30
+f 28 30 29
+f 30 48 49
+f 30 49 36
+f 30 36 31
+f 32 50 33
+f 33 50 51
+f 33 51 39
+f 33 39 38
+f 33 40 52
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 36 49 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 40 41 58
+f 40 58 59
+f 40 59 52
+f 41 46 60
+f 41 60 61
+f 41 61 58
+f 45 56 55
+f 45 55 46
+f 46 55 54
+f 46 54 60
+f 47 62 70
+f 47 70 63
+f 47 63 54
+f 47 54 49
+f 47 49 48
+f 52 59 64
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 53
+f 54 63 70
+f 54 70 60
+f 58 61 60
+f 58 60 68
+f 58 68 69
+f 58 69 59
+f 59 69 65
+f 59 65 64
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 68
+f 62 71 70
+f 65 69 68
+f 65 68 74
+f 65 74 75
+f 65 75 76
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 68 73 79
+f 68 79 72
+f 68 72 80
+f 68 80 74
+f 72 79 73
+f 74 80 75
+f 75 80 76
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_206.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425327a567720da287dfc52cce3622a699c0f263
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_206.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00704779 0.00021630 0.00769707
+v -0.00704779 0.00021630 0.00688298
+v -0.00755157 0.00021630 0.00769707
+v -0.00704779 -0.01267669 0.00769707
+v -0.00755157 0.00021630 0.00688298
+v -0.00704779 -0.01317616 0.00688298
+v -0.00755157 -0.01251414 0.00769707
+v -0.00745033 -0.01255215 0.00769707
+v -0.00755157 -0.01259017 0.00759626
+v -0.00755157 -0.01303851 0.00688298
+v -0.00704779 -0.01314338 0.00694410
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 7 9 8
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_208.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce983693b709b89bb35e51739729c1d7588b1b49
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_208.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 -0.00372372 0.01412873
+v -0.01117548 -0.00372372 0.01404378
+v -0.01044652 -0.00454494 0.01387104
+v -0.01044652 -0.00372372 -0.01479988
+v -0.01156150 -0.00372372 0.01399564
+v -0.01150630 -0.00454494 0.01374362
+v -0.01066511 -0.00454494 0.01384556
+v -0.01044652 -0.00454494 -0.01454786
+v -0.01044652 -0.00410880 -0.01470643
+v -0.01051751 -0.00410880 -0.01470643
+v -0.01085898 -0.00372372 -0.01479422
+v -0.01169686 -0.00372372 0.01397865
+v -0.01150630 -0.00454494 -0.01429018
+v -0.01169686 -0.00407946 0.01385972
+v -0.01169686 -0.00410880 0.01384839
+v -0.01053697 -0.00410880 -0.01470360
+v -0.01044652 -0.00418847 -0.01468661
+v -0.01083205 -0.00454494 -0.01448556
+v -0.01097292 -0.00372372 -0.01477723
+v -0.01169686 -0.00372372 -0.01463564
+v -0.01150630 -0.00442869 -0.01437229
+v -0.01108993 -0.00454494 -0.01442610
+v -0.01169686 -0.00410880 -0.01448273
+v -0.01117560 -0.00445104 -0.01446008
+v -0.01101454 -0.00410880 -0.01462148
+v -0.01117548 -0.00372372 -0.01474041
+v -0.01163555 -0.00410880 -0.01449972
+v -0.01169686 -0.00407777 -0.01449689
+v -0.01150630 -0.00436703 -0.01441477
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 13
+f 3 13 22
+f 3 22 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 23
+f 6 23 13
+f 8 16 17
+f 8 18 16
+f 9 17 10
+f 10 17 16
+f 10 16 11
+f 11 16 19
+f 12 20 28
+f 12 28 23
+f 12 23 15
+f 12 15 14
+f 13 21 22
+f 13 23 21
+f 16 18 19
+f 18 22 24
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 20 26 27
+f 20 27 28
+f 21 23 29
+f 21 29 22
+f 22 29 24
+f 23 28 27
+f 23 27 29
+f 24 29 27
+f 24 27 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_213.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe641914afd1d2301d6d3889be254815a6931524
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_213.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 0.00727315 -0.00070088
+v -0.00525135 0.01423661 -0.00070088
+v -0.00449696 0.00727315 -0.00070088
+v -0.00525135 0.00727315 0.01270133
+v -0.00525135 0.01423661 0.00446401
+v -0.00449696 0.01423661 -0.00070088
+v -0.00449696 0.00727315 0.01241271
+v -0.00449829 0.00727315 0.01266984
+v -0.00449696 0.00777010 0.01234974
+v -0.00449696 0.01013965 0.01082009
+v -0.00525135 0.00864675 0.01181449
+v -0.00525135 0.01399802 0.00514881
+v -0.00449696 0.01423661 0.00426329
+v -0.00449696 0.00776737 0.01235106
+v -0.00525135 0.00978449 0.01107984
+v -0.00449696 0.01116764 0.01015496
+v -0.00525135 0.01119082 0.01017070
+v -0.00525135 0.01306615 0.00777652
+v -0.00450206 0.01299389 0.00781719
+v -0.00449696 0.01299320 0.00781719
+v -0.00449696 0.01183501 0.00969974
+v -0.00525135 0.01185819 0.00971942
+v -0.00525135 0.01239945 0.00905298
+v -0.00449696 0.01237150 0.00903199
+v -0.00449696 0.01237423 0.00902674
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 15
+f 1 15 17
+f 1 17 22
+f 1 22 23
+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 3 6 13
+f 3 13 20
+f 3 20 25
+f 3 25 24
+f 3 24 21
+f 3 21 16
+f 3 16 10
+f 3 10 9
+f 3 9 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 7 14 8
+f 8 14 9
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 19 25 20
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_214.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74cb462529bd3ef5a733047dd376a666572c1856
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_214.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00134793 0.00464295 0.01394647
+v 0.00006232 0.00545411 0.01390648
+v 0.00083696 0.00464295 0.01393528
+v 0.00073766 0.00463361 0.01393261
+v 0.00006232 0.00457553 0.01391181
+v 0.00006232 0.00412431 0.01386009
+v 0.00134793 0.00418654 0.01389102
+v 0.00134793 0.00546967 0.01391608
+v 0.00006232 0.00573521 0.01372998
+v 0.00006232 0.00393137 0.01383663
+v 0.00073766 0.00390648 0.01384516
+v 0.00134793 0.00388988 0.01385316
+v 0.00134793 0.00613664 0.01349536
+v 0.00006232 0.00612212 0.01348522
+v 0.00006232 0.00363989 0.01375024
+v 0.00073766 0.00386913 0.01383449
+v 0.00006232 0.00333701 0.01364946
+v 0.00134793 0.00347808 0.01371612
+v 0.00083696 0.00716563 0.01282347
+v 0.00134793 0.00717186 0.01282721
+v 0.00006232 0.00712103 0.01284000
+v 0.00006232 0.00329448 0.01363453
+v 0.00083696 0.00323535 0.01362493
+v 0.00006232 0.00250303 0.01334871
+v 0.00134793 0.00319490 0.01360200
+v 0.00006232 0.01018829 0.01085742
+v 0.00134793 0.00978997 0.01113311
+v 0.00073766 0.01019555 0.01086222
+v 0.00006232 0.00197090 0.01313009
+v 0.00134793 0.00244494 0.01329219
+v 0.00006232 0.01118409 0.01021274
+v 0.00134793 0.01123180 0.01019940
+v 0.00073766 0.01114986 0.01024420
+v 0.00006232 0.00196882 0.01240061
+v 0.00073766 0.00196882 0.01310716
+v 0.00083318 0.00196882 0.01310396
+v 0.00134793 0.00197090 0.01307783
+v 0.00073766 0.01122558 0.01019461
+v 0.00006232 0.01121728 0.01018981
+v 0.00134793 0.01189878 0.00973442
+v 0.00006232 0.01152121 0.00997918
+v 0.00006232 0.00196882 0.00849890
+v 0.00083696 0.00196882 0.01310342
+v 0.00134793 0.00196882 0.01287093
+v 0.00073766 0.01189359 0.00972909
+v 0.00134793 0.01229917 0.00906680
+v 0.00073766 0.01230747 0.00906201
+v 0.00006232 0.01231577 0.00905774
+v 0.00006232 0.01188529 0.00972482
+v 0.00073766 0.00196882 0.00849890
+v 0.00006232 0.01256575 0.00849890
+v 0.00134793 0.00196882 0.00863168
+v 0.00134793 0.01248588 0.00863168
+v 0.00073766 0.01255849 0.00849890
+v 0.00083696 0.01249833 0.00863168
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 18
+f 1 18 25
+f 1 25 30
+f 1 30 37
+f 1 37 44
+f 1 44 52
+f 1 52 53
+f 1 53 46
+f 1 46 40
+f 1 40 32
+f 1 32 27
+f 1 27 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 5 4
+f 2 4 3
+f 2 8 9
+f 2 9 14
+f 2 14 21
+f 2 21 26
+f 2 26 31
+f 2 31 39
+f 2 39 41
+f 2 41 49
+f 2 49 48
+f 2 48 51
+f 2 51 42
+f 2 42 34
+f 2 34 29
+f 2 29 24
+f 2 24 22
+f 2 22 17
+f 2 17 15
+f 2 15 10
+f 2 10 6
+f 2 6 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 12
+f 12 16 15
+f 12 15 17
+f 12 17 18
+f 13 19 14
+f 13 20 19
+f 14 19 21
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 19 20 26
+f 19 26 21
+f 20 27 28
+f 20 28 26
+f 22 24 23
+f 24 29 25
+f 25 29 30
+f 26 28 31
+f 27 32 28
+f 28 33 31
+f 28 32 33
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 31 32 38
+f 31 38 39
+f 31 33 32
+f 32 40 41
+f 32 41 38
+f 34 42 50
+f 34 50 52
+f 34 52 44
+f 34 44 43
+f 34 43 36
+f 34 36 35
+f 36 43 37
+f 37 43 44
+f 38 41 39
+f 40 45 41
+f 40 46 47
+f 40 47 48
+f 40 48 45
+f 41 45 49
+f 42 51 54
+f 42 54 50
+f 45 48 49
+f 46 53 54
+f 46 54 55
+f 46 55 51
+f 46 51 47
+f 47 51 48
+f 50 54 53
+f 50 53 52
+f 51 55 54
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_215.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ebf1eeadec2775ebeb5845b79e7b21abbeb6a4
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_215.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00264326 0.00196882 0.00306149
+v 0.00300745 0.00196882 0.00306149
+v 0.00264326 0.00196882 0.01271798
+v 0.00264326 0.00492655 0.00306149
+v 0.00300745 0.00492655 0.00306149
+v 0.00300745 0.00196882 0.01247539
+v 0.00264326 0.00197027 0.01301079
+v 0.00264326 0.00492655 0.01395229
+v 0.00300745 0.00492655 0.01395977
+v 0.00300745 0.00197143 0.01298942
+v 0.00300745 0.00272946 0.01336346
+v 0.00264326 0.00239967 0.01322132
+v 0.00264326 0.00464164 0.01397153
+v 0.00300745 0.00464164 0.01397901
+v 0.00300745 0.00360622 0.01377276
+v 0.00264326 0.00342959 0.01369474
+v 0.00264326 0.00414130 0.01390741
+v 0.00300745 0.00435267 0.01394160
+v 0.00300745 0.00385552 0.01387321
+v 0.00264326 0.00372030 0.01381230
+v 0.00264326 0.00386102 0.01386894
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 20
+f 1 20 21
+f 1 21 17
+f 1 17 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 18
+f 2 18 19
+f 2 19 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 11 12
+f 7 10 11
+f 8 13 14
+f 8 14 9
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_22.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8bd96c4cf4f12a5ff53da02be44ffd7cd97bfe
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 -0.01481939 0.00121989
+v -0.00450180 -0.01481210 0.00121989
+v -0.00450180 -0.01467781 0.00188745
+v -0.00485415 -0.01467635 0.00188745
+v -0.00525135 -0.01467343 0.00188745
+v -0.00525135 0.00009238 0.00121989
+v -0.00398443 -0.01478436 0.00121989
+v -0.00272023 -0.01463110 0.00188745
+v -0.00316748 -0.01464716 0.00188745
+v -0.00525135 0.00009238 0.00188745
+v -0.00272023 0.00009238 0.00121989
+v -0.00316748 -0.01472744 0.00121989
+v -0.00272023 -0.01469095 0.00121989
+v -0.00272023 0.00009238 0.00188745
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 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 9
+f 2 9 3
+f 3 9 8
+f 3 8 14
+f 3 14 10
+f 3 10 5
+f 3 5 4
+f 6 10 14
+f 6 14 11
+f 7 12 8
+f 8 12 13
+f 8 13 11
+f 8 11 14
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_23.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf9d371599428ba92df2f47fde97a4e7f221eff
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00004673 -0.01466176 0.00040168
+v 0.00470042 -0.01432676 0.00040168
+v -0.00004673 -0.01444296 0.00121989
+v -0.00004673 -0.00203465 0.00040168
+v 0.00470042 -0.01377297 0.00121989
+v 0.00350620 -0.01394603 0.00121989
+v 0.00470042 -0.00203465 0.00040168
+v -0.00004673 -0.00203465 0.00121989
+v 0.00470042 -0.00203465 0.00121989
+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 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 8
+f 4 8 9
+f 4 9 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_231.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35f80f85e96785f9292ca3eb7e5a40f955be270
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_231.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.00851668 0.00341694 0.00071192
+v -0.00851668 0.01588752 0.00071192
+v -0.00802569 0.00341694 0.00071192
+v -0.00851668 0.00341694 0.01333401
+v -0.00802569 0.01567632 0.00071192
+v -0.00851668 0.01587409 0.00100721
+v -0.00802569 0.01574956 0.00115547
+v -0.00802569 0.00341694 0.01333401
+v -0.00851668 0.00648484 0.01333401
+v -0.00851668 0.01586920 0.00111223
+v -0.00847025 0.01584601 0.00116041
+v -0.00802569 0.01539187 0.00247871
+v -0.00802569 0.00639083 0.01333401
+v -0.00851028 0.00648606 0.01333401
+v -0.00851668 0.00731254 0.01298683
+v -0.00851668 0.01584967 0.00118018
+v -0.00851668 0.01547610 0.00247871
+v -0.00802569 0.01509643 0.00333370
+v -0.00850620 0.00648606 0.01333401
+v -0.00802569 0.00734429 0.01292134
+v -0.00850620 0.00731254 0.01298683
+v -0.00851668 0.00813171 0.01257910
+v -0.00851668 0.01501341 0.00381431
+v -0.00802569 0.01474850 0.00431964
+v -0.00802569 0.00806578 0.01254080
+v -0.00850620 0.00813049 0.01257910
+v -0.00851668 0.00814636 0.01257045
+v -0.00851668 0.01471554 0.00465694
+v -0.00802569 0.01467037 0.00453339
+v -0.00802569 0.00870061 0.01213308
+v -0.00851668 0.00879949 0.01215656
+v -0.00851668 0.01447016 0.00532783
+v -0.00802569 0.01417106 0.00589864
+v -0.00802569 0.01460078 0.00472366
+v -0.00802569 0.00961865 0.01154127
+v -0.00851668 0.01129361 0.01054543
+v -0.00851668 0.01404287 0.00649416
+v -0.00802569 0.01349839 0.00773339
+v -0.00802569 0.01122646 0.01050219
+v -0.00851668 0.01131436 0.01053184
+v -0.00850620 0.01131558 0.01052937
+v -0.00851668 0.01353868 0.00786930
+v -0.00802569 0.01327010 0.00835486
+v -0.00802569 0.01135343 0.01041941
+v -0.00851668 0.01218724 0.00995980
+v -0.00802569 0.01168305 0.01020443
+v -0.00802569 0.01211521 0.00992150
+v -0.00851668 0.01353135 0.00788783
+v -0.00851293 0.01353379 0.00788041
+v -0.00807255 0.01327376 0.00836721
+v -0.00802569 0.01275858 0.00914065
+v -0.00851668 0.01291850 0.00907516
+v -0.00802569 0.01212254 0.00991655
+v -0.00851668 0.01292339 0.00906775
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 31
+f 1 31 36
+f 1 36 40
+f 1 40 45
+f 1 45 52
+f 1 52 54
+f 1 54 48
+f 1 48 42
+f 1 42 37
+f 1 37 32
+f 1 32 28
+f 1 28 23
+f 1 23 17
+f 1 17 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 18
+f 3 18 24
+f 3 24 29
+f 3 29 34
+f 3 34 33
+f 3 33 38
+f 3 38 43
+f 3 43 51
+f 3 51 53
+f 3 53 47
+f 3 47 46
+f 3 46 44
+f 3 44 39
+f 3 39 35
+f 3 35 30
+f 3 30 25
+f 3 25 20
+f 3 20 13
+f 3 13 8
+f 4 8 13
+f 4 13 19
+f 4 19 14
+f 4 14 9
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 9 14 15
+f 10 16 12
+f 10 12 11
+f 12 17 18
+f 12 16 17
+f 13 20 21
+f 13 21 19
+f 14 19 21
+f 14 21 15
+f 15 21 22
+f 17 23 18
+f 18 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 26 31 27
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 31 35 36
+f 32 37 33
+f 33 37 38
+f 35 39 36
+f 36 39 41
+f 36 41 40
+f 37 42 38
+f 38 42 43
+f 39 44 41
+f 40 41 45
+f 41 44 46
+f 41 46 47
+f 41 47 45
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 45 47 53
+f 45 53 52
+f 48 54 50
+f 48 50 49
+f 50 54 51
+f 51 54 52
+f 51 52 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_232.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b07b36689733522afe126eed8da755ce51c655d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_232.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00470032 0.00315299 0.01350155
+v 0.00365555 0.00316446 0.01354540
+v 0.00300748 0.00272920 0.01336315
+v 0.00470032 0.00307457 0.01346318
+v 0.00470032 0.00315299 -0.00043670
+v 0.00350642 0.00316446 0.01354951
+v 0.00365555 0.00316446 -0.00043670
+v 0.00300748 0.00197128 0.01299044
+v 0.00300748 0.00316446 0.01356184
+v 0.00353807 0.00196882 0.01296167
+v 0.00470032 0.00196882 0.01289453
+v 0.00470032 0.00196882 -0.00043670
+v 0.00300748 0.00316446 -0.00043670
+v 0.00350277 0.00196882 0.01296304
+v 0.00350642 0.00196882 0.01296304
+v 0.00300748 0.00196882 0.01247523
+v 0.00300748 0.00196882 -0.00043670
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 13
+f 2 13 9
+f 2 9 6
+f 3 8 4
+f 3 6 9
+f 3 9 13
+f 3 13 17
+f 3 17 16
+f 3 16 8
+f 4 8 10
+f 4 10 11
+f 5 12 17
+f 5 17 13
+f 5 13 7
+f 8 14 15
+f 8 15 10
+f 8 16 14
+f 10 15 14
+f 10 14 16
+f 10 16 17
+f 10 17 12
+f 10 12 11
