diff --git a/examples/python/Colon/axis.obj b/examples/python/Colon/axis.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e000459b8d1925a2caf4aa4b6aa368418b55348c
--- /dev/null
+++ b/examples/python/Colon/axis.obj
@@ -0,0 +1,2295 @@
+# Blender 4.1.1
+# www.blender.org
+o Sphere
+v 0.000000 0.083147 -0.055557
+v 0.000000 0.055557 -0.083147
+v 0.000000 0.019509 -0.098079
+v 0.000000 -0.000000 -0.100000
+v 0.000000 -0.019509 -0.098079
+v 0.000000 -0.055557 -0.083147
+v 0.003806 0.098079 -0.019134
+v 0.007466 0.092388 -0.037533
+v 0.010839 0.083147 -0.054490
+v 0.013795 0.070711 -0.069352
+v 0.016221 0.055557 -0.081549
+v 0.018024 0.038268 -0.090613
+v 0.019134 0.019509 -0.096194
+v 0.019509 -0.000000 -0.098079
+v 0.019134 -0.019509 -0.096194
+v 0.018024 -0.038268 -0.090613
+v 0.016221 -0.055557 -0.081549
+v 0.013795 -0.070711 -0.069352
+v 0.010839 -0.083147 -0.054490
+v 0.007466 -0.092388 -0.037533
+v 0.003806 -0.098079 -0.019134
+v 0.007466 0.098079 -0.018024
+v 0.014645 0.092388 -0.035355
+v 0.021261 0.083147 -0.051328
+v 0.027060 0.070711 -0.065328
+v 0.031819 0.055557 -0.076818
+v 0.035355 0.038268 -0.085355
+v 0.037533 0.019509 -0.090613
+v 0.038268 -0.000000 -0.092388
+v 0.037533 -0.019509 -0.090613
+v 0.035355 -0.038268 -0.085355
+v 0.031819 -0.055557 -0.076818
+v 0.027060 -0.070711 -0.065328
+v 0.021261 -0.083147 -0.051328
+v 0.014645 -0.092388 -0.035355
+v 0.007466 -0.098079 -0.018024
+v 0.010839 0.098079 -0.016221
+v 0.021261 0.092388 -0.031819
+v 0.030866 0.083147 -0.046194
+v 0.039285 0.070711 -0.058794
+v 0.046194 0.055557 -0.069134
+v 0.051328 0.038268 -0.076818
+v 0.054490 0.019509 -0.081549
+v 0.055557 -0.000000 -0.083147
+v 0.054490 -0.019509 -0.081549
+v 0.051328 -0.038268 -0.076818
+v 0.046194 -0.055557 -0.069134
+v 0.039285 -0.070711 -0.058794
+v 0.030866 -0.083147 -0.046194
+v 0.021261 -0.092388 -0.031819
+v 0.010839 -0.098079 -0.016221
+v 0.013795 0.098079 -0.013795
+v 0.027060 0.092388 -0.027060
+v 0.039285 0.083147 -0.039285
+v 0.050000 0.070711 -0.050000
+v 0.058794 0.055557 -0.058794
+v 0.065328 0.038268 -0.065328
+v 0.069352 0.019509 -0.069352
+v 0.070711 -0.000000 -0.070711
+v 0.069352 -0.019509 -0.069352
+v 0.065328 -0.038268 -0.065328
+v 0.058794 -0.055557 -0.058794
+v 0.050000 -0.070711 -0.050000
+v 0.039285 -0.083147 -0.039285
+v 0.027060 -0.092388 -0.027060
+v 0.013795 -0.098079 -0.013795
+v 0.016221 0.098079 -0.010839
+v 0.031819 0.092388 -0.021261
+v 0.046194 0.083147 -0.030866
+v 0.058794 0.070711 -0.039285
+v 0.069134 0.055557 -0.046194
+v 0.076818 0.038268 -0.051328
+v 0.081549 0.019509 -0.054490
+v 0.083147 -0.000000 -0.055557
+v 0.081549 -0.019509 -0.054490
+v 0.076818 -0.038268 -0.051328
+v 0.069134 -0.055557 -0.046194
+v 0.058794 -0.070711 -0.039285