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_243.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51a07ab156d47e721feaeb8fa3c608cac10cb40
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_243.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02448682 0.00720992 -0.00484794
+v -0.02478307 0.00720992 -0.00406638
+v -0.02450342 0.00768828 -0.00427153
+v -0.02428378 0.00768828 -0.00484794
+v -0.01284348 0.00720992 -0.00484794
+v -0.02479201 0.00720992 -0.00403870
+v -0.02456599 0.00768828 -0.00410543
+v -0.01284348 0.00768828 -0.00484794
+v -0.01284348 0.00720992 0.00240254
+v -0.02501037 0.00755857 -0.00286034
+v -0.02513041 0.00720992 -0.00295404
+v -0.02495291 0.00768828 -0.00286034
+v -0.01284348 0.00768828 0.00240254
+v -0.02386877 0.00720992 0.00240254
+v -0.02541900 0.00720992 -0.00199218
+v -0.02526066 0.00768828 -0.00184169
+v -0.02506528 0.00768828 -0.00249263
+v -0.02490949 0.00768828 0.00240254
+v -0.02489672 0.00740113 0.00240254
+v -0.02490311 0.00720992 0.00240041
+v -0.02550328 0.00720992 -0.00170043
+v -0.02548285 0.00737401 -0.00154568
+v -0.02538835 0.00768828 -0.00136396
+v -0.02533344 0.00768828 0.00157130
+v -0.02559650 0.00720992 0.00124548
+v -0.02497334 0.00720992 0.00230955
+v -0.02492226 0.00720992 0.00237628
+v -0.02490183 0.00744234 0.00240254
+v -0.02554542 0.00720992 -0.00154355
+v -0.02586466 0.00720992 -0.00029278
+v -0.02585189 0.00731150 -0.00019128
+v -0.02567567 0.00768828 -0.00019128
+v -0.02538708 0.00768828 0.00141513
+v -0.02543560 0.00768828 0.00127316
+v -0.02547263 0.00768828 0.00116029
+v -0.02566801 0.00768828 0.00022612
+v -0.02562970 0.00720992 0.00108292
+v -0.02588892 0.00720992 -0.00018986
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 20
+f 1 20 27
+f 1 27 26
+f 1 26 25
+f 1 25 37
+f 1 37 38
+f 1 38 30
+f 1 30 29
+f 1 29 21
+f 1 21 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 17
+f 3 17 16
+f 3 16 23
+f 3 23 32
+f 3 32 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 24
+f 3 24 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 5 8 13
+f 5 13 9
+f 6 10 7
+f 6 11 10
+f 7 10 12
+f 9 13 18
+f 9 18 28
+f 9 28 19
+f 9 19 14
+f 10 11 15
+f 10 15 16
+f 10 16 17
+f 10 17 12
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 20
+f 18 20 28
+f 19 28 20
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 30 38 31
+f 31 38 36
+f 31 36 32
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_245.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbdc8e5e4f07d0a3bdac1fd3a92b7def5fbd4e57
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_245.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00224699 -0.01465640 0.00012633
+v 0.00470030 -0.01453160 0.00012633
+v 0.00224699 -0.01447353 0.00040168
+v 0.00224699 -0.00203589 0.00012633
+v 0.00470030 -0.01432526 0.00040168
+v 0.00470030 -0.00203465 0.00012633
+v 0.00224699 -0.00203589 0.00040168
+v 0.00340617 -0.00203465 0.00012633
+v 0.00470030 -0.00203465 0.00040168
+v 0.00340617 -0.00203465 0.00040168
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 6 8 10
+f 6 10 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_248.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8b20438c92303e693d96623ed1ab8df2882e12
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_248.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01091481 0.00320164 -0.00128192
+v 0.01091481 0.00320164 -0.00106105
+v 0.01091481 0.00320382 -0.00161616
+v 0.01102929 0.00320164 -0.00161616
+v 0.01273784 0.00320164 -0.00106099
+v 0.01091481 0.01308996 -0.00106105
+v 0.01091481 0.01325153 -0.00161616
+v 0.02194695 0.00320164 -0.00161616
+v 0.02169531 0.00320164 -0.00106099
+v 0.01273784 0.01403425 -0.00106099
+v 0.01157577 0.01352335 -0.00106105
+v 0.01299488 0.01435411 -0.00161616
+v 0.02194479 0.00320710 -0.00161616
+v 0.02178603 0.00320164 -0.00126002
+v 0.02164239 0.00332391 -0.00106099
+v 0.01350356 0.01435411 -0.00106099
+v 0.01242897 0.01397421 -0.00106105
+v 0.01700058 0.01435411 -0.00161616
+v 0.02189619 0.00331954 -0.00161616
+v 0.02144691 0.00376931 -0.00106099
+v 0.01674462 0.01435411 -0.00106099
+v 0.01719606 0.01398185 -0.00161616
+v 0.01698006 0.01435411 -0.00156557
+v 0.02179359 0.00355316 -0.00161616
+v 0.01720901 0.01395456 -0.00161616
+v 0.01717878 0.01345239 -0.00106099
+v 0.01681698 0.01435411 -0.00121480
+v 0.01694442 0.01396657 -0.00106099
+v 0.01718202 0.01395456 -0.00155769
+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 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 12
+f 3 12 18
+f 3 18 22
+f 3 22 25
+f 3 25 24
+f 3 24 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
+f 5 9 15
+f 5 15 20
+f 5 20 26
+f 5 26 28
+f 5 28 21
+f 5 21 16
+f 5 16 10
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 16
+f 12 16 21
+f 12 21 27
+f 12 27 23
+f 12 23 18
+f 13 19 14
+f 14 19 15
+f 15 19 20
+f 18 23 22
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 21 28 27
+f 22 28 29
+f 22 29 25
+f 22 23 27
+f 22 27 28
+f 25 29 26
+f 26 29 28
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_25.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e383f72bbd9ea65370a23af829e85e48d4acbdb4
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00622303 0.01304062 0.00746955
+v 0.00622303 0.01323119 0.00681421
+v 0.00470042 0.01402727 0.00381291
+v 0.00470042 0.01360120 0.00514759
+v 0.00470042 0.01357210 0.00523812
+v 0.00470042 0.01313731 0.00658828
+v 0.00470042 0.01304062 0.00688616
+v 0.00622303 0.01304062 -0.00017722
+v 0.00622303 0.01340982 0.00617278
+v 0.00470042 0.01441056 0.00246971
+v 0.00470042 0.01304062 -0.00043487
+v 0.00621393 0.01304062 -0.00017876
+v 0.00622303 0.01396504 0.00114431
+v 0.00622303 0.01403505 0.00381059
+v 0.00622303 0.01432177 0.00248055
+v 0.00470042 0.01413871 0.00115592
+v 0.00470042 0.01309037 -0.00036291
+v 0.00484113 0.01411591 0.00114431
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 13
+f 1 13 15
+f 1 15 14
+f 1 14 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 16
+f 3 16 17
+f 3 17 11
+f 3 11 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 13
+f 11 13 12
+f 13 16 15
+f 13 17 18
+f 13 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_250.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a8066f8ae558a9d42a993a7e9d7d4f253a5ef4
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_250.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 0.00608260 0.00240325
+v -0.01632908 0.00608260 0.00240325
+v -0.01044652 0.00545886 0.00240325
+v -0.01044652 0.00608260 -0.01298941
+v -0.01632908 0.00545886 0.00240325
+v -0.01632908 0.00608260 -0.01163724
+v -0.01044652 0.00545886 -0.01327642
+v -0.01044652 0.00585973 -0.01309838
+v -0.01334375 0.00545886 -0.01278835
+v -0.01373649 0.00608260 -0.01238930
+v -0.01632908 0.00545886 -0.01189509
+v -0.01517963 0.00608260 -0.01199792
+v -0.01632908 0.00590412 -0.01171244
+v -0.01251046 0.00545886 -0.01292955
+v -0.01460088 0.00545886 -0.01242767
+v -0.01405265 0.00608260 -0.01231256
+v -0.01517963 0.00597672 -0.01204243
+v -0.01517387 0.00545886 -0.01225270
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 15
+f 3 15 9
+f 3 9 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 14 8
+f 8 14 9
+f 9 15 12
+f 9 12 16
+f 9 16 10
+f 11 13 17
+f 11 17 18
+f 12 17 13
+f 12 15 17
+f 15 18 17
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_27.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5038b7dc037c7d91b6b48ae305546e679e95e73
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02456950 0.00733539 0.00559637
+v -0.02461925 0.00733539 0.00648382
+v -0.02444156 0.00776518 0.00559637
+v -0.01251751 0.00733539 0.00559637
+v -0.02448895 0.00776518 0.00650043
+v -0.02422715 0.00733539 0.00785455
+v -0.01251751 0.00776518 0.00559637
+v -0.01251751 0.00733539 0.01297914
+v -0.02413594 0.00776518 0.00766788
+v -0.02422360 0.00733539 0.00786167
+v -0.01251751 0.00776518 0.01271655
+v -0.01520060 0.00733539 0.01344660
+v -0.01251751 0.00776274 0.01279485
+v -0.02261730 0.00776518 0.01048131
+v -0.02247870 0.00733539 0.01106741
+v -0.01318917 0.00776518 0.01289214
+v -0.01651549 0.00733539 0.01367518
+v -0.01651549 0.00776518 0.01344739
+v -0.01651549 0.00751827 0.01357869
+v -0.02239223 0.00776518 0.01089340
+v -0.02191247 0.00733539 0.01184333
+v -0.02190655 0.00734010 0.01184887
+v -0.02178809 0.00776518 0.01174763
+v -0.02234248 0.00776518 0.01096537
+v -0.01679506 0.00733539 0.01367281
+v -0.01791212 0.00776518 0.01332321
+v -0.02190063 0.00733539 0.01185915
+v -0.02129175 0.00733539 0.01250536
+v -0.02123015 0.00733539 0.01257022
+v -0.02101100 0.00776518 0.01244999
+v -0.01793581 0.00733539 0.01354942
+v -0.02086174 0.00776518 0.01250536
+v -0.02051466 0.00738020 0.01281541
+v -0.02116263 0.00733539 0.01259553
+v -0.01964636 0.00733539 0.01307327
+v -0.02061535 0.00733539 0.01279880
+v -0.02051466 0.00733539 0.01282965
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 25
+f 1 25 31
+f 1 31 35
+f 1 35 37
+f 1 37 36
+f 1 36 34
+f 1 34 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 9
+f 3 9 14
+f 3 14 20
+f 3 20 24
+f 3 24 23
+f 3 23 30
+f 3 30 32
+f 3 32 26
+f 3 26 18
+f 3 18 16
+f 3 16 11
+f 3 11 7
+f 4 7 11
+f 4 11 13
+f 4 13 8
+f 5 6 9
+f 6 10 9
+f 8 13 12
+f 9 10 14
+f 10 15 14
+f 11 16 13
+f 12 13 17
+f 13 16 18
+f 13 18 19
+f 13 19 17
+f 14 15 20
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 17 19 25
+f 18 26 25
+f 18 25 19
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 25 26 31
+f 26 32 33
+f 26 33 31
+f 29 34 30
+f 30 34 33
+f 30 33 32
+f 31 33 35
+f 33 34 36
+f 33 36 37
+f 33 37 35
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_270.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61534b90971cd52ca20e772acd6388b2a4d65e2c
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_270.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 -0.00580754 -0.01372717
+v -0.01044652 -0.00580754 -0.00332804
+v -0.01044652 -0.00645985 -0.01321927
+v -0.01331022 -0.00645985 -0.01204315
+v -0.01360958 -0.00580754 -0.01240355
+v -0.01044652 -0.00645985 -0.00332804
+v -0.01044794 -0.00580754 -0.00062437
+v -0.01621487 -0.00645985 -0.01082214
+v -0.01636738 -0.00580754 -0.01124667
+v -0.01044794 -0.00645985 -0.00062437
+v -0.02468594 -0.00580754 -0.00062437
+v -0.01919154 -0.00645985 -0.00950878
+v -0.01784724 -0.00583219 -0.01056690
+v -0.01792914 -0.00580754 -0.01054638
+v -0.02441765 -0.00645985 -0.00062437
+v -0.02487234 -0.00580754 -0.00419635
+v -0.02088462 -0.00645985 -0.00874308
+v -0.01900232 -0.00580754 -0.01003977
+v -0.02448401 -0.00645985 -0.00286119
+v -0.02482715 -0.00580754 -0.00510441
+v -0.02451367 -0.00645985 -0.00419635
+v -0.02181377 -0.00645985 -0.00828007
+v -0.02183213 -0.00602477 -0.00850837
+v -0.02161043 -0.00580754 -0.00872769
+v -0.02474243 -0.00580754 -0.00554049
+v -0.02467182 -0.00603594 -0.00553151
+v -0.02444448 -0.00645985 -0.00553151
+v -0.02287001 -0.00645985 -0.00774267
+v -0.02192391 -0.00580754 -0.00855454
+v -0.02436964 -0.00580754 -0.00650755
+v -0.02421290 -0.00603594 -0.00672687
+v -0.02412252 -0.00645985 -0.00660246
+v -0.02435834 -0.00645985 -0.00598682
+v -0.02300698 -0.00603594 -0.00784528
+v -0.02320185 -0.00645985 -0.00751950
+v -0.02304087 -0.00580754 -0.00789530
+v -0.02422137 -0.00580754 -0.00677433
+v -0.02372290 -0.00580754 -0.00742844
+v -0.02367489 -0.00603594 -0.00739125
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 24
+f 1 24 29
+f 1 29 36
+f 1 36 38
+f 1 38 37
+f 1 37 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 7 10
+f 2 10 6
+f 3 6 10
+f 3 10 15
+f 3 15 19
+f 3 19 21
+f 3 21 27
+f 3 27 33
+f 3 33 32
+f 3 32 35
+f 3 35 28
+f 3 28 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 7 11 15
+f 7 15 10
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 11 16 15
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 15 16 19
+f 16 20 21
+f 16 21 19
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 29
+f 28 35 34
+f 29 34 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 32 39 35
+f 34 35 39
+f 34 39 36
+f 36 39 38
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_271.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abec36979493411aeffc58ee884fda8a1ecb5477
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_271.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01044653 0.00720992 0.00240325
+v -0.01421629 0.00720992 0.00240325
+v -0.01044653 0.00693169 0.00240325
+v -0.01044653 0.00720992 -0.01258515
+v -0.01421629 0.00693169 0.00240325
+v -0.01668974 0.00720992 0.00240178
+v -0.01044653 0.00693169 -0.01265739
+v -0.01373896 0.00693169 -0.01197924
+v -0.01373957 0.00720992 -0.01184362
+v -0.01668974 0.00693169 0.00240178
+v -0.01668974 0.00720992 -0.01107112
+v -0.01517952 0.00693169 -0.01163280
+v -0.01517952 0.00720992 -0.01150897
+v -0.01668974 0.00693169 -0.01118464
+v -0.01668669 0.00720992 -0.01107260
+v -0.01668974 0.00697521 -0.01116842
+v -0.01536776 0.00693169 -0.01157826
+v -0.01639149 0.00720992 -0.01115958
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 16
+f 6 16 14
+f 6 14 10
+f 8 12 13
+f 8 13 9
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 14 16 17
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_274.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f061a0bc9a64b66dad0536062b97c56ae9b753b3
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_274.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00854619 -0.00374091 0.01435166
+v -0.00854619 -0.00374091 0.00923755
+v -0.00887115 -0.00374091 0.01431061
+v -0.00887115 -0.00737143 0.01326736
+v -0.00854619 -0.00737143 0.01330641
+v -0.00887115 -0.00374091 0.00923755
+v -0.00854619 -0.01123220 0.00923755
+v -0.00887115 -0.00869355 0.01278178
+v -0.00854619 -0.00878155 0.01280030
+v -0.00887115 -0.01110901 0.00923755
+v -0.00854619 -0.01050185 0.01056113
+v -0.00865040 -0.01119481 0.00923755
+v -0.00887115 -0.00912326 0.01251346
+v -0.00887115 -0.00942831 0.01223162
+v -0.00854619 -0.00976489 0.01189122
+v -0.00887115 -0.01050625 0.01032835
+v -0.00854619 -0.00976709 0.01188771
+v -0.00887115 -0.00970403 0.01177708
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 17
+f 1 17 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 10
+f 2 10 6
+f 3 6 10
+f 3 10 16
+f 3 16 18
+f 3 18 14
+f 3 14 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 12 16
+f 11 16 12
+f 11 17 18
+f 11 18 16
+f 14 18 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_275.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95a425f8f552b338dbb23d971a22aa1e39664e18
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_275.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01044742 0.00069815 -0.01534534
+v -0.01117599 0.00063783 -0.01529892
+v -0.01117599 0.00124012 -0.01511175
+v -0.01075722 0.00124012 -0.01514912
+v -0.01044742 0.00124012 -0.01517657
+v -0.01044742 0.00038085 -0.01530943
+v -0.01117599 0.00038085 -0.01531819
+v -0.01252144 0.00038085 -0.01510649
+v -0.01251063 0.00063783 -0.01503758
+v -0.01252414 0.00124012 -0.01480019
+v -0.01044742 0.00124012 -0.01236263
+v -0.01044742 0.00038085 -0.01236263
+v -0.01496018 0.00038085 -0.01437855
+v -0.01517902 0.00038085 -0.01431227
+v -0.01731067 0.00124012 -0.01332621
+v -0.01962963 0.00124012 -0.01236263
+v -0.01946122 0.00038085 -0.01236263
+v -0.01625700 0.00038085 -0.01396421
+v -0.01849762 0.00124012 -0.01294983
+v -0.01862009 0.00124012 -0.01290457
+v -0.01964674 0.00111479 -0.01236263
+v -0.01962153 0.00060923 -0.01236263
+v -0.01882002 0.00038085 -0.01272674
+v -0.01911270 0.00059973 -0.01261929
+v -0.01862009 0.00101906 -0.01290457
+v -0.01963233 0.00082491 -0.01236263
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 15
+f 3 15 19
+f 3 19 20
+f 3 20 16
+f 3 16 11
+f 3 11 5
+f 3 5 4
+f 6 12 17
+f 6 17 23
+f 6 23 18
+f 6 18 14
+f 6 14 13
+f 6 13 8
+f 6 8 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 21
+f 11 21 26
+f 11 26 22
+f 11 22 17
+f 11 17 12
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 17 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 20
+f 18 20 19
+f 20 25 21
+f 21 25 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_279.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db07f6ecc369fb021d8c19258e1f6af8f439404f
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_279.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.00134832 0.00196989 0.00765611
+v 0.00134832 0.00197114 -0.00043529
+v 0.00210016 0.00196989 0.00765611
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+v 0.00210016 0.00197114 -0.00043529
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+f 28 34 32
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+f 29 36 30
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+f 34 37 38
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+f 37 43 38
+f 39 44 45
+f 39 45 40
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+f 41 47 42
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+f 44 49 45
+f 46 50 47
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+f 48 53 49
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+f 52 56 53
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+f 54 57 58
+f 54 58 59
+f 54 59 55
+f 56 60 57
+f 57 60 58
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_28.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdad82465b3b2a1b940ef5a5b6063f0af73e7a8b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00755134 -0.00220838 -0.01477312
+v -0.00525135 -0.00220838 -0.01464482
+v -0.00755134 -0.00220838 0.00118274
+v -0.00755134 0.00021630 -0.01539820
+v -0.00717128 0.00021630 -0.01543932
+v -0.00583676 0.00021630 -0.01556598
+v -0.00525135 0.00021630 -0.01562026
+v -0.00525135 -0.00220838 0.00118274
+v -0.00755134 0.00021630 0.00118274
+v -0.00525135 0.00021630 0.00118274
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 10
+f 2 10 8
+f 3 8 10
+f 3 10 9
+f 4 9 10
+f 4 10 7
+f 4 7 6
+f 4 6 5
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_280.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0026981e2107e17da78a26a20e1a68afc986a63b
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_280.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01250624 0.01395555 -0.00650924
+v -0.01331853 0.01395555 -0.00622134
+v -0.01251046 0.01443108 -0.00579997
+v -0.01250624 0.01439919 -0.00584883
+v -0.01250624 0.01395555 0.00240325
+v -0.01331853 0.01436154 -0.00558361
+v -0.01331853 0.01395555 0.00240325
+v -0.01250624 0.01442952 -0.00580346
+v -0.01250624 0.01479970 -0.00513607
+v -0.01250624 0.01597978 0.00240325
+v -0.01331853 0.01470506 -0.00495810
+v -0.01331853 0.01602213 0.00240325
+v -0.01250624 0.01619650 -0.00258080
+v -0.01251046 0.01598370 0.00240325
+v -0.01250624 0.01598370 0.00240151
+v -0.01331853 0.01602135 -0.00254765
+v -0.01331853 0.01633558 0.00114350
+v -0.01331853 0.01610134 -0.00240108
+v -0.01251046 0.01619781 -0.00257643
+v -0.01250624 0.01619807 -0.00257731
+v -0.01250624 0.01605952 0.00209704
+v -0.01251046 0.01629663 0.00114350
+v -0.01331853 0.01646525 0.00061657
+v -0.01251046 0.01662525 -0.00019128
+v -0.01331853 0.01627598 -0.00204427
+v -0.01250624 0.01659727 -0.00153042
+v -0.01250624 0.01629637 0.00114350
+v -0.01331853 0.01662629 -0.00019128
+v -0.01250624 0.01662498 -0.00019128
+v -0.01250624 0.01662551 -0.00019564
+v -0.01331853 0.01644878 -0.00159062
+v -0.01251046 0.01659806 -0.00152606
+v -0.01250624 0.01659858 -0.00152606
+v -0.01331853 0.01661557 -0.00071821
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 13
+f 1 13 20
+f 1 20 26
+f 1 26 33
+f 1 33 30
+f 1 30 29
+f 1 29 27
+f 1 27 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 7
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+f 19 26 20
+f 21 27 22
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+f 24 29 30
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+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 28 30 33
+f 28 33 34
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_281.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2fe17f5ad7c8cef8523a3b9cda878cfb89112d
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_281.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00006232 0.01010113 0.01091258
+v -0.00057975 0.01008733 0.01091258
+v 0.00006232 0.00196999 0.01091258
+v 0.00006232 0.01062030 0.01057597
+v -0.00058681 0.01008608 0.01091258
+v -0.00058681 0.01121094 0.01018381
+v -0.00058681 0.00196999 0.01091258
+v 0.00006232 0.00196999 0.00859184
+v 0.00006232 0.01118336 0.01021047
+v 0.00006232 0.01121721 0.01018825
+v 0.00006232 0.01188561 0.00972388
+v -0.00058681 0.01187809 0.00971944
+v -0.00058681 0.00196999 0.00503020
+v 0.00006156 0.00196999 0.00503020
+v 0.00006232 0.00197124 -0.00043670
+v 0.00006232 0.01230070 0.00907843
+v -0.00058681 0.01232202 0.00905177
+v -0.00058681 0.00197124 -0.00043670
+v 0.00006232 0.01368515 -0.00043670
+v 0.00006232 0.01231449 0.00905621
+v -0.00058681 0.01289636 0.00781752
+v -0.00058681 0.01378046 -0.00043670
+v -0.00049772 0.01376917 -0.00043670
+v 0.00006232 0.01381431 -0.00023007
+v 0.00006232 0.01288006 0.00781752
+v -0.00058681 0.01322366 0.00688212
+v -0.00058681 0.01393094 -0.00019007
+v -0.00049772 0.01391840 -0.00019007
+v 0.00006232 0.01446265 0.00085865
+v 0.00006232 0.01321489 0.00685657
+v -0.00049772 0.01345566 0.00621112
+v -0.00058681 0.01345566 0.00621445
+v -0.00058681 0.01450403 0.00080088
+v 0.00006232 0.01476362 0.00152632
+v 0.00006232 0.01344688 0.00619001
+v -0.00049772 0.01382058 0.00514907
+v -0.00058681 0.01382309 0.00514907
+v -0.00058681 0.01478117 0.00146744
+v 0.00006232 0.01476362 0.00217177
+v 0.00006232 0.01379927 0.00514907
+v -0.00058681 0.01386322 0.00503020
+v -0.00058681 0.01426577 0.00381372
+v -0.00058681 0.01478117 0.00221843
+v 0.00006232 0.01464072 0.00255837
+v 0.00006232 0.01423818 0.00381372
+v -0.00049772 0.01426200 0.00381372
+v -0.00058681 0.01456673 0.00288499
+v 0.00006232 0.01455169 0.00283833
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 19
+f 1 19 24
+f 1 24 29
+f 1 29 34
+f 1 34 39
+f 1 39 44
+f 1 44 48
+f 1 48 45
+f 1 45 40
+f 1 40 35
+f 1 35 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 10
+f 1 10 9
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+f 1 4 2
+f 2 4 6
+f 2 6 5
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+f 3 14 8
+f 4 9 6
+f 5 6 12
+f 5 12 17
+f 5 17 21
+f 5 21 26
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+f 5 41 42
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+f 11 16 17
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+f 13 18 15
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+f 15 23 19
+f 16 20 17
+f 17 20 21
+f 19 23 24
+f 20 25 21
+f 21 25 26
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+f 23 27 28
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 27 33 29
+f 27 29 28
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 43
+f 34 43 39
+f 35 40 36
+f 36 41 37
+f 36 40 42
+f 36 42 41
+f 39 43 44
+f 40 45 46
+f 40 46 42
+f 42 46 47
+f 43 47 45
+f 43 45 48
+f 43 48 44
+f 45 47 46
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_282.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379a035ee0293da5fb35fa2291648d9b053f9788
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_282.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02098948 -0.00020694 0.00029202
+v -0.02656585 -0.00020694 0.00029202
+v -0.02098948 -0.00089344 0.00029202
+v -0.02098948 -0.00020694 -0.01124307
+v -0.02673224 -0.00020694 -0.00018785
+v -0.02655938 -0.00031340 0.00029202
+v -0.02651411 -0.00089344 0.00029202
+v -0.02098948 -0.00089344 -0.01100596
+v -0.02098948 -0.00076373 -0.01105789
+v -0.02166095 -0.00089344 -0.01057689
+v -0.02170093 -0.00069687 -0.01061528
+v -0.02171269 -0.00020694 -0.01074061
+v -0.02690158 -0.00020694 -0.00093195
+v -0.02671049 -0.00069687 -0.00027480
+v -0.02653410 -0.00069687 0.00029202
+v -0.02669697 -0.00089344 -0.00030190
+v -0.02232830 -0.00089344 -0.01002475
+v -0.02240297 -0.00020694 -0.01007104
+v -0.02236828 -0.00069687 -0.01004282
+v -0.02697332 -0.00020694 -0.00152586
+v -0.02699507 -0.00069687 -0.00152586
+v -0.02697332 -0.00089344 -0.00152586
+v -0.02287571 -0.00089344 -0.00935744
+v -0.02288335 -0.00069687 -0.00937551
+v -0.02290334 -0.00020694 -0.00940373
+v -0.02696097 -0.00020694 -0.00237044
+v -0.02697626 -0.00069687 -0.00286048
+v -0.02698566 -0.00089344 -0.00172233
+v -0.02354306 -0.00089344 -0.00842479
+v -0.02314853 -0.00020694 -0.00906048
+v -0.02491069 -0.00020694 -0.00658319
+v -0.02688629 -0.00020694 -0.00289210
+v -0.02665110 -0.00020694 -0.00378184
+v -0.02669109 -0.00069687 -0.00383378
+v -0.02669285 -0.00089344 -0.00383040
+v -0.02693569 -0.00089344 -0.00299936
+v -0.02696920 -0.00089344 -0.00286048
+v -0.02555982 -0.00089344 -0.00558731
+v -0.02529170 -0.00020694 -0.00604460
+v -0.02633242 -0.00020694 -0.00439157
+v -0.02630890 -0.00069687 -0.00450109
+v -0.02630008 -0.00089344 -0.00449771
+v -0.02560392 -0.00020694 -0.00560086
+v -0.02555276 -0.00058410 -0.00563247
+f 1 2 6
+f 1 6 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 18
+f 1 18 25
+f 1 25 30
+f 1 30 31
+f 1 31 39
+f 1 39 43
+f 1 43 40
+f 1 40 33
+f 1 33 32
+f 1 32 26
+f 1 26 20
+f 1 20 13
+f 1 13 5
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+f 3 22 28
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+f 3 36 35
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+f 3 10 8
+f 4 9 10
+f 4 10 11
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+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 15 14
+f 7 14 16
+f 8 10 9
+f 10 17 11
+f 11 17 12
+f 12 17 19
+f 12 19 18
+f 13 20 21
+f 13 21 14
+f 14 21 16
+f 16 21 22
+f 17 23 19
+f 18 19 23
+f 18 23 24
+f 18 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 24 30 25
+f 24 29 31
+f 24 31 30
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 29 38 31
+f 31 38 39
+f 33 40 34
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 39 44 43
+f 40 43 41
+f 41 43 42
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_286.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27943fe234d031d954df9ef8a7a06f098ac4387e
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_286.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01331853 0.00814997 -0.00809811
+v -0.01331853 0.01275124 -0.00809811
+v -0.01250624 0.00814997 -0.00809811
+v -0.01331853 0.00814997 0.00240222
+v -0.01331853 0.01323774 -0.00740521
+v -0.01278986 0.01327240 -0.00746587
+v -0.01250624 0.01285922 -0.00809811
+v -0.01250624 0.00814997 0.00240222
+v -0.01331853 0.01395555 0.00240222
+v -0.01250624 0.01357647 -0.00708652
+v -0.01331853 0.01363557 -0.00678120
+v -0.01250624 0.01395555 -0.00650877
+v -0.01250624 0.01367365 -0.00693952
+v -0.01250624 0.01298653 -0.00791923
+v -0.01250624 0.01395555 0.00240222
+v -0.01331853 0.01395555 -0.00622195
+f 1 2 7
+f 1 7 3
+f 1 3 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 7
+f 3 7 14
+f 3 14 10
+f 3 10 13
+f 3 13 12
+f 3 12 15
+f 3 15 8
+f 4 8 15
+f 4 15 9
+f 5 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 10 14
+f 6 14 7
+f 9 15 12
+f 9 12 16
+f 11 16 12
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_289.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d701c4633f2c33bff33e47e4c4555057a103cc1
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_289.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01311662 0.00201742 -0.00889639
+v 0.02113693 0.00201742 -0.00889639
+v 0.01311662 0.00201742 -0.00841337
+v 0.01311662 0.01251198 -0.00889639
+v 0.02115789 0.00203285 -0.00889639
+v 0.02201258 0.00201742 -0.00841337
+v 0.01311662 0.01281066 -0.00841337
+v 0.01315672 0.01281507 -0.00841337
+v 0.01551944 0.01303550 -0.00841337
+v 0.01685433 0.01309832 -0.00851272
+v 0.01556773 0.01274013 -0.00889639
+v 0.02120982 0.00207142 -0.00889639
+v 0.02206270 0.00277018 -0.00889639
+v 0.02208730 0.00210449 -0.00841337
+v 0.01668120 0.01314351 -0.00841337
+v 0.01685433 0.01315894 -0.00841337
+v 0.01818831 0.01327577 -0.00841337
+v 0.01818831 0.01314902 -0.00861254
+v 0.01681333 0.01284152 -0.00889639
+v 0.02242444 0.00256298 -0.00841337
+v 0.02242444 0.00332896 -0.00889639
+v 0.01898834 0.01315453 -0.00841337
+v 0.01961980 0.01303991 -0.00841337
+v 0.01884984 0.01281397 -0.00889639
+v 0.01818831 0.01290214 -0.00889639
+v 0.02242444 0.00884076 -0.00841337
+v 0.02242444 0.00862584 -0.00889639
+v 0.01980568 0.01297378 -0.00841337
+v 0.01955875 0.01268502 -0.00889639
+v 0.02163535 0.01084004 -0.00889639
+v 0.02240622 0.00888925 -0.00841337
+v 0.02047723 0.01246349 -0.00841337
+v 0.02029772 0.01242161 -0.00889639
+v 0.02163535 0.01084004 -0.00857811
+v 0.02042802 0.01232242 -0.00889639
+v 0.02172829 0.01052152 -0.00841337
+v 0.02146405 0.01101969 -0.00841337
+v 0.02160346 0.01077832 -0.00841337
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 24
+f 1 24 29
+f 1 29 33
+f 1 33 35
+f 1 35 30
+f 1 30 27
+f 1 27 21
+f 1 21 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 6 14
+f 3 14 20
+f 3 20 26
+f 3 26 31
+f 3 31 36
+f 3 36 38
+f 3 38 37
+f 3 37 32
+f 3 32 28
+f 3 28 23
+f 3 23 22
+f 3 22 17
+f 3 17 16
+f 3 16 15
+f 3 15 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 20 14
+f 13 21 20
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 21 27
+f 20 27 26
+f 23 28 29
+f 23 29 24
+f 26 27 30
+f 26 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 30 35 32
+f 30 32 34
+f 31 34 36
+f 32 35 33
+f 32 37 34
+f 34 37 38
+f 34 38 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_290.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5dddd6f96f83b8d5671279d36ea62de83f6e992
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_290.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01423450 0.00332890 0.01422356
+v 0.01408695 0.00387913 0.01418504
+v 0.01408695 0.00332890 0.01421286
+v 0.01425067 0.00332890 0.01421393
+v 0.01465860 0.00374818 0.01371849
+v 0.01408695 0.00465451 0.01385011
+v 0.01408695 0.00332890 0.00329182
+v 0.01465860 0.00332890 0.01377628
+v 0.01465860 0.00412955 0.01348094
+v 0.01408695 0.00578025 0.01324553
+v 0.01465860 0.00332890 0.00329182
+v 0.01408695 0.01488723 0.00329182
+v 0.01465860 0.00458788 0.01309251
+v 0.01408695 0.00607087 0.01298122
+v 0.01465860 0.01416814 0.00329182
+v 0.01408695 0.01506298 0.00391567
+v 0.01465860 0.00488425 0.01282285
+v 0.01408695 0.00875541 0.01036385
+v 0.01465860 0.00578944 0.01199035
+v 0.01465860 0.00597323 0.01181165
+v 0.01465860 0.00602377 0.01176242
+v 0.01465860 0.01407739 0.00389534
+v 0.01408695 0.01411415 0.00513554
+v 0.01465860 0.01407164 0.00390283
+v 0.01465860 0.00867615 0.00917609
+v 0.01408695 0.01274373 0.00647418
+v 0.01413876 0.01398434 0.00514838
+v 0.01408695 0.01397056 0.00527678
+v 0.01465860 0.01273339 0.00521900
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 26
+f 2 26 28
+f 2 28 23
+f 2 23 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 4 8 5
+f 5 8 11
+f 5 11 15
+f 5 15 22
+f 5 22 24
+f 5 24 29
+f 5 29 25
+f 5 25 21
+f 5 21 20
+f 5 20 19
+f 5 19 17
+f 5 17 13
+f 5 13 9
+f 5 9 10
+f 5 10 6
+f 7 12 15
+f 7 15 11
+f 9 13 10
+f 10 13 14
+f 12 16 15
+f 13 17 14
+f 14 17 19
+f 14 19 20
+f 14 20 21
+f 14 21 18
+f 15 16 22
+f 16 23 24
+f 16 24 22
+f 18 21 25
+f 18 25 26
+f 23 27 24
+f 23 28 27
+f 24 27 29
+f 25 29 26
+f 26 29 28
+f 27 28 29
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_297.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ea54d66064fe5621c5880ed9c7f120a7124954
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_297.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01150637 -0.00410873 0.01387511
+v -0.01243150 -0.00410873 0.01378058