+v 0.046194 -0.083147 -0.030866
+v 0.031819 -0.092388 -0.021261
+v 0.016221 -0.098079 -0.010839
+v 0.000000 0.100000 -0.000000
+v 0.018024 0.098079 -0.007466
+v 0.035355 0.092388 -0.014645
+v 0.051328 0.083147 -0.021261
+v 0.065328 0.070711 -0.027060
+v 0.076818 0.055557 -0.031819
+v 0.085355 0.038268 -0.035355
+v 0.090613 0.019509 -0.037533
+v 0.092388 -0.000000 -0.038268
+v 0.090613 -0.019509 -0.037533
+v 0.085355 -0.038268 -0.035355
+v 0.076818 -0.055557 -0.031819
+v 0.065328 -0.070711 -0.027060
+v 0.051328 -0.083147 -0.021261
+v 0.035355 -0.092388 -0.014645
+v 0.018024 -0.098079 -0.007466
+v 0.019134 0.098079 -0.003806
+v 0.037533 0.092388 -0.007466
+v 0.054490 0.083147 -0.010839
+v 0.069352 0.070711 -0.013795
+v 0.081549 0.055557 -0.016221
+v 0.090613 0.038268 -0.018024
+v 0.096194 0.019509 -0.019134
+v 0.098079 -0.000000 -0.019509
+v 0.096194 -0.019509 -0.019134
+v 0.090613 -0.038268 -0.018024
+v 0.081549 -0.055557 -0.016221
+v 0.069352 -0.070711 -0.013795
+v 0.054490 -0.083147 -0.010839
+v 0.037533 -0.092388 -0.007466
+v 0.019134 -0.098079 -0.003806
+v 0.019509 0.098079 -0.000000
+v 0.038268 0.092388 -0.000000
+v 0.055557 0.083147 -0.000000
+v 0.070711 0.070711 -0.000000
+v 0.083147 0.055557 -0.000000
+v 0.092388 0.038268 -0.000000
+v 0.098079 0.019509 -0.000000
+v 0.100000 0.000000 0.000000
+v 0.098079 -0.019509 0.000000
+v 0.092388 -0.038268 0.000000
+v 0.083147 -0.055557 0.000000
+v 0.070711 -0.070711 0.000000
+v 0.055557 -0.083147 0.000000
+v 0.038268 -0.092388 0.000000
+v 0.019509 -0.098079 0.000000
+v 0.019134 0.098079 0.003806
+v 0.037533 0.092388 0.007466
+v 0.054490 0.083147 0.010839
+v 0.069352 0.070711 0.013795
+v 0.081549 0.055557 0.016221
+v 0.090613 0.038268 0.018024
+v 0.096194 0.019509 0.019134
+v 0.098078 0.000000 0.019509
+v 0.096194 -0.019509 0.019134
+v 0.090613 -0.038268 0.018024
+v 0.081549 -0.055557 0.016221
+v 0.069352 -0.070711 0.013795
+v 0.054490 -0.083147 0.010839
+v 0.037533 -0.092388 0.007466
+v 0.019134 -0.098079 0.003806
+v 0.018024 0.098079 0.007466
+v 0.035355 0.092388 0.014645
+v 0.051328 0.083147 0.021261
+v 0.065328 0.070711 0.027060
+v 0.076818 0.055557 0.031819
+v 0.085355 0.038268 0.035355
+v 0.090613 0.019509 0.037533
+v 0.092388 0.000000 0.038268
+v 0.090613 -0.019509 0.037533
+v 0.085355 -0.038268 0.035355
+v 0.076818 -0.055557 0.031819
+v 0.065328 -0.070711 0.027060
+v 0.051328 -0.083147 0.021261
+v 0.035355 -0.092388 0.014645
+v 0.018024 -0.098079 0.007466
+v 0.016221 0.098079 0.010839
+v 0.031819 0.092388 0.021261
+v 0.046194 0.083147 0.030866
+v 0.058794 0.070711 0.039285
+v 0.069134 0.055557 0.046194
+v 0.076818 0.038268 0.051328
+v 0.081549 0.019509 0.054490
+v 0.083147 0.000000 0.055557
+v 0.081549 -0.019509 0.054490