+v -0.01150637 -0.00454494 0.01374722
+v -0.01150637 -0.00410873 -0.01452686
+v -0.01332511 -0.00410873 0.01367216
+v -0.01332511 -0.00454494 0.01353593
+v -0.01242011 -0.00454494 0.01364158
+v -0.01150637 -0.00454494 -0.01429055
+v -0.01150637 -0.00420502 -0.01448794
+v -0.01163581 -0.00410873 -0.01449906
+v -0.01332511 -0.00410873 -0.01374842
+v -0.01332511 -0.00454494 -0.01348709
+v -0.01178128 -0.00454494 -0.01420437
+v -0.01150637 -0.00442870 -0.01437396
+v -0.01150637 -0.00433949 -0.01442956
+v -0.01174976 -0.00410873 -0.01447126
+v -0.01331746 -0.00410873 -0.01375398
+v -0.01290404 -0.00410873 -0.01404034
+v -0.01263269 -0.00454494 -0.01383183
+v -0.01213861 -0.00420647 -0.01432947
+v -0.01244111 -0.00454494 -0.01392357
+v -0.01150637 -0.00436704 -0.01441566
+v -0.01219060 -0.00410873 -0.01436005
+v -0.01243097 -0.00410873 -0.01426553
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 24
+f 1 24 18
+f 1 18 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 12
+f 3 12 19
+f 3 19 21
+f 3 21 13
+f 3 13 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 13 21 20
+f 14 20 22
+f 15 22 20
+f 15 20 23
+f 15 23 16
+f 18 24 20
+f 18 20 21
+f 18 21 19
+f 20 24 23
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_298.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f269d61c96f0cf28987129a3f7f61bee0694ccd2
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_298.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01408695 0.01488673 0.00329182
+v 0.01465860 0.01416818 0.00329182
+v 0.01465860 0.01437300 0.00202749
+v 0.01408695 0.01481318 0.00256195
+v 0.01408695 0.00332775 0.00329182
+v 0.01465860 0.00332775 0.00329182
+v 0.01465860 0.01411161 0.00115001
+v 0.01418481 0.01423042 0.00115001
+v 0.01417295 0.01423269 0.00115001
+v 0.01408695 0.01425758 0.00119530
+v 0.01408695 0.00332775 0.00115001
+v 0.01465860 0.00332775 0.00115001
+v 0.01408695 0.01422250 0.00115001
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 7 8
+f 5 11 12
+f 5 12 6
+f 7 12 11
+f 7 11 13
+f 7 13 9
+f 7 9 8
+f 9 13 10
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_299.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2025066b557ad62621b83c4403cbb97fdd5bc160
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_299.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01643242 0.00038077 -0.01382165
+v -0.01694210 -0.00020688 -0.01355939
+v -0.01754514 0.00038077 -0.01332229
+v -0.01643242 0.00038077 -0.00464715
+v -0.01643242 -0.00020688 -0.01378752
+v -0.01809388 -0.00020688 -0.01294686
+v -0.01848448 0.00012928 -0.01284896
+v -0.01882077 0.00038077 -0.01272502
+v -0.01768614 0.00038077 -0.01325852
+v -0.01643242 -0.00020688 -0.00464715
+v -0.01892556 0.00038077 -0.00464625
+v -0.02085377 -0.00020688 -0.01140386
+v -0.02103859 0.00017455 -0.01145505
+v -0.02082233 0.00038077 -0.01165174
+v -0.02034695 0.00038077 -0.01190951
+v -0.01892556 -0.00020688 -0.00464625
+v -0.02611919 0.00038077 -0.00464625
+v -0.02171213 -0.00020688 -0.01074013
+v -0.02109575 0.00038077 -0.01149637
+v -0.02616492 -0.00020688 -0.00464625
+v -0.02568287 0.00038077 -0.00555247
+v -0.02240282 -0.00020688 -0.01007102
+v -0.02172547 0.00038077 -0.01089102
+v -0.02560379 -0.00020688 -0.00560187
+v -0.02517985 0.00038077 -0.00627907
+v -0.02290202 -0.00020688 -0.00940370
+v -0.02244378 0.00038077 -0.01010425
+v -0.02529132 -0.00020688 -0.00604555
+v -0.02460920 0.00038077 -0.00708021
+v -0.02314781 -0.00020688 -0.00906061
+v -0.02491025 -0.00020688 -0.00658444
+v -0.02292679 0.00038077 -0.00943693
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 15
+f 1 15 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 32
+f 1 32 29
+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 11
+f 1 11 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 20
+f 2 20 24
+f 2 24 28
+f 2 28 31
+f 2 31 30
+f 2 30 26
+f 2 26 22
+f 2 22 18
+f 2 18 12
+f 2 12 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 11 16
+f 4 16 10
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 11 17 20
+f 11 20 16
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 17 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 28
+f 25 29 30
+f 25 30 31
+f 25 31 28
+f 26 32 27
+f 26 30 32
+f 29 32 30
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_30.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511ece451c1b846ad5ad06b4482ebd170c941a65
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02523026 0.00065730 -0.00677367
+v 0.02523026 0.00065730 -0.00677956
+v 0.02442223 0.00201632 -0.00668657
+v 0.02432253 0.00201632 -0.00573424
+v 0.02483814 0.00065730 -0.00553059
+v 0.02440972 0.00201632 -0.00675131
+v 0.02485232 0.00065730 -0.00798027
+v 0.02421282 0.00201632 -0.00548703
+v 0.02434798 0.00186440 -0.00563771
+v 0.02368096 0.00201632 -0.00429456
+v 0.02401217 0.00089143 -0.00392964
+v 0.02422200 0.00065730 -0.00416625
+v 0.02438678 0.00144230 -0.00762359
+v 0.02406557 0.00201632 -0.00729987
+v 0.02484397 0.00065730 -0.00798498
+v 0.02338770 0.00201632 -0.00783195
+v 0.02346237 0.00201632 -0.00778839
+v 0.02123686 0.00201632 0.00111333
+v 0.02181211 0.00065730 0.00116630
+v 0.02329467 0.00065730 -0.00845584
+v 0.02096863 0.00201632 -0.00899381
+v 0.02096863 0.00201632 0.00170545
+v 0.02096863 0.00119819 0.00250474
+v 0.02121934 0.00065730 0.00247767
+v 0.02096863 0.00065730 -0.00888786
+v 0.02096863 0.00065730 0.00303211
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 24
+f 1 24 26
+f 1 26 25
+f 1 25 20
+f 1 20 15
+f 1 15 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 14
+f 3 14 17
+f 3 17 16
+f 3 16 21
+f 3 21 22
+f 3 22 18
+f 3 18 10
+f 3 10 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 7 13
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 8 10 9
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 13 17 14
+f 15 20 21
+f 15 21 16
+f 18 22 23
+f 18 23 19
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 21 26 23
+f 21 23 22
+f 23 26 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_300.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52858d97839f2e6bc39853518254089817520079
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_300.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02169923 0.00124008 0.00307138
+v -0.02589991 0.00124008 0.00307138
+v -0.02169923 0.00083133 0.00307138
+v -0.02169923 0.00124008 -0.01105438
+v -0.02611728 0.00124008 0.00242980
+v -0.02586973 0.00083133 0.00307138
+v -0.02169923 0.00083133 -0.01101843
+v -0.02248382 0.00124008 -0.01014871
+v -0.02662926 0.00124008 0.00082447
+v -0.02661136 0.00087143 0.00068620
+v -0.02662824 0.00083133 0.00060324
+v -0.02246899 0.00083133 -0.01012935
+v -0.02326739 0.00124008 -0.00906743
+v -0.02672030 0.00124008 0.00049815
+v -0.02674486 0.00083133 0.00018290
+v -0.02304439 0.00083133 -0.00932876
+v -0.02477673 0.00124008 -0.00695327
+v -0.02681083 0.00124008 -0.00012683
+v -0.02678424 0.00083133 -0.00009088
+v -0.02523449 0.00083133 -0.00625915
+v -0.02525341 0.00124008 -0.00628542
+v -0.02690034 0.00124008 -0.00092465
+v -0.02692438 0.00083133 -0.00133394
+v -0.02572090 0.00083133 -0.00552908
+v -0.02572397 0.00124008 -0.00552908
+v -0.02683283 0.00124008 -0.00155240
+v -0.02690239 0.00083133 -0.00153443
+v -0.02636432 0.00083133 -0.00417817
+v -0.02630960 0.00124008 -0.00418370
+v -0.02670752 0.00124008 -0.00242351
+v -0.02671314 0.00083133 -0.00285077
+v -0.02640319 0.00083133 -0.00403990
+v -0.02651111 0.00124008 -0.00346331
+v -0.02664819 0.00124008 -0.00273877
+v -0.02670189 0.00083133 -0.00291161
+v -0.02667529 0.00083133 -0.00304988
+v -0.02651316 0.00124008 -0.00345501
+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 17
+f 1 17 21
+f 1 21 25
+f 1 25 29
+f 1 29 33
+f 1 33 37
+f 1 37 34
+f 1 34 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 15
+f 3 15 19
+f 3 19 23
+f 3 23 27
+f 3 27 31
+f 3 31 35
+f 3 35 36
+f 3 36 32
+f 3 32 28
+f 3 28 24
+f 3 24 20
+f 3 20 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 34 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_306.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373aae1241f9242677b9d0229969314bcf041c74
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_306.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.02253735 -0.00410873 -0.00059184
+v -0.02563799 -0.00410873 -0.00059184
+v -0.02253735 -0.00454494 -0.00059184
+v -0.02253735 -0.00410873 -0.00892762
+v -0.02535933 -0.00454494 -0.00059184
+v -0.02573448 -0.00410873 -0.00152620
+v -0.02253735 -0.00454494 -0.00873748
+v -0.02253735 -0.00413687 -0.00892028
+v -0.02257772 -0.00410873 -0.00890885
+v -0.02578864 -0.00410873 -0.00205417
+v -0.02579750 -0.00410873 -0.00214067
+v -0.02581358 -0.00410873 -0.00229816
+v -0.02556447 -0.00454494 -0.00284164
+v -0.02304543 -0.00454494 -0.00834171
+v -0.02257411 -0.00413029 -0.00890477
+v -0.02253735 -0.00423500 -0.00888355
+v -0.02253735 -0.00415476 -0.00891538
+v -0.02327944 -0.00410873 -0.00820951
+v -0.02386891 -0.00454494 -0.00756076
+v -0.02586446 -0.00410873 -0.00286041
+v -0.02556611 -0.00454494 -0.00286041
+v -0.02389058 -0.00410873 -0.00758035
+v -0.02388106 -0.00435692 -0.00756729
+v -0.02387285 -0.00454494 -0.00755668
+v -0.02589038 -0.00410873 -0.00351487
+v -0.02561337 -0.00454494 -0.00405916
+v -0.02402514 -0.00410873 -0.00739103
+v -0.02405665 -0.00454494 -0.00729882
+v -0.02408652 -0.00410873 -0.00730453
+v -0.02588152 -0.00410873 -0.00357770
+v -0.02579586 -0.00410873 -0.00417831
+v -0.02559434 -0.00454494 -0.00419218
+v -0.02438290 -0.00454494 -0.00683776
+v -0.02463333 -0.00410873 -0.00653256
+v -0.02567869 -0.00410873 -0.00467364
+v -0.02539577 -0.00447802 -0.00515999
+v -0.02545189 -0.00454494 -0.00479278
+v -0.02532947 -0.00454494 -0.00523752
+v -0.02543975 -0.00410873 -0.00522120
+v -0.02564029 -0.00410873 -0.00483521
+v -0.02537706 -0.00454494 -0.00508329
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 22
+f 1 22 27
+f 1 27 29
+f 1 29 34
+f 1 34 39
+f 1 39 40
+f 1 40 35
+f 1 35 31
+f 1 31 30
+f 1 30 25
+f 1 25 20
+f 1 20 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 13
+f 3 13 21
+f 3 21 26
+f 3 26 32
+f 3 32 37
+f 3 37 41
+f 3 41 38
+f 3 38 33
+f 3 33 28
+f 3 28 24
+f 3 24 19
+f 3 19 14
+f 3 14 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 16
+f 8 17 15
+f 8 15 9
+f 9 15 14
+f 9 14 19
+f 9 19 18
+f 12 20 13
+f 13 20 21
+f 15 17 16
+f 18 19 23
+f 18 23 22
+f 19 24 23
+f 20 25 21
+f 21 25 26
+f 22 23 27
+f 23 24 28
+f 23 28 29
+f 23 29 27
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 36
+f 33 36 39
+f 33 39 34
+f 35 40 36
+f 36 38 41
+f 36 41 37
+f 36 40 39
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_31.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8266271175c4485f72b775a1f8d93b6b603bfafb
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00755157 0.00142977 0.00923755
+v -0.00755157 0.00142977 0.00071192
+v -0.00887115 0.00142977 0.00923755
+v -0.00755157 -0.01161249 0.00923755
+v -0.00887115 0.00142977 0.00071192
+v -0.00755157 -0.01505123 0.00071192
+v -0.00887115 -0.01110875 0.00923755
+v -0.00887115 -0.01417981 0.00509657
+v -0.00809898 -0.01473538 0.00452492
+v -0.00755157 -0.01449728 0.00496472
+v -0.00887115 -0.01511764 0.00071192
+v -0.00755157 -0.01475644 0.00457082
+v -0.00850612 -0.01510469 0.00071192
+v -0.00887115 -0.01435636 0.00472020
+v -0.00887115 -0.01463010 0.00381222
+v -0.00862418 -0.01510954 0.00071192
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 11
+f 2 11 5
+f 3 5 11
+f 3 11 15
+f 3 15 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 8 14 9
+f 9 12 10
+f 9 14 15
+f 9 15 11
+f 9 11 12
+f 11 16 12
+f 12 16 13
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_310.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1c6e572ec1c8e78c6e345f8357283fa12af2dc
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_310.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.02475864 0.00545886 0.00357417
+v -0.02485892 0.00545886 0.00591561
+v -0.02476226 0.00612622 0.00648291
+v -0.02458466 0.00612622 0.00357417
+v -0.01251751 0.00545886 0.00357417
+v -0.02478039 0.00597669 0.00648291
+v -0.02482630 0.00545886 0.00644085
+v -0.02446264 0.00597669 0.00781810
+v -0.02443727 0.00612622 0.00782242
+v -0.01251751 0.00612622 0.00357417
+v -0.01251751 0.00545886 0.01168671
+v -0.02462333 0.00545886 0.00729287
+v -0.02438290 0.00612622 0.00795939
+v -0.02440344 0.00545886 0.00781810
+v -0.02396488 0.00545886 0.00868738
+v -0.02398904 0.00597669 0.00873268
+v -0.01251751 0.00612622 0.01355469
+v -0.01251751 0.00546068 0.01391383
+v -0.01384529 0.00545886 0.01422876
+v -0.02398542 0.00612622 0.00872513
+v -0.02360243 0.00545886 0.00935390
+v -0.02362659 0.00597669 0.00939812
+v -0.02293310 0.00612622 0.01066428
+v -0.02295243 0.00612622 0.01062869
+v -0.01251751 0.00612446 0.01355577
+v -0.01519601 0.00612622 0.01410149
+v -0.01522139 0.00545886 0.01444769
+v -0.01524434 0.00612622 0.01411120
+v -0.01634135 0.00612622 0.01429778
+v -0.01651533 0.00597669 0.01440671
+v -0.02296089 0.00545886 0.01053163
+v -0.02257065 0.00545886 0.01124668
+v -0.02303217 0.00597669 0.01048633
+v -0.02259361 0.00612622 0.01128551
+v -0.01651533 0.00545886 0.01459113
+v -0.01651533 0.00612622 0.01432582
+v -0.01791680 0.00612622 0.01419316
+v -0.01793734 0.00608448 0.01420826
+v -0.02259361 0.00597669 0.01128766
+v -0.02236768 0.00545886 0.01156376
+v -0.02216471 0.00597669 0.01195526
+v -0.02213692 0.00612622 0.01194340
+v -0.01789989 0.00545886 0.01437328
+v -0.01797842 0.00612622 0.01417591
+v -0.01888454 0.00571147 0.01401629
+v -0.02215746 0.00545886 0.01186790
+v -0.02145673 0.00545886 0.01271345
+v -0.02149780 0.00597669 0.01274473
+v -0.02148451 0.00612622 0.01273394
+v -0.02200282 0.00612622 0.01212027
+v -0.02205235 0.00612622 0.01206095
+v -0.01890508 0.00545886 0.01402923
+v -0.01867795 0.00612622 0.01391599
+v -0.02051798 0.00612622 0.01322682
+v -0.02051798 0.00597669 0.01327643
+v -0.02051798 0.00545886 0.01325270
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 27
+f 1 27 35
+f 1 35 43
+f 1 43 52
+f 1 52 56
+f 1 56 47
+f 1 47 46
+f 1 46 40
+f 1 40 32
+f 1 32 31
+f 1 31 21
+f 1 21 15
+f 1 15 14
+f 1 14 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 13
+f 3 13 20
+f 3 20 24
+f 3 24 23
+f 3 23 34
+f 3 34 42
+f 3 42 51
+f 3 51 50
+f 3 50 49
+f 3 49 54
+f 3 54 53
+f 3 53 44
+f 3 44 37
+f 3 37 36
+f 3 36 29
+f 3 29 28
+f 3 28 26
+f 3 26 17
+f 3 17 10
+f 3 10 4
+f 5 10 17
+f 5 17 25
+f 5 25 18
+f 5 18 11
+f 6 7 8
+f 7 12 8
+f 8 13 9
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 11 18 19
+f 13 16 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 20
+f 17 26 25
+f 18 25 19
+f 19 25 26
+f 19 26 28
+f 19 28 29
+f 19 29 30
+f 19 30 27
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 27 30 35
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 35
+f 32 39 33
+f 32 40 39
+f 33 39 34
+f 34 39 41
+f 34 41 42
+f 35 38 43
+f 37 44 38
+f 38 44 45
+f 38 45 43
+f 39 40 41
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 43 45 52
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 52
+f 47 56 48
+f 48 56 55
+f 48 55 49
+f 49 55 54
+f 52 55 56
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_32.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405a00749f4753b4c0982fa651053c01ec1bd4d6
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_32.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00040993 0.00009238 -0.01509574
+v -0.00040993 0.00100779 -0.01574210
+v 0.00290510 0.00129500 -0.01554793
+v 0.00342233 0.00009238 -0.01439334
+v -0.00040993 0.00009238 -0.00252036
+v -0.00040993 0.00191708 -0.01582941
+v 0.00217126 0.00123694 -0.01559224
+v -0.00040993 0.00197269 -0.01583332
+v 0.00290510 0.00142210 -0.01554793
+v 0.00470042 0.00196658 -0.01530946
+v 0.00470042 0.00089718 -0.01480123