+v 0.076818 -0.038268 0.051328
+v 0.069134 -0.055557 0.046194
+v 0.058794 -0.070711 0.039285
+v 0.046194 -0.083147 0.030866
+v 0.031819 -0.092388 0.021261
+v 0.016221 -0.098079 0.010839
+v 0.013795 0.098079 0.013795
+v 0.027060 0.092388 0.027060
+v 0.039285 0.083147 0.039285
+v 0.050000 0.070711 0.050000
+v 0.058794 0.055557 0.058794
+v 0.065328 0.038268 0.065328
+v 0.069352 0.019509 0.069352
+v 0.070711 0.000000 0.070711
+v 0.069352 -0.019509 0.069352
+v 0.065328 -0.038268 0.065328
+v 0.058794 -0.055557 0.058794
+v 0.050000 -0.070711 0.050000
+v 0.039285 -0.083147 0.039285
+v 0.027060 -0.092388 0.027060
+v 0.013795 -0.098079 0.013795
+v 0.010839 0.098079 0.016221
+v 0.021261 0.092388 0.031819
+v 0.030866 0.083147 0.046194
+v 0.039285 0.070711 0.058794
+v 0.046194 0.055557 0.069134
+v 0.051328 0.038268 0.076818
+v 0.054489 0.019509 0.081549
+v 0.055557 0.000000 0.083147
+v 0.054489 -0.019509 0.081549
+v 0.051328 -0.038268 0.076818
+v 0.046194 -0.055557 0.069134
+v 0.039285 -0.070711 0.058794
+v 0.030866 -0.083147 0.046194
+v 0.021261 -0.092388 0.031819
+v 0.010839 -0.098079 0.016221
+v 0.007466 0.098079 0.018024
+v 0.014645 0.092388 0.035355
+v 0.021261 0.083147 0.051328
+v 0.027060 0.070711 0.065328
+v 0.031819 0.055557 0.076818
+v 0.035355 0.038268 0.085355
+v 0.037533 0.019509 0.090613
+v 0.038268 0.000000 0.092388
+v 0.037533 -0.019509 0.090613
+v 0.035355 -0.038268 0.085355
+v 0.031819 -0.055557 0.076818
+v 0.027060 -0.070711 0.065328
+v 0.021261 -0.083147 0.051328
+v 0.014645 -0.092388 0.035355
+v 0.007466 -0.098079 0.018024
+v 0.003806 0.098079 0.019134
+v 0.007466 0.092388 0.037533
+v 0.010839 0.083147 0.054489
+v 0.013795 0.070711 0.069352
+v 0.016221 0.055557 0.081549
+v 0.018024 0.038268 0.090613
+v 0.019134 0.019509 0.096194
+v 0.019509 0.000000 0.098078
+v 0.019134 -0.019509 0.096194
+v 0.018024 -0.038268 0.090613
+v 0.016221 -0.055557 0.081549
+v 0.013795 -0.070711 0.069352
+v 0.010839 -0.083147 0.054489
+v 0.007466 -0.092388 0.037533
+v 0.003806 -0.098079 0.019134
+v 0.000000 0.098079 0.019509
+v 0.000000 0.092388 0.038268
+v 0.000000 0.083147 0.055557
+v 0.000000 0.070711 0.070711
+v 0.000000 0.055557 0.083147
+v 0.000000 0.038268 0.092388
+v 0.000000 0.019509 0.098078
+v 0.000000 0.000000 0.100000
+v 0.000000 -0.019509 0.098078
+v 0.000000 -0.038268 0.092388
+v 0.000000 -0.055557 0.083147
+v 0.000000 -0.070711 0.070711
+v 0.000000 -0.083147 0.055557
+v 0.000000 -0.092388 0.038268
+v 0.000000 -0.098079 0.019509
+v -0.003806 0.098079 0.019134
+v -0.007466 0.092388 0.037533
+v -0.010839 0.083147 0.054489
+v -0.013795 0.070711 0.069352
+v -0.016221 0.055557 0.081549
+v -0.018024 0.038268 0.090613
+v -0.019134 0.019509 0.096194
+v -0.019509 0.000000 0.098078
+v -0.019134 -0.019509 0.096194
+v -0.018024 -0.038268 0.090613
+v -0.016221 -0.055557 0.081549
+v -0.013795 -0.070711 0.069352
+v -0.010839 -0.083147 0.054489
+v -0.007466 -0.092388 0.037533
+v -0.003806 -0.098079 0.019134
+v -0.007466 0.098079 0.018024
+v -0.014645 0.092388 0.035355
+v -0.021261 0.083147 0.051328
+v -0.027060 0.070711 0.065328
+v -0.031819 0.055557 0.076818
+v -0.035355 0.038268 0.085355
+v -0.037533 0.019509 0.090613
+v -0.038268 0.000000 0.092388
+v -0.037533 -0.019509 0.090613
+v -0.035355 -0.038268 0.085355
+v -0.031819 -0.055557 0.076818
+v -0.027060 -0.070711 0.065328
+v -0.021261 -0.083147 0.051328
+v -0.014645 -0.092388 0.035355
+v -0.007466 -0.098079 0.018024
+v -0.010839 0.098079 0.016221
+v -0.021261 0.092388 0.031819
+v -0.030866 0.083147 0.046194
+v -0.039285 0.070711 0.058794
+v -0.046194 0.055557 0.069134
+v -0.051328 0.038268 0.076818
+v -0.054490 0.019509 0.081549
+v -0.055557 0.000000 0.083147
+v -0.054490 -0.019509 0.081549
+v -0.051328 -0.038268 0.076818
+v -0.046194 -0.055557 0.069134
+v -0.039285 -0.070711 0.058794
+v -0.030866 -0.083147 0.046194
+v -0.021261 -0.092388 0.031819
+v -0.010839 -0.098079 0.016221
+v -0.013795 0.098079 0.013795
+v -0.027060 0.092388 0.027060
+v -0.039285 0.083147 0.039285
+v -0.050000 0.070711 0.050000
+v -0.058794 0.055557 0.058794
+v -0.065328 0.038268 0.065328
+v -0.069352 0.019509 0.069352
+v -0.070711 0.000000 0.070711
+v -0.069352 -0.019509 0.069352
+v -0.065328 -0.038268 0.065328
+v -0.058794 -0.055557 0.058794
+v -0.050000 -0.070711 0.050000
+v -0.039285 -0.083147 0.039285
+v -0.027060 -0.092388 0.027060
+v -0.013795 -0.098079 0.013795
+v 0.000000 -0.100000 0.000000
+v -0.016221 0.098079 0.010839
+v -0.031819 0.092388 0.021261
+v -0.046194 0.083147 0.030866
+v -0.058794 0.070711 0.039285
+v -0.069134 0.055557 0.046194
+v -0.076818 0.038268 0.051328
+v -0.081549 0.019509 0.054489
+v -0.083147 0.000000 0.055557
+v -0.081549 -0.019509 0.054489
+v -0.076818 -0.038268 0.051328
+v -0.069134 -0.055557 0.046194
+v -0.058794 -0.070711 0.039285
+v -0.046194 -0.083147 0.030866
+v -0.031819 -0.092388 0.021261
+v -0.016221 -0.098079 0.010839
+v -0.018024 0.098079 0.007466
+v -0.035355 0.092388 0.014645
+v -0.051328 0.083147 0.021261
+v -0.065328 0.070711 0.027060
+v -0.076818 0.055557 0.031819
+v -0.085355 0.038268 0.035355
+v -0.090613 0.019509 0.037533
+v -0.092388 0.000000 0.038268
+v -0.090613 -0.019509 0.037533
+v -0.085355 -0.038268 0.035355
+v -0.076818 -0.055557 0.031819
+v -0.065328 -0.070711 0.027060
+v -0.051328 -0.083147 0.021261
+v -0.035355 -0.092388 0.014645
+v -0.018024 -0.098079 0.007466
+v -0.019134 0.098079 0.003806
+v -0.037533 0.092388 0.007466
+v -0.054489 0.083147 0.010839
+v -0.069352 0.070711 0.013795
+v -0.081549 0.055557 0.016221