+v 0.00470042 0.00077496 -0.01474259
+v 0.00470042 0.00009238 -0.01407407
+v 0.00470042 0.00009238 -0.00252036
+v -0.00040993 0.00633524 -0.00252036
+v -0.00040993 0.00303109 -0.01563003
+v 0.00164952 0.00267116 -0.01555054
+v 0.00253893 0.00231185 -0.01551796
+v 0.00083714 0.00197269 -0.01571213
+v 0.00341233 0.00190914 -0.01545802
+v 0.00470042 0.00330669 -0.01511659
+v 0.00470042 0.00633524 -0.00252036
+v -0.00040993 0.00633524 -0.01494718
+v 0.00470042 0.00633524 -0.01420048
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 14
+f 1 14 5
+f 1 5 15
+f 1 15 23
+f 1 23 16
+f 1 16 8
+f 1 8 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 5 14 22
+f 5 22 15
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 18 20
+f 9 20 10
+f 9 19 18
+f 10 20 18
+f 10 18 21
+f 10 21 24
+f 10 24 22
+f 10 22 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 15 22 24
+f 15 24 23
+f 16 23 17
+f 17 23 21
+f 17 21 18
+f 21 23 24
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_37.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c8e7bb2cee58a876e1cbeb9a31cf3984287628
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_37.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00755157 0.00330096 -0.00118471
+v -0.00755157 0.00787081 -0.00118471
+v -0.00710536 0.00330096 -0.00118471
+v -0.00755157 0.00330096 0.01368638
+v -0.00710536 0.00787081 -0.00118471
+v -0.00755157 0.00787081 0.01257769
+v -0.00710536 0.00330096 0.01362324
+v -0.00710536 0.00336045 0.01363499
+v -0.00710536 0.00472882 0.01380092
+v -0.00755157 0.00423989 0.01378477
+v -0.00710536 0.00787081 0.01249693
+v -0.00755157 0.00783592 0.01259972
+v -0.00711191 0.00742796 0.01278034
+v -0.00753502 0.00787081 0.01257476
+v -0.00710536 0.00491982 0.01381707
+v -0.00755157 0.00466708 0.01379358
+v -0.00710536 0.00742796 0.01277887
+v -0.00755157 0.00742796 0.01282733
+v -0.00721626 0.00739665 0.01281118
+v -0.00710536 0.00737607 0.01281118
+v -0.00710536 0.00501689 0.01381707
+v -0.00755157 0.00560065 0.01363939
+v -0.00755157 0.00737428 0.01285670
+v -0.00710536 0.00588917 0.01358212
+v -0.00710536 0.00560736 0.01371869
+v -0.00755157 0.00589007 0.01358653
+v -0.00728902 0.00586636 0.01359681
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
+f 1 22 26
+f 1 26 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 20
+f 3 20 24
+f 3 24 25
+f 3 25 21
+f 3 21 15
+f 3 15 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 14
+f 9 15 10
+f 10 15 16
+f 11 14 13
+f 11 13 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 17
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 26 27
+f 23 27 24
+f 24 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_39.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f9a17ebea449fdeb5f663008638604b17fd009
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v -0.00450194 -0.01671979 -0.00286162
+v -0.00004673 -0.01647828 -0.00286162
+v -0.00004673 -0.01643659 -0.00251761
+v -0.00004673 -0.01631296 -0.00184727
+v -0.00450194 -0.01635321 -0.00171867
+v -0.00525135 -0.01635177 -0.00170420
+v -0.00525135 -0.01665797 -0.00286162
+v -0.00450194 -0.01657028 -0.00419748
+v -0.00316716 -0.01646678 -0.00419748
+v -0.00004673 -0.01628564 -0.00376827
+v -0.00004673 -0.01511402 -0.00027994
+v -0.00004775 -0.01443980 0.00121989
+v -0.00040539 -0.01449443 0.00121989
+v -0.00058421 -0.01451456 0.00121989
+v -0.00316665 -0.01472732 0.00121989
+v -0.00398382 -0.01478194 0.00121989
+v -0.00450092 -0.01481213 0.00121989
+v -0.00525084 -0.01481788 0.00121989
+v -0.00525135 -0.01511402 0.00050936
+v -0.00525135 -0.01643659 -0.00420230
+v -0.00525135 -0.01625258 -0.00503500
+v -0.00520958 -0.01472732 -0.01024338
+v -0.00485245 -0.01472732 -0.01024338
+v -0.00450194 -0.01600244 -0.00605899
+v -0.00316716 -0.01615482 -0.00522147
+v -0.00183340 -0.01634459 -0.00419748
+v -0.00004673 -0.01619076 -0.00416211
+v -0.00183340 -0.01609589 -0.00502696
+v -0.00004673 -0.01601538 -0.00476172
+v -0.00004724 -0.01125558 0.00093857
+v -0.00004673 -0.00344525 0.00121989
+v -0.00525135 -0.00344525 0.00121989
+v -0.00525135 -0.01617495 -0.00529060
+v -0.00525084 -0.01474457 -0.01012764
+v -0.00525084 -0.01471725 -0.01021445
+v -0.00525084 -0.01467269 -0.01029000
+v -0.00525084 -0.01366783 -0.01149404
+v -0.00525084 -0.01354851 -0.01163550
+v -0.00450092 -0.01358732 -0.01165962
+v -0.00444488 -0.01434061 -0.01076262
+v -0.00396192 -0.01470288 -0.01017748
+v -0.00316716 -0.01565167 -0.00686597
+v -0.00183340 -0.01589175 -0.00569408
+v -0.00004673 -0.01580118 -0.00546260
+v -0.00004673 -0.00203355 0.00121989
+v -0.00525135 -0.00203355 0.00121989
+v -0.00525135 -0.01511402 -0.00848797
+v -0.00525135 -0.00344525 -0.01462872
+v -0.00525084 -0.01090194 -0.01296493
+v -0.00450092 -0.00737270 -0.01489878
+v -0.00450092 -0.01270753 -0.01212901
+v -0.00316665 -0.00737270 -0.01489878
+v -0.00316665 -0.00835456 -0.01437473
+v -0.00316665 -0.01270753 -0.01201327
+v -0.00316665 -0.01347375 -0.01159371
+v -0.00004775 -0.01386190 -0.01072564
+v -0.00316665 -0.01466838 -0.01006977
+v -0.00316665 -0.01511402 -0.00861978
+v -0.00192969 -0.01481932 -0.00922100
+v -0.00004775 -0.01464969 -0.00922100
+v -0.00004673 -0.01511402 -0.00770510
+v -0.00004673 -0.00203355 -0.01404840
+v -0.00525135 -0.00203355 -0.01465765
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+v -0.00525084 -0.00738132 -0.01468980
+v -0.00525084 -0.00821943 -0.01429435
+v -0.00450092 -0.00603719 -0.01520260
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+v -0.00004724 -0.00794341 -0.01414807
+v -0.00196790 -0.00203355 -0.01437312
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+f 59 82 60
+f 60 82 80
+f 60 80 61
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+f 62 72 85
+f 62 85 86
+f 63 87 68
+f 63 68 88
+f 63 88 64
+f 64 68 65
+f 64 88 68
+f 68 87 69
+f 69 87 89
+f 69 89 70
+f 70 89 71
+f 71 89 72
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+f 73 84 74
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+f 74 90 77
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+f 77 79 78
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+f 80 82 81
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+f 85 91 86
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_40.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0c3e54e7ad80d5670da03dc913a5710b0e7915a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_40.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00334756 0.00197002 -0.00147663
+v 0.00470042 0.00197002 -0.00147663
+v -0.00334756 0.00197002 -0.00043680
+v -0.00334756 0.01357455 -0.00147663
+v 0.00470042 0.00197002 -0.00043680
+v 0.00470042 0.01274028 -0.00147663
+v -0.00334756 0.01417934 -0.00043680
+v 0.00470042 0.01303909 -0.00043680
+v 0.00470042 0.01275701 -0.00142136
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 9
+f 7 8 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_41.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6afff81eddf1aece8053506c23016c88cb5632
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_41.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02491163 0.00328470 -0.00694149
+v -0.02530241 0.00328470 -0.00640034
+v -0.02531038 0.00330731 -0.00639019
+v -0.02491163 0.00330731 -0.00694149
+v -0.01044812 0.00328470 -0.00694149
+v -0.02531038 0.00328470 -0.00638926
+v -0.02562300 0.00328470 -0.00552953
+v -0.02562141 0.00330731 -0.00552953
+v -0.02528008 0.00390730 -0.00635232
+v -0.02489887 0.00345036 -0.00694149
+v -0.01044812 0.00390730 -0.00694149
+v -0.01044812 0.00328470 0.00249251
+v -0.02594360 0.00328470 -0.00419514
+v -0.02564693 0.00390730 -0.00492928
+v -0.02550497 0.00390730 -0.00551568
+v -0.02512376 0.00390730 -0.00656841
+v -0.02475532 0.00390730 -0.00694149
+v -0.01044812 0.00390730 0.00249251
+v -0.02628652 0.00328470 0.00249251
+v -0.02622591 0.00390730 -0.00225958
+v -0.02595955 0.00390730 -0.00359489
+v -0.02582078 0.00390730 -0.00419514
+v -0.02643167 0.00328470 -0.00162979
+v -0.02644283 0.00390730 -0.00114590
+v -0.02607917 0.00390730 0.00249251
+v -0.02628971 0.00330360 0.00249251
+v -0.02658639 0.00328470 0.00193197
+v -0.02668209 0.00328470 -0.00031202
+v -0.02664381 0.00390730 -0.00008947
+v -0.02659277 0.00390730 0.00193936
+v -0.02628971 0.00330731 0.00249251
+v -0.02658798 0.00330731 0.00193474
+v -0.02658957 0.00328470 0.00191997
+v -0.02669006 0.00328470 -0.00023630
+v -0.02674110 0.00328470 0.00112026
+v -0.02668527 0.00390730 0.00110641
+v -0.02663264 0.00390730 0.00173620
+v -0.02673791 0.00330731 0.00114334
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 27
+f 1 27 33
+f 1 33 35
+f 1 35 34
+f 1 34 28
+f 1 28 23
+f 1 23 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
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+f 3 8 9
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+f 5 18 12
+f 7 13 8
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+f 8 15 9
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+f 9 36 37
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+f 9 18 11
+f 9 11 17
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+f 10 16 17
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+f 13 20 21
+f 13 21 22
+f 13 22 14
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+f 13 24 20
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+f 23 28 29
+f 23 29 24
+f 25 30 31
+f 26 31 30
+f 26 30 32
+f 26 32 27
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 30 37 32
+f 32 37 38
+f 32 38 35
+f 32 35 33
+f 35 38 36
+f 36 38 37
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_45.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c85a40f0102c3be830311f359898c74cfeb01d40
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01332529 -0.00410877 0.01367044
+v -0.01384542 -0.00410877 0.01361408
+v -0.01425762 -0.00410881 0.01357113
+v -0.01332529 -0.00454494 0.01353356
+v -0.01332529 -0.00410877 -0.01374837
+v -0.01425762 -0.00410877 0.01356845
+v -0.01575880 -0.00410881 0.01338058
+v -0.01630816 -0.00454489 0.01318197
+v -0.01570033 -0.00454489 0.01325712
+v -0.01495858 -0.00454489 0.01334837
+v -0.01425762 -0.00454489 0.01343157
+v -0.01384542 -0.00454494 0.01347720
+v -0.01332529 -0.00454494 -0.01348535
+v -0.01477341 -0.00425672 -0.01300761
+v -0.01484380 -0.00410881 -0.01303982
+v -0.01380391 -0.00410877 -0.01352292
+v -0.01701237 -0.00410881 0.01319002
+v -0.01595515 -0.00410881 0.01335374
+v -0.01425762 -0.00410877 -0.01326527
+v -0.01636699 -0.00454489 0.01317392
+v -0.01425762 -0.00454494 0.01342889
+v -0.01410891 -0.00454494 -0.01312839
+v -0.01425762 -0.00448042 -0.01310155
+v -0.01505170 -0.00454489 -0.01268286
+v -0.01701237 -0.00454489 -0.01170055
+v -0.01701237 -0.00447295 -0.01173544
+v -0.01505243 -0.00410881 -0.01293246
+v -0.01425762 -0.00454489 -0.01305861
+v -0.01701237 -0.00410881 -0.01187232
+v -0.01701237 -0.00454489 0.01307730
+v -0.01425762 -0.00454494 -0.01305592
+v -0.01701237 -0.00443947 -0.01174886
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 5
+f 1 5 16
+f 1 16 19
+f 1 19 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
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+f 5 14 15
+f 5 15 16
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+f 6 18 7
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+f 8 20 21
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+f 9 21 10
+f 10 21 11
+f 11 21 12
+f 13 22 23
+f 13 23 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 14 23 28
+f 14 28 24
+f 15 27 16
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+f 16 29 19
+f 17 30 18
+f 17 29 32
+f 17 32 26
+f 17 26 25
+f 17 25 30
+f 18 30 20
+f 20 30 21
+f 21 30 25
+f 21 25 31
+f 22 28 23
+f 22 31 24
+f 22 24 28
+f 24 31 25
+f 26 32 27
+f 27 32 29
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_46.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3534e056e830ad2481aeb68c2b439520e09aa0c
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_46.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00887112 0.00341694 0.00933601
+v -0.00851671 0.00341694 0.00933601
+v -0.00887112 0.00341694 0.01401816
+v -0.00887112 0.00341818 0.00071276
+v -0.00851671 0.00341694 0.01390355
+v -0.00851671 0.00341818 0.00071276
+v -0.00875109 0.00341694 0.01398560
+v -0.00851671 0.00460783 0.01379936
+v -0.00887112 0.00454723 0.01385276
+v -0.00887112 0.01605049 0.00071276
+v -0.00851671 0.01588726 0.00071276
+v -0.00851671 0.00462390 0.01379676
+v -0.00887112 0.00572204 0.01361051
+v -0.00851671 0.00597061 0.01354930
+v -0.00860327 0.01592807 0.00071276
+v -0.00887112 0.01604678 0.00074662
+v -0.00851671 0.01586994 0.00111260
+v -0.00851671 0.01587489 0.00100841
+v -0.00887112 0.00597803 0.01353237
+v -0.00851671 0.00597803 0.01354669
+v -0.00887112 0.01587613 0.00133531
+v -0.00851671 0.01547545 0.00248013
+v -0.00851671 0.01551132 0.00235640
+v -0.00887112 0.00731237 0.01298926
+v -0.00851671 0.00731237 0.01298536
+v -0.00887112 0.01554347 0.00245278
+v -0.00887112 0.01540868 0.00284611
+v -0.00887112 0.01507231 0.00381510
+v -0.00851671 0.01501171 0.00381510
+v -0.00887112 0.00816442 0.01258942
+v -0.00851671 0.00813103 0.01257900
+v -0.00887112 0.01495606 0.00414852
+v -0.00851671 0.01471245 0.00466297
+v -0.00887112 0.00883097 0.01218698
+v -0.00851671 0.00879881 0.01215572
+v -0.00887112 0.01473347 0.00477888
+v -0.00887112 0.01466545 0.00496643
+v -0.00887112 0.01444286 0.00557856
+v -0.00851671 0.01446883 0.00532850
+v -0.00887112 0.00990190 0.01150452
+v -0.00851671 0.01049425 0.01106170
+v -0.00887112 0.01054743 0.01108905
+v -0.00887112 0.01360441 0.00786168
+v -0.00851671 0.01353021 0.00788643
+v -0.00851671 0.01130549 0.01053683
+v -0.00887112 0.01129065 0.01060846
+v -0.00887112 0.01339171 0.00843214
+v -0.00887112 0.01326681 0.00867438
+v -0.00851671 0.01292178 0.00906641
+v -0.00851671 0.01216001 0.00997809
+v -0.00887112 0.01223421 0.00999112
+v -0.00887112 0.01295023 0.00916669
+v -0.00851671 0.01291684 0.00907292
+v -0.00851671 0.01218598 0.00995986
+v -0.00851671 0.01220206 0.00994163
+v -0.00851671 0.01270166 0.00933601
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 13
+f 1 13 19
+f 1 19 24
+f 1 24 30
+f 1 30 34
+f 1 34 40
+f 1 40 42
+f 1 42 46
+f 1 46 51
+f 1 51 52
+f 1 52 48
+f 1 48 47
+f 1 47 43
+f 1 43 38
+f 1 38 37
+f 1 37 36
+f 1 36 32
+f 1 32 28
+f 1 28 27
+f 1 27 26
+f 1 26 21
+f 1 21 16
+f 1 16 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 17
+f 2 17 23
+f 2 23 22
+f 2 22 29
+f 2 29 33
+f 2 33 39
+f 2 39 44
+f 2 44 49
+f 2 49 53
+f 2 53 56
+f 2 56 55
+f 2 55 54
+f 2 54 50
+f 2 50 45
+f 2 45 41
+f 2 41 35
+f 2 35 31
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+f 2 25 20
+f 2 20 14
+f 2 14 12
+f 2 12 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 4 10 15
+f 4 15 11
+f 4 11 6
+f 5 8 7
+f 8 12 9
+f 9 12 14
+f 9 14 13
+f 10 16 17
+f 10 17 18
+f 10 18 15
+f 11 15 18
+f 13 14 19
+f 14 20 19
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 20 24
+f 20 25 24
+f 21 26 22
+f 22 27 28
+f 22 28 29
+f 22 26 27
+f 24 25 30
+f 25 31 30
+f 28 32 29
+f 29 32 33
+f 30 31 34
+f 31 35 34
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 33 38 39
+f 34 35 40
+f 35 41 42
+f 35 42 40
+f 38 43 44
+f 38 44 39
+f 41 45 46
+f 41 46 42
+f 43 47 44
+f 44 47 48
+f 44 48 49
+f 45 50 46
+f 46 50 51
+f 48 52 49
+f 49 52 53
+f 50 54 51
+f 51 54 55
+f 51 55 52
+f 52 55 56
+f 52 56 53
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_47.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d56e1196501bdde868b1fb77854895276f98435
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_47.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.00015231 -0.00261809 0.01519895
+v -0.00049790 -0.00263269 0.01519272
+v -0.00015231 -0.00292331 0.01519895
+v -0.00015231 -0.00195069 0.01475533
+v -0.00271973 0.00009238 0.01345437
+v -0.00148013 -0.00267358 0.01517029
+v -0.00049790 -0.00288534 0.01519272
+v -0.00015231 -0.00359070 0.01507309
+v -0.00015231 0.00009238 0.01333599
+v -0.00049790 0.00009238 0.01335468
+v -0.00183226 0.00009238 0.01341574
+v -0.00271973 0.00009238 0.00246849
+v -0.00271973 -0.00207482 0.01474785
+v -0.00271973 -0.00333659 0.01499832
+v -0.00148013 -0.00277289 0.01517029
+v -0.00188780 -0.00327818 0.01505564
+v -0.00049790 -0.00355127 0.01506561
+v -0.00015231 -0.00470351 0.01484256
+v -0.00015231 0.00009238 0.00246849
+v -0.00271973 -0.01463994 0.00246849
+v -0.00271973 -0.00470351 0.01467433
+v -0.00183226 -0.00470351 0.01473913
+v -0.00049790 -0.00470351 0.01482386
+v -0.00015231 -0.00603684 0.01451482
+v -0.00015231 -0.01441650 0.00246849
+v -0.00192626 -0.01460197 0.00246849
+v -0.00271973 -0.01468813 0.00281492
+v -0.00271973 -0.00603684 0.01430921
+v -0.00183226 -0.00603684 0.01438149
+v -0.00049790 -0.00603684 0.01448866
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+v -0.00271973 -0.01481956 0.00380559
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+v -0.00271973 -0.00728254 0.01396528
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+f 40 44 41
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+f 51 55 54
+f 52 56 53
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+f 55 60 58
+f 55 61 59
+f 56 62 57
+f 56 63 62
+f 59 61 60
+f 60 61 64
+f 60 64 65
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+f 62 66 67
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+f 65 69 66
+f 66 69 67
+f 67 69 70
+f 68 70 69
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_52.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daed5e691040e445d8681f030cbb20dca18ebe65
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_52.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.00470042 -0.01617803 -0.00191948
+v 0.00484126 -0.01617115 -0.00192555
+v 0.00618831 -0.01581365 -0.00135261
+v 0.00470042 -0.01583427 -0.00132230
+v 0.00470042 -0.01617528 -0.00266824
+v 0.00484126 -0.01617115 -0.00263641
+v 0.00618831 -0.01610928 -0.00241360
+v 0.00618831 -0.01610928 -0.00201952
+v 0.00618831 -0.01610790 -0.00201497
+v 0.00618831 -0.01580677 -0.00134200
+v 0.00484126 -0.01578752 -0.00125712
+v 0.00470042 -0.01578615 -0.00125257
+v 0.00470042 -0.01597040 -0.00338669
+v 0.00484126 -0.01598140 -0.00330333
+v 0.00617578 -0.01610928 -0.00241815
+v 0.00617578 -0.01591815 -0.00308506
+v 0.00618831 -0.01560052 -0.00418244
+v 0.00618831 -0.01514539 -0.00045076
+v 0.00617578 -0.01514539 -0.00045076
+v 0.00470042 -0.01376349 0.00123622
+v 0.00470042 -0.01573939 -0.00418698
+v 0.00617578 -0.01559777 -0.00419608
+v 0.00618831 -0.01521414 -0.00551777
+v 0.00618831 -0.01364936 0.00123622
+v 0.00617578 -0.01365074 0.00123622
+v 0.00470042 -0.00213080 0.00123622
+v 0.00484126 -0.01533514 -0.00552990
+v 0.00470042 -0.01534751 -0.00552990
+v 0.00617578 -0.01486488 -0.00670002
+v 0.00618831 -0.01486626 -0.00668941
+v 0.00618831 -0.00213080 0.00123622
+v 0.00470042 -0.00213080 -0.01323727
+v 0.00470042 -0.01488276 -0.00707592
+v 0.00618831 -0.01466275 -0.00735936
+v 0.00618831 -0.01486351 -0.00669851
+v 0.00618831 -0.00213080 -0.01294928
+v 0.00494030 -0.00213080 -0.01319786
+v 0.00618831 -0.00481897 -0.01398148
+v 0.00470042 -0.00455772 -0.01405120
+v 0.00470042 -0.01455138 -0.00815814
+v 0.00617578 -0.01440700 -0.00819906
+v 0.00618831 -0.01440562 -0.00819906
+v 0.00618831 -0.00219130 -0.01298112
+v 0.00611505 -0.00213080 -0.01297051
+v 0.00618831 -0.00222155 -0.01299324
+v 0.00618831 -0.00592449 -0.01405120
+v 0.00553102 -0.00536210 -0.01420732
+v 0.00470042 -0.00522460 -0.01424825
+v 0.00470042 -0.01450325 -0.00830516
+v 0.00470042 -0.01409349 -0.00953288
+v 0.00484126 -0.01407974 -0.00953288
+v 0.00617578 -0.01393949 -0.00953288
+v 0.00618831 -0.01393812 -0.00953288
+v 0.00508521 -0.00627649 -0.01414366
+v 0.00553102 -0.00538548 -0.01420732
+v 0.00618831 -0.00737101 -0.01356315
+v 0.00470042 -0.00591486 -0.01423764
+v 0.00470042 -0.01361499 -0.01043624
+v 0.00484126 -0.01360674 -0.01042715
+v 0.00617578 -0.01352698 -0.01034379
+v 0.00618831 -0.01352973 -0.01033621
+v 0.00470042 -0.00722113 -0.01385871
+v 0.00470042 -0.00594374 -0.01423460
+v 0.00618831 -0.01271572 -0.01081214
+v 0.00470042 -0.01350636 -0.01050445
+v 0.00618831 -0.01352561 -0.01034379
+v 0.00470042 -0.01269647 -0.01100615
+v 0.00484126 -0.01270885 -0.01098190
+f 1 2 3
+f 1 3 4
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+f 1 67 65
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+f 1 33 28
+f 1 28 21
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+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 18 25 20
+f 18 20 19
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+f 21 28 27
+f 23 27 29
+f 23 29 30
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+f 29 34 35
+f 29 35 30
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+f 37 43 45
+f 37 45 38
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+f 38 47 39
+f 39 47 48
+f 40 49 41
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+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 46 54 55
+f 46 55 47
+f 46 56 54
+f 47 55 48
+f 48 55 57
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 51 61 52
+f 52 61 53
+f 54 62 63
+f 54 63 55
+f 54 56 62
+f 55 63 57
+f 56 64 62
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+f 58 60 59
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+f 64 66 68
+f 64 68 67
+f 65 67 66
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\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_54.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b509988ba5f78b31acdb04d9b43c9fa78304ed
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01006457 -0.00983701 -0.01090077
+v 0.01006457 -0.00213080 -0.01090077
+v 0.01080682 -0.00983701 -0.01090077
+v 0.01006457 -0.00983701 0.00159384
+v 0.01080682 -0.00213080 -0.01090077
+v 0.01006457 -0.00213080 0.00159384
+v 0.01080682 -0.00983701 0.00159384
+v 0.01080682 -0.00213080 0.00159384
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_57.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51aed3247076be83afe3e8e332689a81e3549878
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_57.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01548057 -0.01224975 0.00494059
+v 0.01548211 -0.01226075 0.00496775
+v 0.01548057 -0.01204685 0.00496775
+v 0.01548057 -0.01202484 0.00435112
+v 0.01549192 -0.01225586 0.00496775
+v 0.01548057 -0.01183661 0.00385812
+v 0.01548573 -0.01202362 0.00435123
+v 0.01811533 -0.01088567 0.00385812
+v 0.01548057 0.00022621 0.00496775
+v 0.01689506 -0.01136847 0.00496775
+v 0.01548057 0.00022621 0.00385812
+v 0.01811533 0.00022621 0.00385812
+v 0.01811533 -0.01054587 0.00496775
+v 0.01811533 0.00022621 0.00496775
+f 1 2 3
+f 1 3 9
+f 1 9 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 5 10
+f 2 10 13
+f 2 13 14
+f 2 14 9
+f 2 9 3
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 5 8 10
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 8 12 14
+f 8 14 13
+f 8 13 10
+f 9 14 12
+f 9 12 11
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_61.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e66b5e2c09ae2b82933bed099536c3ff1a7a18
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_61.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.00837809 -0.00336771 0.01552155
+v 0.00837809 -0.00246816 0.01545876
+v 0.00751164 -0.00336771 0.01544050
+v 0.00751164 -0.00444688 0.01523616
+v 0.00751164 -0.00603499 0.01493479
+v 0.00837809 -0.00374549 0.01544963
+v 0.00837809 -0.00210606 0.01543250
+v 0.00751164 -0.00230992 0.01536173
+v 0.00751164 -0.00736934 0.01468022
+v 0.00837809 -0.00736934 0.01471561
+v 0.00837809 -0.00152869 0.01503981
+v 0.00751164 -0.00164417 0.01495419
+v 0.00751164 -0.00870512 0.01438455
+v 0.00837809 -0.00870512 0.01443592
+v 0.00837809 -0.00098269 0.01466652
+v 0.00751164 -0.00089431 0.01428638
+v 0.00751164 -0.00984559 0.01401925
+v 0.00837809 -0.00910428 0.01430807
+v 0.00837809 -0.00073749 0.01444734
+v 0.00751164 0.00022621 0.01328523
+v 0.00837809 -0.00988123 0.01405464
+v 0.00751164 -0.01049851 0.01367450
+v 0.00837809 0.00022621 0.01353523
+v 0.00819990 0.00022621 0.01350555
+v 0.00751164 0.00022621 0.00572926
+v 0.00837809 -0.01011503 0.01393021
+v 0.00751164 -0.01051277 0.01366537
+v 0.00753751 -0.01050136 0.01367450
+v 0.00837809 0.00022621 0.00572926
+v 0.00751164 0.00022478 0.00385938
+v 0.00837809 -0.01054841 0.01368364
+v 0.00791756 -0.01052987 0.01367450
+v 0.00751164 -0.01098321 0.01299870
+v 0.00837809 0.00022478 0.00385938
+v 0.00751164 -0.01389427 0.00385938
+v 0.00837809 -0.01055553 0.01367450
+v 0.00751164 -0.01161475 0.01182061
+v 0.00837809 -0.01120846 0.01260258
+v 0.00837809 -0.01098891 0.01301126
+v 0.00837809 -0.01071378 0.01344848
+v 0.00837809 -0.01374173 0.00385938
+v 0.00755549 -0.01388857 0.00385938
+v 0.00837809 -0.01408387 0.00469729
+v 0.00837809 -0.01423926 0.00514820
+v 0.00751164 -0.01433763 0.00514820
+v 0.00751164 -0.01303749 0.00913681
+v 0.00837809 -0.01318432 0.00887996
+v 0.00837809 -0.01407817 0.00468245
+v 0.00837809 -0.01426635 0.00572926
+v 0.00809092 -0.01429914 0.00572926
+v 0.00751164 -0.01431339 0.00572926
+v 0.00751164 -0.01364194 0.00799525
+v 0.00837809 -0.01347657 0.00832858
+v 0.00837809 -0.01427633 0.00601579
+v 0.00837809 -0.01427062 0.00621556
+v 0.00837809 -0.01425922 0.00648383
+v 0.00751164 -0.01429201 0.00621556
+v 0.00751164 -0.01367045 0.00794046
+v 0.00837809 -0.01372462 0.00785712
+v 0.00751164 -0.01427775 0.00648383
+v 0.00837809 -0.01393704 0.00735027
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 21
+f 1 21 26
+f 1 26 31
+f 1 31 36
+f 1 36 40
+f 1 40 39
+f 1 39 38
+f 1 38 47
+f 1 47 53
+f 1 53 59
+f 1 59 61
+f 1 61 56
+f 1 56 55
+f 1 55 54
+f 1 54 49
+f 1 49 44
+f 1 44 43
+f 1 43 48
+f 1 48 41
+f 1 41 34
+f 1 34 29
+f 1 29 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 16
+f 3 16 20
+f 3 20 25
+f 3 25 30
+f 3 30 35
+f 3 35 45
+f 3 45 51
+f 3 51 57
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+f 3 60 58
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+f 3 27 22
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+f 3 17 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 17 22 21
+f 19 23 24
+f 19 24 20
+f 20 24 23
+f 20 23 29
+f 20 29 25
+f 21 22 26
+f 22 27 28
+f 22 28 26
+f 25 29 34
+f 25 34 30
+f 26 28 31
+f 27 32 28
+f 27 33 32
+f 28 32 31
+f 30 34 41
+f 30 41 42
+f 30 42 35
+f 31 32 36
+f 32 33 36
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 36
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 37 46 47
+f 37 47 38
+f 41 48 42
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 45 50 51
+f 46 52 53
+f 46 53 47
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 52 58 59
+f 52 59 53
+f 56 60 57
+f 56 61 60
+f 58 60 61
+f 58 61 59
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_62.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93069a06ab29f14885fd358624d0074a4a837a9a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_62.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.02339047 0.00612627 0.00357485
+v -0.02339047 0.00612627 0.00978305
+v -0.02339047 0.00664407 0.00357485
+v -0.01251858 0.00612627 0.00357485
+v -0.02301264 0.00612627 0.01047449
+v -0.02259118 0.00612632 0.01128590
+v -0.02294985 0.00612632 0.01062919
+v -0.02267526 0.00664397 0.01112067
+v -0.02339047 0.00619972 0.00976095
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+v -0.02292537 0.00664407 0.01047449
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+v -0.02051471 0.00664397 0.01305607
+v -0.02143853 0.00664397 0.01269404
+v -0.02166310 0.00664397 0.01242988
+v -0.01574236 0.00664402 0.01392115
+v -0.01651611 0.00664402 0.01404429
+v -0.01765279 0.00664402 0.01400114
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+v -0.01435238 0.00664402 0.01363911
+v -0.01251858 0.00664397 0.01330654
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+f 1 11 4
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+f 1 12 5
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+f 18 34 35
+f 18 35 19
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+f 22 38 35
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+f 25 41 42
+f 26 42 27
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+f 28 39 29
+f 28 42 40
+f 28 40 39
+f 29 39 33
+f 30 36 37
+f 30 37 31
+f 35 38 36
+f 36 38 37
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_65.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d58740355dba94e405dee92b90ff18b764ee6a
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_65.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01044731 -0.00020688 -0.01268197
+v -0.01044731 -0.00372360 -0.01268197
+v -0.01044731 -0.00020688 -0.01526464
+v -0.01851136 -0.00020688 -0.01268197
+v -0.01044731 -0.00372360 -0.01479970
+v -0.01585729 -0.00372360 -0.01268197
+v -0.01044731 -0.00069707 -0.01530109
+v -0.01117596 -0.00020688 -0.01536166
+v -0.01836453 -0.00020688 -0.01278460
+v -0.01820743 -0.00068950 -0.01268197
+v -0.01085940 -0.00372360 -0.01479662
+v -0.01319138 -0.00137935 -0.01554646
+v -0.01305639 -0.00137935 -0.01554646
+v -0.01044731 -0.00276077 -0.01503665
+v -0.01594018 -0.00363513 -0.01268197
+v -0.01577677 -0.00372360 -0.01273497
+v -0.01044731 -0.00142616 -0.01520855
+v -0.01117596 -0.00069707 -0.01539812
+v -0.01305639 -0.00134561 -0.01554646
+v -0.01319138 -0.00134561 -0.01554646
+v -0.01254562 -0.00020688 -0.01526436
+v -0.01820190 -0.00069810 -0.01268197
+v -0.01809296 -0.00020688 -0.01294809
+v -0.01117596 -0.00372360 -0.01474221
+v -0.01215328 -0.00372360 -0.01454199
+v -0.01239563 -0.00372360 -0.01448086
+v -0.01284719 -0.00372360 -0.01430420
+v -0.01311401 -0.00372360 -0.01419175
+v -0.01600334 -0.00020688 -0.01415165
+v -0.01588887 -0.00020688 -0.01421755
+v -0.01578861 -0.00020688 -0.01426634
+v -0.01451447 -0.00020688 -0.01469482
+f 1 2 5
+f 1 5 14
+f 1 14 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 21
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+f 1 31 30
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+f 1 29 23
+f 1 23 9
+f 1 9 4
+f 1 4 10
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+f 1 15 6
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+f 2 24 11
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+f 5 13 14
+f 6 15 16
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+f 9 12 22
+f 11 24 12
+f 12 20 19
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+f 12 24 25
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+f 12 26 27
+f 12 27 28
+f 12 28 16
+f 12 16 15
+f 12 15 22
+f 12 23 29
+f 12 29 30
+f 12 30 20
+f 13 19 18
+f 13 18 14
+f 14 18 17
+f 20 30 31
+f 20 31 32
+f 20 32 21
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_66.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21fbea0c789acc289b2e922c370cc155e114e0b8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_66.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.01044652 -0.00646010 0.00927096
+v -0.02058478 -0.00646010 0.00927096
+v -0.01044652 -0.00902444 0.00927096
+v -0.01044652 -0.00646010 -0.00559412
+v -0.02106264 -0.00646010 0.00870057
+v -0.02127196 -0.00814757 0.00727605
+v -0.02012620 -0.00718007 0.00927096
+v -0.01566713 -0.00902444 0.00927096
+v -0.01044652 -0.00902444 -0.00559412
+v -0.02443241 -0.00646010 -0.00559412
+v -0.02116041 -0.00664135 0.00844593
+v -0.02373422 -0.00646010 0.00472238
+v -0.01987419 -0.00805042 0.00850122
+v -0.02145373 -0.00737061 0.00754960
+v -0.02266696 -0.00902444 0.00469619
+v -0.02235987 -0.00902444 0.00508033
+v -0.02139865 -0.00902444 0.00615273
+v -0.01925174 -0.00771930 0.00927096