+v -0.090613 0.038268 0.018024
+v -0.096194 0.019509 0.019134
+v -0.098078 0.000000 0.019509
+v -0.096194 -0.019509 0.019134
+v -0.090613 -0.038268 0.018024
+v -0.081549 -0.055557 0.016221
+v -0.069352 -0.070711 0.013795
+v -0.054489 -0.083147 0.010839
+v -0.037533 -0.092388 0.007466
+v -0.019134 -0.098079 0.003806
+v -0.019509 0.098079 -0.000000
+v -0.038268 0.092388 -0.000000
+v -0.055557 0.083147 -0.000000
+v -0.070711 0.070711 -0.000000
+v -0.083147 0.055557 -0.000000
+v -0.092388 0.038268 -0.000000
+v -0.098078 0.019509 -0.000000
+v -0.100000 0.000000 0.000000
+v -0.098078 -0.019509 0.000000
+v -0.092388 -0.038268 0.000000
+v -0.083147 -0.055557 0.000000
+v -0.070711 -0.070711 0.000000
+v -0.055557 -0.083147 0.000000
+v -0.038268 -0.092388 0.000000
+v -0.019509 -0.098079 0.000000
+v -0.019134 0.098079 -0.003806
+v -0.037533 0.092388 -0.007466
+v -0.054489 0.083147 -0.010839
+v -0.069352 0.070711 -0.013795
+v -0.081549 0.055557 -0.016221
+v -0.090613 0.038268 -0.018024
+v -0.096194 0.019509 -0.019134
+v -0.098078 -0.000000 -0.019509
+v -0.096194 -0.019509 -0.019134
+v -0.090613 -0.038268 -0.018024
+v -0.081549 -0.055557 -0.016221
+v -0.069352 -0.070711 -0.013795
+v -0.054489 -0.083147 -0.010839
+v -0.037533 -0.092388 -0.007466
+v -0.019134 -0.098079 -0.003806
+v -0.018024 0.098079 -0.007466
+v -0.035355 0.092388 -0.014645
+v -0.051328 0.083147 -0.021261
+v -0.065328 0.070711 -0.027060
+v -0.076818 0.055557 -0.031819
+v -0.085355 0.038268 -0.035355
+v -0.090613 0.019509 -0.037533
+v -0.092388 -0.000000 -0.038268
+v -0.090613 -0.019509 -0.037533
+v -0.085355 -0.038268 -0.035355
+v -0.076818 -0.055557 -0.031819
+v -0.065328 -0.070711 -0.027060
+v -0.051328 -0.083147 -0.021261
+v -0.035355 -0.092388 -0.014645
+v -0.018024 -0.098079 -0.007466
+v -0.016221 0.098079 -0.010839
+v -0.031819 0.092388 -0.021261
+v -0.046194 0.083147 -0.030866
+v -0.058794 0.070711 -0.039285
+v -0.069134 0.055557 -0.046194
+v -0.076818 0.038268 -0.051328
+v -0.081549 0.019509 -0.054490
+v -0.083147 -0.000000 -0.055557
+v -0.081549 -0.019509 -0.054490
+v -0.076818 -0.038268 -0.051328
+v -0.069134 -0.055557 -0.046194
+v -0.058794 -0.070711 -0.039285
+v -0.046194 -0.083147 -0.030866
+v -0.031819 -0.092388 -0.021261
+v -0.016221 -0.098079 -0.010839
+v -0.013795 0.098079 -0.013795
+v -0.027060 0.092388 -0.027060
+v -0.039285 0.083147 -0.039285
+v -0.050000 0.070711 -0.050000
+v -0.058794 0.055557 -0.058794
+v -0.065328 0.038268 -0.065328
+v -0.069352 0.019509 -0.069352
+v -0.070711 -0.000000 -0.070711
+v -0.069352 -0.019509 -0.069352
+v -0.065328 -0.038268 -0.065328
+v -0.058794 -0.055557 -0.058794
+v -0.050000 -0.070711 -0.050000
+v -0.039285 -0.083147 -0.039285
+v -0.027060 -0.092388 -0.027060