+v -0.01653746 -0.00877566 0.00927096
+v -0.01646310 -0.00902444 0.00900468
+v -0.02125681 -0.00902444 -0.00559412
+v -0.02444481 -0.00646010 -0.00552864
+v -0.02410329 -0.00707815 -0.00559412
+v -0.02273720 -0.00870512 0.00480096
+v -0.02399587 -0.00646010 0.00423930
+v -0.02383750 -0.00666093 0.00444155
+v -0.01931647 -0.00902444 0.00751759
+v -0.01918289 -0.00819200 0.00868747
+v -0.01855079 -0.00800774 0.00927096
+v -0.02051455 -0.00902444 0.00681479
+v -0.02028457 -0.00902444 0.00695011
+v -0.02327427 -0.00870512 0.00381296
+v -0.02313931 -0.00902444 0.00379113
+v -0.01769836 -0.00835342 0.00927096
+v -0.01667242 -0.00902444 0.00889991
+v -0.02190818 -0.00873424 -0.00559412
+v -0.02139452 -0.00902444 -0.00548062
+v -0.02410879 -0.00709046 -0.00552864
+v -0.02384026 -0.00800749 -0.00286003
+v -0.02451366 -0.00646010 -0.00419433
+v -0.02353729 -0.00769972 -0.00559412
+v -0.02374937 -0.00791938 -0.00419433
+v -0.02416939 -0.00646010 0.00380423
+v -0.02401240 -0.00713288 0.00355105
+v -0.02371632 -0.00749487 0.00392355
+v -0.01917600 -0.00902444 0.00759325
+v -0.02359376 -0.00870512 0.00247720
+v -0.02343264 -0.00902444 0.00248448
+v -0.01847230 -0.00902444 0.00797012
+v -0.01783745 -0.00902444 0.00830915
+v -0.02150193 -0.00902444 -0.00539186
+v -0.02160521 -0.00902444 -0.00529146
+v -0.02281707 -0.00821811 -0.00559412
+v -0.02326876 -0.00902444 -0.00018996
+v -0.02338719 -0.00902444 0.00114435
+v -0.02357310 -0.00870512 0.00114435
+v -0.02441589 -0.00646010 0.00247720
+v -0.02342988 -0.00778557 -0.00559412
+v -0.02350149 -0.00775746 -0.00552864
+v -0.02308285 -0.00841969 -0.00419433
+v -0.02281294 -0.00902444 -0.00248753
+v -0.02301537 -0.00902444 -0.00154900
+v -0.02212163 -0.00902444 -0.00429182
+v -0.02283497 -0.00822865 -0.00552864
+v -0.02256919 -0.00902444 -0.00324999
+f 1 2 7
+f 1 7 18
+f 1 18 29
+f 1 29 34
+f 1 34 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 22
+f 1 22 40
+f 1 40 57
+f 1 57 43
+f 1 43 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 20
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+f 3 35 50
+f 3 50 49
+f 3 49 46
+f 3 46 27
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+f 22 39 40
+f 22 23 38
+f 23 41 42
+f 23 42 38
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 32
+f 27 46 28
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+f 32 45 44
+f 32 44 47
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+f 33 47 48
+f 34 46 49
+f 34 49 50
+f 34 50 35
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+f 36 51 52
+f 36 52 53
+f 38 42 39
+f 39 42 54
+f 39 54 55
+f 39 55 56
+f 39 56 47
+f 39 47 40
+f 40 47 57
+f 41 58 59
+f 41 59 42
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+f 42 62 54
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+f 44 57 47
+f 47 56 48
+f 48 56 55
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+f 52 64 53
+f 53 64 58
+f 58 64 59
+f 59 64 60
+f 60 64 65
+f 60 65 61
+f 63 65 64
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_67.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1186a1518da6227ec47e7e7507cebce967f5dd
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_67.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.01044711 0.00545886 0.00306976
+v -0.02488823 0.00545886 0.00306976
+v -0.01044711 0.00511216 0.00306976
+v -0.01044711 0.00545886 -0.01327491
+v -0.02555965 0.00545886 0.00216522
+v -0.02568288 0.00511216 0.00227506
+v -0.02550120 0.00511216 0.00251250
+v -0.02549330 0.00511216 0.00252219
+v -0.02499566 0.00511216 0.00306976
+v -0.01044711 0.00511216 -0.01342836
+v -0.01196215 0.00511216 -0.01318930
+v -0.01299378 0.00511216 -0.01302455
+v -0.01321969 0.00533200 -0.01288241
+v -0.01251193 0.00545886 -0.01292763
+v -0.02620264 0.00545886 0.00126230
+v -0.02628637 0.00511216 0.00140929
+v -0.01337451 0.00511216 -0.01292763
+v -0.01433662 0.00511216 -0.01264820
+v -0.01460203 0.00545886 -0.01242691
+v -0.01334450 0.00545886 -0.01278711
+v -0.02655810 0.00545886 0.00056775
+v -0.02658653 0.00511216 0.00076157
+v -0.01824983 0.00511216 -0.01148199
+v -0.01809659 0.00545886 -0.01138346
+v -0.02655968 0.00545886 0.00056128
+v -0.02655968 0.00545712 0.00056451
+v -0.02655968 0.00545886 0.00028346
+v -0.02657548 0.00511216 0.00021078
+v -0.01832882 0.00511216 -0.01145776
+v -0.01927987 0.00511216 -0.01112663
+v -0.01927671 0.00545886 -0.01095865
+v -0.02600674 0.00545886 -0.00204572
+v -0.02599726 0.00511216 -0.00239138
+v -0.02652018 0.00511216 -0.00007189
+v -0.01964797 0.00511216 -0.01093280
+v -0.01993392 0.00545886 -0.01060976
+v -0.02566550 0.00545886 -0.00337830
+v -0.02529108 0.00511216 -0.00521968
+v -0.02567024 0.00511216 -0.00372558
+v -0.01979647 0.00511216 -0.01085043
+v -0.02020091 0.00545886 -0.01046115
+v -0.02524685 0.00545886 -0.00498062
+v -0.02524211 0.00543337 -0.00503231
+v -0.02509677 0.00511216 -0.00584801
+v -0.02034151 0.00511216 -0.01054353
+v -0.02098292 0.00511216 -0.01001050
+v -0.02086759 0.00545886 -0.00988613
+v -0.02522157 0.00545886 -0.00505493
+v -0.02497670 0.00545886 -0.00573010
+v -0.02507623 0.00511216 -0.00590616
+v -0.02330051 0.00511216 -0.00789291
+v -0.02336528 0.00545886 -0.00761832
+v -0.02434161 0.00545886 -0.00667825
+v -0.02444272 0.00511216 -0.00677032
+v -0.02369389 0.00511216 -0.00751494
+v -0.02391032 0.00545886 -0.00710790
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 14
+f 1 14 20
+f 1 20 19
+f 1 19 24
+f 1 24 31
+f 1 31 36
+f 1 36 41
+f 1 41 47
+f 1 47 52
+f 1 52 56
+f 1 56 53
+f 1 53 49
+f 1 49 48
+f 1 48 42
+f 1 42 37
+f 1 37 32
+f 1 32 27
+f 1 27 25
+f 1 25 21
+f 1 21 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 16
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+f 3 22 28
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+f 3 34 33
+f 3 33 39
+f 3 39 38
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+f 3 54 55
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+f 3 23 18
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+f 3 17 12
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+f 3 11 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 16
+f 12 17 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 13 17 18
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 24
+f 21 25 26
+f 21 26 22
+f 22 26 25
+f 22 25 27
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 35 40 36
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 38 43 44
+f 40 45 41
+f 41 45 46
+f 41 46 47
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 46 51 52
+f 46 52 47
+f 49 53 50
+f 50 53 54
+f 51 55 56
+f 51 56 52
+f 53 56 54
+f 54 56 55
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_7.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6b748c7d81958d5be72ffde02ec059d6562a7f8
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.01811559 -0.00601905 0.01553675
+v 0.01866767 -0.00595102 0.01456994
+v 0.01811559 -0.00470197 0.01456728
+v 0.01811559 -0.00737013 0.01533274
+v 0.01855999 -0.00737013 0.01496642
+v 0.01916409 -0.00737013 0.01429852
+v 0.02030293 -0.00778297 0.01268776
+v 0.01901626 -0.00633923 0.01417700
+v 0.01869459 -0.00192709 0.01058651
+v 0.01811559 0.00022621 0.00976693
+v 0.01815209 -0.00470197 0.01449099
+v 0.02117348 -0.00740884 0.01044636
+v 0.02159964 -0.00653391 0.00865023
+v 0.01811559 -0.00461049 0.01448213
+v 0.01811559 -0.00769618 0.01507640
+v 0.01910660 -0.00821925 0.01410338
+v 0.02030293 -0.00826617 0.01268776
+v 0.02137424 -0.00870480 0.01090227
+v 0.02175568 -0.00870480 0.01023437
+v 0.02159462 -0.00788031 0.00997360
+v 0.02051601 -0.00735019 0.01184336
+v 0.01908515 0.00022621 0.00762221
+v 0.01811559 0.00022621 0.00647712
+v 0.02239993 -0.00612226 0.00647712
+v 0.01996118 -0.00064402 0.00653211
+v 0.01960256 0.00022621 0.00647712
+v 0.01811559 -0.00834474 0.01452293
+v 0.02056574 -0.00953985 0.01142381
+v 0.02176344 -0.00965713 0.01021929
+v 0.02209651 -0.00870480 0.00915226
+v 0.02275217 -0.00716254 0.00647712
+v 0.02228906 -0.00737013 0.00781824
+v 0.02243096 -0.00619966 0.00647712
+v 0.01948530 -0.01029866 0.00647623
+v 0.01823330 -0.01113370 0.00647623
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+v 0.01811559 -0.01175530 0.00779784
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+f 1 23 36
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+f 1 59 50
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+f 1 37 27
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+f 23 35 36
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+f 36 48 49
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+f 39 55 56
+f 39 56 41
+f 39 52 53
+f 41 56 47
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+f 47 49 48
+f 50 59 60
+f 50 60 53
+f 50 53 52
+f 50 52 51
+f 53 60 61
+f 53 61 54
+f 59 61 60
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_73.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4b6422d028c9c133022f9d4235b3a1293a3baf
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_73.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.00040968 0.00633684 -0.01494726
+v -0.00040968 0.00855951 -0.01453002
+v 0.00470018 0.00633684 -0.01419916
+v -0.00040968 0.00633684 -0.00252036
+v -0.00040968 0.00864861 -0.01451299
+v 0.00126893 0.00912437 -0.01416875
+v 0.00470018 0.00864698 -0.01373935
+v 0.00470018 0.00633684 -0.00252036
+v -0.00040968 0.01310212 -0.00252036
+v -0.00040968 0.00953555 -0.01429647
+v 0.00037911 0.00940067 -0.01423687
+v 0.00470018 0.01008488 -0.01318589
+v 0.00470018 0.01296233 -0.00252036
+v -0.00040968 0.01348632 -0.00332563
+v 0.00203521 0.01305798 -0.00252036
+v 0.00217276 0.01345117 -0.00330981
+v 0.00350624 0.01386971 -0.00419658
+v 0.00217276 0.01388933 -0.00419780
+v 0.00083727 0.01389505 -0.00419536
+v -0.00040968 0.01019687 -0.01386830
+v 0.00470018 0.01064075 -0.01286475
+v 0.00461314 0.01296887 -0.00252036
+v 0.00470018 0.01380104 -0.00410656
+v -0.00040968 0.01389587 -0.00419536
+v 0.00332117 0.01301465 -0.00252036
+v 0.00470018 0.01384682 -0.00419658
+v -0.00040968 0.01468635 -0.00610513
+v -0.00040968 0.01442476 -0.00544584
+v -0.00040968 0.01083204 -0.01319683
+v 0.00433955 0.01065956 -0.01288543
+v -0.00040968 0.01363674 -0.00829590
+v 0.00470018 0.01087455 -0.01244509
+v 0.00470018 0.01427272 -0.00553099
+v 0.00045613 0.01466673 -0.00615257
+v -0.00040968 0.01468635 -0.00628273
+v -0.00040968 0.01356970 -0.00841511
+v -0.00040968 0.01436836 -0.00694081
+v 0.00087529 0.01436754 -0.00675348
+v 0.00217126 0.01419996 -0.00686539
+v 0.00350624 0.01408143 -0.00686661
+v 0.00470018 0.01396944 -0.00686661
+v 0.00045613 0.01466673 -0.00623286
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+f 1 8 4
+f 1 4 9
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+f 1 14 24
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+f 16 26 17
+f 17 26 27
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+f 18 28 19
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+f 20 29 30
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+f 21 30 31
+f 21 31 32
+f 22 23 25
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+f 26 34 27
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+f 27 42 35
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+f 30 36 31
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+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 33 42 34
+f 33 41 42
+f 35 42 37
+f 37 42 38
+f 38 42 39
+f 39 42 40
+f 40 42 41
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_77.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ccc6178dfa91fe2618b495a2ccd0b5a7bdfd75
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_77.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01672660 0.00083133 0.00233644
+v -0.01672660 0.00083133 0.00307138
+v -0.01672660 0.00124012 0.00233644
+v -0.01044714 0.00083133 0.00233644
+v -0.01672660 0.00123852 0.00307138
+v -0.01044714 0.00083133 0.00307138
+v -0.01672660 0.00124012 0.00280455
+v -0.01044714 0.00124012 0.00233644
+v -0.01672538 0.00124012 0.00307138
+v -0.01044714 0.00124012 0.00307138
+f 1 2 5
+f 1 5 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 9
+f 2 9 5
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 6
+f 5 9 7
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_78.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882eca0a4dadbb21431e3d0f7241138956c66657
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_78.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.00222401 -0.00252167 0.01525032
+v 0.00222401 -0.00249554 0.01523281
+v 0.00217122 -0.00252312 0.01524907
+v -0.00015208 -0.00261892 0.01519903
+v 0.00222401 -0.00315595 0.01525032
+v 0.00222401 -0.00185546 0.01479996
+v 0.00217122 -0.00185691 0.01479871
+v -0.00015208 -0.00195125 0.01475617
+v -0.00015208 -0.00292227 0.01519903
+v 0.00217122 -0.00318353 0.01524907
+v 0.00222401 -0.00319369 0.01524907
+v 0.00222401 0.00009238 0.01326998
+v -0.00015208 0.00009238 0.01333628
+v -0.00015208 -0.00341866 0.01510646
+v 0.00083711 -0.00303548 0.01522030
+v 0.00083711 -0.00370169 0.01509520
+v 0.00222401 -0.00469883 0.01496509
+v 0.00222401 0.00009238 0.00247130
+v -0.00015208 0.00009238 0.00247130
+v -0.00015208 -0.00359138 0.01507393
+v 0.00083711 -0.00470319 0.01489879
+v 0.00222401 -0.00603706 0.01468111
+v 0.00222401 -0.00039385 0.00247005
+v -0.00015208 -0.00039385 0.00247005
+v -0.00015208 -0.00470319 0.01484374
+v 0.00083711 -0.00603706 0.01459104
+v 0.00222401 -0.00737094 0.01434084
+v 0.00222401 -0.01409838 0.00247005
+v -0.00015208 -0.01441624 0.00247005
+v -0.00015208 -0.00603706 0.01451598
+v 0.00217122 -0.00737094 0.01433709
+v 0.00222401 -0.00811408 0.01413567
+v 0.00222401 -0.01413031 0.00247130
+v 0.00217122 -0.01413902 0.00247005
+v 0.00082757 -0.01430738 0.00247005
+v 0.00222401 -0.01451204 0.00381363
+v 0.00217122 -0.01451784 0.00381363
+v -0.00015208 -0.01449897 0.00286287
+v -0.00015208 -0.00737094 0.01414944
+v 0.00083711 -0.00737094 0.01422950
+v 0.00222401 -0.00882819 0.01393802
+v 0.00222401 -0.01414918 0.00253135
+v 0.00222401 -0.01451929 0.00386617
+v 0.00222401 -0.01467170 0.00524853
+v 0.00031123 -0.01471814 0.00441787
+v 0.00078850 -0.01462235 0.00390871
+v -0.00015208 -0.01464702 0.00365851
+v -0.00015208 -0.00829261 0.01389423
+v 0.00083711 -0.00910396 0.01374911
+v 0.00189049 -0.00925781 0.01379165
+v 0.00222401 -0.00983549 0.01357522
+v 0.00180513 -0.01471234 0.00582149
+v 0.00180513 -0.01471234 0.00576145
+v 0.00222401 -0.01443366 0.00635317
+v -0.00015208 -0.01473266 0.00431278
+v -0.00015208 -0.00895882 0.01370908
+v -0.00015208 -0.00979630 0.01341384
+v -0.00015208 -0.01003869 0.01332127
+v 0.00222401 -0.00991822 0.01354020
+v 0.00222401 -0.01369923 0.00776430
+v 0.00125251 -0.01471234 0.00582149
+v -0.00015208 -0.01472975 0.00531359
+v -0.00015208 -0.01473556 0.00510592
+v -0.00015208 -0.01473556 0.00452295
+v -0.00015208 -0.01070490 0.01292095
+v 0.00083711 -0.01003869 0.01338632
+v 0.00222401 -0.00994725 0.01352143
+v 0.00222401 -0.01334798 0.00843234
+v -0.00015208 -0.01436544 0.00644950
+v -0.00015208 -0.01470508 0.00571266
+v -0.00015208 -0.01093859 0.01276707
+v 0.00222401 -0.01092117 0.01285965
+v 0.00217122 -0.01197346 0.01102693
+v 0.00083711 -0.01153803 0.01182132
+v -0.00015208 -0.01196040 0.01100066
+v 0.00083711 -0.01369197 0.00774804
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+v -0.00015208 -0.01152497 0.01182132
+v 0.00222401 -0.01155255 0.01182132
+v 0.00222401 -0.01152932 0.01186135
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+f 45 55 47
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+f 49 57 50
+f 50 57 58
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+f 51 58 59
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+f 52 62 63
+f 52 63 64
+f 52 64 53
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+f 59 66 65
+f 59 65 67