+v -0.013795 -0.098079 -0.013795
+v -0.010839 0.098079 -0.016221
+v -0.021261 0.092388 -0.031819
+v -0.030866 0.083147 -0.046194
+v -0.039285 0.070711 -0.058794
+v -0.046194 0.055557 -0.069134
+v -0.051328 0.038268 -0.076818
+v -0.054489 0.019509 -0.081549
+v -0.055557 -0.000000 -0.083147
+v -0.054489 -0.019509 -0.081549
+v -0.051328 -0.038268 -0.076818
+v -0.046194 -0.055557 -0.069134
+v -0.039285 -0.070711 -0.058794
+v -0.030866 -0.083147 -0.046194
+v -0.021261 -0.092388 -0.031819
+v -0.010839 -0.098079 -0.016221
+v -0.007466 0.098079 -0.018024
+v -0.014645 0.092388 -0.035355
+v -0.021261 0.083147 -0.051328
+v -0.027060 0.070711 -0.065328
+v -0.031819 0.055557 -0.076818
+v -0.035355 0.038268 -0.085355
+v -0.037533 0.019509 -0.090613
+v -0.038268 -0.000000 -0.092388
+v -0.037533 -0.019509 -0.090613
+v -0.035355 -0.038268 -0.085355
+v -0.031819 -0.055557 -0.076818
+v -0.027060 -0.070711 -0.065328
+v -0.021261 -0.083147 -0.051328
+v -0.014645 -0.092388 -0.035355
+v -0.007466 -0.098079 -0.018024
+v -0.003806 0.098079 -0.019134
+v -0.007466 0.092388 -0.037533
+v -0.010839 0.083147 -0.054489
+v -0.013795 0.070711 -0.069352
+v -0.016221 0.055557 -0.081549
+v -0.018024 0.038268 -0.090613
+v -0.019134 0.019509 -0.096194
+v -0.019509 -0.000000 -0.098078
+v -0.019134 -0.019509 -0.096194
+v -0.018024 -0.038268 -0.090613
+v -0.016221 -0.055557 -0.081549
+v -0.013795 -0.070711 -0.069352
+v -0.010839 -0.083147 -0.054489
+v -0.007466 -0.092388 -0.037533
+v -0.003806 -0.098079 -0.019134
+v 0.000000 0.098079 -0.019509
+v 0.000000 0.092388 -0.038268
+v 0.000000 0.070711 -0.070711
+v 0.000000 0.038268 -0.092388
+v 0.000000 -0.038268 -0.092388
+v 0.000000 -0.070711 -0.070711
+v 0.000000 -0.083147 -0.055557
+v 0.000000 -0.092388 -0.038268
+v 0.000000 -0.098079 -0.019509
+v 0.000000 0.156934 1.844222
+v 0.028907 0.153918 1.844222
+v 0.056703 0.144988 1.844222
+v 0.082321 0.130486 1.844222
+v 0.104774 0.110969 1.844222
+v 0.123202 0.087188 1.844222
+v 0.136894 0.060056 1.844222
+v 0.145326 0.030616 1.844222
+v 0.148173 0.000000 1.844222
+v 0.145326 -0.030616 1.844222
+v 0.136894 -0.060056 1.844222
+v 0.123202 -0.087188 1.844222
+v 0.104774 -0.110969 1.844222
+v 0.082321 -0.130486 1.844222
+v 0.056703 -0.144988 1.844222
+v 0.028907 -0.153918 1.844222
+v 0.000000 -0.156934 1.844222
+v -0.028907 -0.153918 1.844222
+v -0.056703 -0.144988 1.844222
+v -0.082321 -0.130486 1.844222
+v -0.104774 -0.110969 1.844222
+v -0.123202 -0.087188 1.844222
+v -0.136894 -0.060056 1.844222
+v -0.145326 -0.030616 1.844222
+v -0.148173 0.000000 1.844222
+v -0.145326 0.030616 1.844222
+v -0.136894 0.060056 1.844222
+v -0.123202 0.087188 1.844222
+v -0.104774 0.110969 1.844222
+v -0.082321 0.130486 1.844222
+v -0.056703 0.144988 1.844222
+v -0.028907 0.153918 1.844222
+v 0.000000 0.000000 2.155777
+v 1.844222 0.156934 -0.000000
+v 1.844222 0.153918 -0.028907
+v 1.844222 0.144988 -0.056703
+v 1.844222 0.130486 -0.082321
+v 1.844222 0.110969 -0.104774
+v 1.844222 0.087188 -0.123202
+v 1.844222 0.060056 -0.136894
+v 1.844222 0.030616 -0.145326
+v 1.844222 -0.000000 -0.148173
+v 1.844222 -0.030616 -0.145326
+v 1.844222 -0.060056 -0.136894
+v 1.844222 -0.087188 -0.123202
+v 1.844222 -0.110969 -0.104774
+v 1.844222 -0.130486 -0.082321
+v 1.844222 -0.144988 -0.056703
+v 1.844222 -0.153918 -0.028907
+v 1.844222 -0.156934 0.000000
+v 1.844222 -0.153918 0.028907
+v 1.844222 -0.144988 0.056703
+v 1.844222 -0.130486 0.082321
+v 1.844222 -0.110969 0.104774
+v 1.844222 -0.087188 0.123202
+v 1.844222 -0.060056 0.136894
+v 1.844222 -0.030616 0.145326
+v 1.844222 0.000000 0.148173
+v 1.844222 0.030616 0.145326
+v 1.844222 0.060056 0.136894
+v 1.844222 0.087188 0.123202
+v 1.844222 0.110969 0.104774
+v 1.844222 0.130486 0.082321
+v 1.844222 0.144988 0.056703
+v 1.844222 0.153918 0.028907
+v 2.155777 0.000000 0.000000
+v 0.000000 1.844222 -0.156934
+v 0.028907 1.844222 -0.153918
+v 0.056703 1.844222 -0.144988
+v 0.082321 1.844222 -0.130486
+v 0.104774 1.844222 -0.110969
+v 0.123202 1.844222 -0.087188
+v 0.136894 1.844222 -0.060056
+v 0.145326 1.844222 -0.030616
+v 0.148173 1.844222 -0.000000
+v 0.145326 1.844222 0.030616
+v 0.136894 1.844222 0.060056
+v 0.123202 1.844222 0.087188
+v 0.104774 1.844222 0.110969
+v 0.082321 1.844222 0.130486
+v 0.056703 1.844222 0.144988
+v 0.028907 1.844222 0.153918
+v 0.000000 1.844222 0.156934
+v -0.028907 1.844222 0.153918
+v -0.056703 1.844222 0.144988
+v -0.082321 1.844222 0.130486
+v -0.104774 1.844222 0.110969
+v -0.123202 1.844222 0.087188
+v -0.136894 1.844222 0.060056
+v -0.145326 1.844222 0.030616
+v -0.148173 1.844222 -0.000000
+v -0.145326 1.844222 -0.030616
+v -0.136894 1.844222 -0.060056
+v -0.123202 1.844222 -0.087188
+v -0.104774 1.844222 -0.110969
+v -0.082321 1.844222 -0.130486
+v -0.056703 1.844222 -0.144988
+v -0.028907 1.844222 -0.153918
+v 0.000000 2.155777 -0.000000
+v 0.000000 0.067331 -0.000000
+v 0.000000 0.067331 2.000000
+v 0.013761 0.066038 -0.000000
+v 0.013761 0.066038 2.000000
+v 0.026992 0.062206 -0.000000
+v 0.026992 0.062206 2.000000
+v 0.039187 0.055984 -0.000000
+v 0.039187 0.055984 2.000000
+v 0.049875 0.047610 -0.000000
+v 0.049875 0.047610 2.000000
+v 0.058647 0.037407 -0.000000
+v 0.058647 0.037407 2.000000
+v 0.065165 0.025767 -0.000000
+v 0.065165 0.025767 2.000000
+v 0.069179 0.013136 -0.000000
+v 0.069179 0.013136 2.000000
+v 0.070534 0.000000 0.000000
+v 0.070534 0.000000 2.000000
+v 0.069179 -0.013136 0.000000
+v 0.069179 -0.013136 2.000000
+v 0.065165 -0.025767 0.000000