+f 60 68 61
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+f 61 70 62
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+f 67 71 72
+f 68 73 74
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+f 68 75 76
+f 68 76 69
+f 68 77 73
+f 69 76 75
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+f 73 80 74
+f 74 81 75
+f 74 80 78
+f 74 78 81
+f 78 79 81
+f 78 80 83
+f 80 82 83
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_8.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b5e8a95c16fc6567cbd932820c87eb35a90c58
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01683231 -0.01256880 0.00211865
+v 0.01806717 -0.01250443 0.00211865
+v 0.01683231 -0.01127836 0.00385648
+v 0.01683231 -0.00213080 0.00211865
+v 0.01947559 -0.01243087 0.00211865
+v 0.01696961 -0.01125690 0.00385801
+v 0.01686253 -0.01126609 0.00385801
+v 0.01683231 -0.01122625 0.00385801
+v 0.02085811 -0.01232665 0.00211865
+v 0.02352730 -0.01088192 0.00331420
+v 0.01683231 -0.00213080 0.00385801
+v 0.02260936 -0.00213080 0.00211865
+v 0.02352730 -0.01027093 0.00385801
+v 0.02089956 -0.01231746 0.00211865
+v 0.02446597 -0.01080325 0.00324780
+v 0.02182355 -0.00213080 0.00385801
+v 0.02273112 -0.00240667 0.00211865
+v 0.02246688 -0.00213080 0.00243550
+v 0.02455232 -0.00985202 0.00385801
+v 0.02200316 -0.01206509 0.00211865
+v 0.02458772 -0.01089214 0.00247858
+v 0.02527078 -0.01005126 0.00252710
+v 0.02460931 -0.00993069 0.00374087
+v 0.02245738 -0.00356838 0.00385801
+v 0.02306013 -0.00315253 0.00211865
+v 0.02427599 -0.00591120 0.00211865
+v 0.02437961 -0.00761852 0.00355478
+v 0.02529928 -0.00865149 0.00252710
+v 0.02565246 -0.00961907 0.00211865
+v 0.02459291 -0.00866375 0.00385801
+v 0.02430103 -0.01103007 0.00211865
+v 0.02454886 -0.01088295 0.00211865
+v 0.02472934 -0.01075727 0.00211865
+v 0.02522415 -0.01015241 0.00211865
+v 0.02276135 -0.00425804 0.00385801
+v 0.02465422 -0.00676946 0.00211865
+v 0.02299364 -0.00478526 0.00385801
+v 0.02375873 -0.00652220 0.00385801
+v 0.02410933 -0.00731915 0.00385801
+v 0.02430967 -0.00781367 0.00385801
+v 0.02565333 -0.00905711 0.00211865
+v 0.02538131 -0.00841955 0.00211865
+f 1 2 3
+f 1 3 8
+f 1 8 11
+f 1 11 4
+f 1 4 12
+f 1 12 17
+f 1 17 25
+f 1 25 26
+f 1 26 36
+f 1 36 42
+f 1 42 41
+f 1 41 29
+f 1 29 34
+f 1 34 33
+f 1 33 32
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+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 5 9
+f 3 9 10
+f 3 10 6
+f 4 11 16
+f 4 16 18
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+f 6 39 38
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+f 6 24 16
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+f 9 14 15
+f 9 15 10
+f 10 15 13
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+f 13 15 19
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+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 41 42
+f 28 42 36
+f 28 40 41
+f 29 41 30
+f 30 41 40
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_80.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b35093d54b3cb8f950f366a86b43d9b3f22f21
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.02149299 -0.00089344 0.01108757
+v -0.02204895 -0.00089344 0.01044852
+v -0.02183280 -0.00143157 0.01050178
+v -0.02149299 -0.00143157 0.01089159
+v -0.02149299 -0.00089344 -0.01067408
+v -0.02219412 -0.00089344 0.01027172
+v -0.02248823 -0.00126633 0.00976900
+v -0.02245543 -0.00143157 0.00972001
+v -0.02149299 -0.00143157 -0.01049941
+v -0.02154998 -0.00143157 -0.01046959
+v -0.02166075 -0.00089344 -0.01057609
+v -0.02282320 -0.00089344 0.00938132
+v -0.02255113 -0.00143157 0.00957516
+v -0.02322430 -0.00143157 0.00847387
+v -0.02221724 -0.00143157 -0.00997539
+v -0.02232800 -0.00089344 -0.01002439
+v -0.02298611 -0.00089344 0.00911079
+v -0.02386091 -0.00143157 0.00741305
+v -0.02285438 -0.00143157 -0.00930652
+v -0.02287535 -0.00089344 -0.00935765
+v -0.02368885 -0.00089344 0.00787743
+v -0.02395823 -0.00089344 0.00735554
+v -0.02468194 -0.00143157 0.00580053
+v -0.02352164 -0.00143157 -0.00839482
+v -0.02354261 -0.00089344 -0.00842464
+v -0.02448461 -0.00089344 0.00629898
+v -0.02511477 -0.00143157 0.00492077
+v -0.02377166 -0.00143157 -0.00804334
+v -0.02545834 -0.00089344 -0.00573000
+v -0.02500562 -0.00089344 0.00522752
+v -0.02527069 -0.00089344 0.00465876
+v -0.02525456 -0.00143157 0.00462042
+v -0.02529435 -0.00143157 -0.00589828
+v -0.02555942 -0.00089344 -0.00558727
+v -0.02555889 -0.00089344 0.00381309
+v -0.02552878 -0.00143157 0.00381309
+v -0.02557125 -0.00143157 -0.00550633
+v -0.02630034 -0.00089344 -0.00449664
+v -0.02627722 -0.00143157 -0.00448386
+v -0.02561642 -0.00089344 0.00361499
+v -0.02574223 -0.00143157 0.00307819
+v -0.02669768 -0.00143157 -0.00381712
+v -0.02669284 -0.00089344 -0.00382777
+v -0.02594171 -0.00089344 0.00247749
+v -0.02591375 -0.00143157 0.00247749
+v -0.02682565 -0.00143157 -0.00337831
+v -0.02693587 -0.00089344 -0.00299914
+v -0.02669714 -0.00089344 -0.00030023
+v -0.02626378 -0.00143157 0.00114188
+v -0.02684339 -0.00143157 -0.00330588
+v -0.02694985 -0.00143157 -0.00285855
+v -0.02696921 -0.00089344 -0.00285855
+v -0.02697351 -0.00089344 -0.00152507
+v -0.02666112 -0.00143157 -0.00037692
+v -0.02695899 -0.00143157 -0.00225997
+v -0.02698534 -0.00089344 -0.00172105
+v -0.02691383 -0.00143157 -0.00152507
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 25
+f 1 25 29
+f 1 29 34
+f 1 34 38
+f 1 38 43
+f 1 43 47
+f 1 47 52
+f 1 52 56
+f 1 56 53
+f 1 53 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 31
+f 1 31 30
+f 1 30 26
+f 1 26 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 14
+f 3 14 18
+f 3 18 23
+f 3 23 27
+f 3 27 32
+f 3 32 36
+f 3 36 41
+f 3 41 45
+f 3 45 49
+f 3 49 54
+f 3 54 57
+f 3 57 55
+f 3 55 51
+f 3 51 50
+f 3 50 46
+f 3 46 42
+f 3 42 39
+f 3 39 37
+f 3 37 33
+f 3 33 28
+f 3 28 24
+f 3 24 19
+f 3 19 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 13
+f 10 15 11
+f 11 15 16
+f 12 17 14
+f 14 17 18
+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 20 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 39
+f 34 39 38
+f 35 40 41
+f 35 41 36
+f 38 39 42
+f 38 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 46 50 47
+f 47 51 52
+f 47 50 51
+f 48 53 54
+f 48 54 49
+f 51 55 52
+f 52 55 56
+f 53 56 55
+f 53 55 57
+f 53 57 54
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_81.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374d152957621a4fde14e5a9f3501bdb55c711f4
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_81.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00771845 0.00201632 -0.00106094
+v 0.00771845 0.00201632 -0.00021936
+v 0.00771845 0.01263797 -0.00106094
+v 0.01117257 0.00201632 -0.00106094
+v 0.01117257 0.00201632 -0.00021936
+v 0.00771845 0.00201749 0.00114980
+v 0.00771845 0.01389491 0.00114374
+v 0.01117257 0.01314404 -0.00106094
+v 0.01117257 0.00201749 0.00114980
+v 0.00771845 0.01389609 0.00114980
+v 0.01117257 0.01403967 0.00114980
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 8
+f 4 8 11
+f 4 11 9
+f 4 9 5
+f 6 9 11
+f 6 11 10
+f 7 10 11
+f 7 11 8
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_85.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55761dc511276057e4781eb85b55e7748c4a532
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_85.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00470049 -0.01376416 0.00123639
+v 0.00898331 -0.01352161 0.00123639
+v 0.00470049 -0.01370039 0.00211865
+v 0.00470049 -0.00213080 0.00123639
+v 0.00898331 -0.00236197 0.00123639
+v 0.00898331 -0.01318226 0.00211865
+v 0.00470049 -0.00213080 0.00211865
+v 0.00898248 -0.00213080 0.00123639
+v 0.00898331 -0.00213080 0.00211865
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 2 6 3
+f 3 6 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+f 5 8 9
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_86.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a0693755761eb77fae0e7f98b03ddabbcd5935
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_86.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.01651688 -0.00286863 -0.01268197
+v -0.01044871 -0.00286863 -0.01268197
+v -0.01615093 -0.00335632 -0.01268197
+v -0.02091900 -0.00335632 -0.01011369
+v -0.02115061 -0.00286863 -0.01018219
+v -0.01044716 -0.00286863 -0.00765140
+v -0.01044871 -0.00335632 -0.01268197
+v -0.02173890 -0.00335632 -0.00966259
+v -0.02134825 -0.00286863 -0.01007362
+v -0.01044716 -0.00335632 -0.00765140
+v -0.01044716 -0.00286863 0.00052263
+v -0.02261747 -0.00335632 -0.00910163
+v -0.02173118 -0.00324848 -0.00970912
+v -0.02184235 -0.00286863 -0.00977504
+v -0.01044716 -0.00335632 0.00052263
+v -0.02611786 -0.00286863 0.00052263
+v -0.02270240 -0.00335632 -0.00904605
+v -0.02274872 -0.00286863 -0.00912231
+v -0.02597427 -0.00335632 0.00052263
+v -0.02622132 -0.00286863 0.00003663
+v -0.02622132 -0.00317864 -0.00029684
+v -0.02599434 -0.00332195 0.00052263
+v -0.02336943 -0.00335632 -0.00828862
+v -0.02341730 -0.00286863 -0.00831577
+v -0.02608853 -0.00335632 -0.00021283
+v -0.02622132 -0.00286863 -0.00421841
+v -0.02622132 -0.00335632 -0.00123781
+v -0.02391912 -0.00335632 -0.00762167
+v -0.02393610 -0.00287074 -0.00765140
+v -0.02393610 -0.00287069 -0.00765140
+v -0.02393610 -0.00286863 -0.00764752
+v -0.02622132 -0.00326514 -0.00408657
+v -0.02579516 -0.00286863 -0.00501979
+v -0.02622132 -0.00335632 -0.00374017
+v -0.02506018 -0.00335632 -0.00600858
+v -0.02470813 -0.00286863 -0.00656179
+v -0.02416462 -0.00286863 -0.00732826
+v -0.02553112 -0.00335632 -0.00533905
+v -0.02571178 -0.00335632 -0.00499652
+v -0.02613639 -0.00335632 -0.00417576
+v -0.02614103 -0.00335632 -0.00415508
+v -0.02525937 -0.00286863 -0.00578109
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 24
+f 1 24 31
+f 1 31 37
+f 1 37 36
+f 1 36 42
+f 1 42 33
+f 1 33 26
+f 1 26 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 3 7 10
+f 3 10 15
+f 3 15 19
+f 3 19 25
+f 3 25 27
+f 3 27 34
+f 3 34 41
+f 3 41 40
+f 3 40 39
+f 3 39 38
+f 3 38 35
+f 3 35 28
+f 3 28 23
+f 3 23 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 11 15
+f 6 15 10
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 11 16 22
+f 11 22 19
+f 11 19 15
+f 12 14 13
+f 12 17 14
+f 14 17 18
+f 16 20 21
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 19 22 21
+f 19 21 25
+f 20 26 32
+f 20 32 34
+f 20 34 27
+f 20 27 21
+f 21 27 25
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 26 33 32
+f 28 35 36
+f 28 36 29
+f 29 36 30
+f 30 36 37
+f 30 37 31
+f 32 33 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 34
+f 33 42 35
+f 33 35 38
+f 35 42 36
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_88.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b74a4eabf8affe87638699dd5e153e92ab9d8c
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_88.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00898331 -0.01357939 -0.00964569
+v 0.00898331 -0.01344379 -0.00988200
+v 0.00917107 -0.01329026 -0.01011831
+v 0.01006457 -0.01357939 -0.00941730
+v 0.00898331 -0.01357939 -0.00813410
+v 0.00898331 -0.01305380 -0.01027673
+v 0.01006457 -0.01317820 -0.01001666
+v 0.01006457 -0.01252037 -0.01042855
+v 0.01006457 -0.01357939 -0.00813410
+v 0.01006457 -0.01357827 0.00118495
+v 0.00898331 -0.01357827 0.00117175
+v 0.00898331 -0.01274562 -0.01044967
+v 0.00898331 -0.01231193 -0.01066486
+v 0.00898331 -0.00983081 -0.01189394
+v 0.00993068 -0.00959211 -0.01189394
+v 0.01006457 -0.00955625 -0.01189394
+v 0.01006457 -0.01319613 0.00159024
+v 0.00901274 -0.01319949 0.00159288
+v 0.00898331 -0.01319949 0.00159288
+v 0.00898331 -0.00213640 -0.01189394
+v 0.01006457 -0.00213192 -0.01189394
+v 0.01006457 -0.01316138 0.00159288
+v 0.00898331 -0.00637920 0.00159288
+v 0.00898384 -0.00213192 -0.01127874
+v 0.00898395 -0.00213192 -0.01189394
+v 0.00898331 -0.00213080 0.00159156
+v 0.00898374 -0.00213080 -0.00813146
+v 0.01006457 -0.00213080 -0.00813146
+v 0.01006457 -0.00637920 0.00159288
+v 0.01006457 -0.00213080 0.00159156
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 11
+f 1 11 19
+f 1 19 23
+f 1 23 26
+f 1 26 20
+f 1 20 14
+f 1 14 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 16
+f 4 16 21
+f 4 21 28
+f 4 28 30
+f 4 30 29
+f 4 29 22
+f 4 22 17
+f 4 17 10
+f 4 10 9
+f 5 9 10
+f 5 10 11
+f 6 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 14 20 25
+f 14 25 21
+f 14 21 16
+f 14 16 15
+f 17 22 18
+f 18 22 29
+f 18 29 23
+f 18 23 19
+f 20 24 25
+f 20 26 27
+f 20 27 24
+f 21 25 27
+f 21 27 28
+f 23 29 30
+f 23 30 26
+f 24 27 25
+f 26 30 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_89.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae7da91e9da8ede06c5f9d13d476bb8f3b634d5
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_89.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02473015 -0.00328007 0.00510823
+v -0.02457357 -0.00371299 0.00510823
+v -0.02410522 -0.00372360 0.00587117
+v -0.02406607 -0.00336643 0.00614493
+v -0.02403811 -0.00327737 0.00623738
+v -0.02407446 -0.00327737 0.00617276
+v -0.02362848 -0.00327737 0.00510823
+v -0.02456937 -0.00372360 0.00510823
+v -0.02375011 -0.00372360 0.00640254
+v -0.02362289 -0.00336643 0.00681183
+v -0.02400735 -0.00327737 0.00628496
+v -0.01044901 -0.00327737 0.00510823
+v -0.01044901 -0.00372360 0.00510823
+v -0.02087012 -0.00372360 0.01068219
+v -0.02363966 -0.00327737 0.00683786
+v -0.02094142 -0.00336643 0.01079528
+v -0.01044901 -0.00327737 0.01427698
+v -0.01044901 -0.00372360 0.01412798
+v -0.02020185 -0.00372360 0.01156450
+v -0.02132868 -0.00327737 0.01026840
+v -0.02095680 -0.00327737 0.01082041
+v -0.01384769 -0.00327737 0.01389820
+v -0.01243425 -0.00372360 0.01390539
+v -0.02027455 -0.00336643 0.01164080
+v -0.01959509 -0.00372360 0.01223140
+v -0.02028992 -0.00327737 0.01165247
+v -0.01517584 -0.00327737 0.01370792
+v -0.01559246 -0.00372360 0.01351763
+v -0.01384769 -0.00372360 0.01374113
+v -0.01965800 -0.00336643 0.01230770
+v -0.01892822 -0.00372360 0.01274392
+v -0.01967059 -0.00327737 0.01232116
+v -0.01642570 -0.00327737 0.01350237
+v -0.01687028 -0.00372360 0.01331747
+v -0.01891144 -0.00327737 0.01282740
+v -0.01899113 -0.00336643 0.01278072
+v -0.01809078 -0.00372360 0.01305987
+v -0.01784752 -0.00327737 0.01322951
+v -0.01879401 -0.00327737 0.01287227
+v -0.01900931 -0.00327737 0.01278611
+v -0.01762244 -0.00327737 0.01327529
+v -0.01784752 -0.00336643 0.01321335
+v -0.01784752 -0.00372360 0.01313167
+v -0.01775944 -0.00327737 0.01324836
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 8 13
+f 3 13 18
+f 3 18 23
+f 3 23 29
+f 3 29 28
+f 3 28 34
+f 3 34 43
+f 3 43 37
+f 3 37 31
+f 3 31 25
+f 3 25 19
+f 3 19 14
+f 3 14 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 15
+f 5 15 20
+f 5 20 21
+f 5 21 26
+f 5 26 32
+f 5 32 40
+f 5 40 35
+f 5 35 39
+f 5 39 38
+f 5 38 44
+f 5 44 41
+f 5 41 33
+f 5 33 27
+f 5 27 22
+f 5 22 17
+f 5 17 12
+f 5 12 7
+f 5 7 6
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 15
+f 12 17 18
+f 12 18 13
+f 14 19 16
+f 15 16 20
+f 16 19 21
+f 16 21 20
+f 17 22 18
+f 18 22 23
+f 19 24 21
+f 19 25 24
+f 21 24 26
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 25 30
+f 24 30 26
+f 25 31 30
+f 26 30 32
+f 27 33 34
+f 27 34 28
+f 30 31 32
+f 31 35 36
+f 31 36 32
+f 31 37 38
+f 31 38 39
+f 31 39 35
+f 32 36 40
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 35 40 36
+f 37 43 42
+f 37 42 38
+f 38 42 44
+f 41 44 42
\ No newline at end of file
diff --git a/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_90.obj b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4574d3fec1075ec77bdca661217b938d27d7e4db
--- /dev/null
+++ b/new_half_pickle/new_half_pickle_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00525135 -0.01665893 -0.00286167
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