+v 0.065165 -0.025767 2.000000
+v 0.058647 -0.037407 0.000000
+v 0.058647 -0.037407 2.000000
+v 0.049875 -0.047610 0.000000
+v 0.049875 -0.047610 2.000000
+v 0.039187 -0.055984 0.000000
+v 0.039187 -0.055984 2.000000
+v 0.026992 -0.062206 0.000000
+v 0.026992 -0.062206 2.000000
+v 0.013761 -0.066038 0.000000
+v 0.013761 -0.066038 2.000000
+v 0.000000 -0.067331 0.000000
+v 0.000000 -0.067331 2.000000
+v -0.013761 -0.066038 0.000000
+v -0.013761 -0.066038 2.000000
+v -0.026992 -0.062206 0.000000
+v -0.026992 -0.062206 2.000000
+v -0.039187 -0.055984 0.000000
+v -0.039187 -0.055984 2.000000
+v -0.049875 -0.047610 0.000000
+v -0.049875 -0.047610 2.000000
+v -0.058647 -0.037407 0.000000
+v -0.058647 -0.037407 2.000000
+v -0.065165 -0.025767 0.000000
+v -0.065165 -0.025767 2.000000
+v -0.069179 -0.013136 0.000000
+v -0.069179 -0.013136 2.000000
+v -0.070534 0.000000 0.000000
+v -0.070534 0.000000 2.000000
+v -0.069179 0.013136 -0.000000
+v -0.069179 0.013136 2.000000
+v -0.065165 0.025767 -0.000000
+v -0.065165 0.025767 2.000000
+v -0.058647 0.037407 -0.000000
+v -0.058647 0.037407 2.000000
+v -0.049875 0.047610 -0.000000
+v -0.049875 0.047610 2.000000
+v -0.039187 0.055984 -0.000000
+v -0.039187 0.055984 2.000000
+v -0.026992 0.062206 -0.000000
+v -0.026992 0.062206 2.000000
+v -0.013761 0.066038 -0.000000
+v -0.013761 0.066038 2.000000
+v 0.000000 0.067331 -0.000000
+v 2.000000 0.067331 -0.000000
+v 0.000000 0.066038 -0.013761
+v 2.000000 0.066038 -0.013761
+v 0.000000 0.062206 -0.026992
+v 2.000000 0.062206 -0.026992
+v 0.000000 0.055984 -0.039187
+v 2.000000 0.055984 -0.039187
+v 0.000000 0.047610 -0.049875
+v 2.000000 0.047610 -0.049875
+v 0.000000 0.037407 -0.058647
+v 2.000000 0.037407 -0.058647
+v 0.000000 0.025767 -0.065165
+v 2.000000 0.025767 -0.065165
+v 0.000000 0.013136 -0.069179
+v 2.000000 0.013136 -0.069179
+v 0.000000 -0.000000 -0.070534
+v 2.000000 -0.000000 -0.070534
+v 0.000000 -0.013136 -0.069179
+v 2.000000 -0.013136 -0.069179
+v 0.000000 -0.025767 -0.065165
+v 2.000000 -0.025767 -0.065165
+v 0.000000 -0.037407 -0.058647
+v 2.000000 -0.037407 -0.058647
+v 0.000000 -0.047610 -0.049875
+v 2.000000 -0.047610 -0.049875
+v 0.000000 -0.055984 -0.039187
+v 2.000000 -0.055984 -0.039187
+v 0.000000 -0.062206 -0.026992
+v 2.000000 -0.062206 -0.026992
+v 0.000000 -0.066038 -0.013761
+v 2.000000 -0.066038 -0.013761
+v 0.000000 -0.067331 0.000000
+v 2.000000 -0.067331 0.000000
+v 0.000000 -0.066038 0.013761
+v 2.000000 -0.066038 0.013761
+v 0.000000 -0.062206 0.026992
+v 2.000000 -0.062206 0.026992
+v 0.000000 -0.055984 0.039187
+v 2.000000 -0.055984 0.039187
+v 0.000000 -0.047610 0.049875
+v 2.000000 -0.047610 0.049875
+v 0.000000 -0.037407 0.058647
+v 2.000000 -0.037407 0.058647
+v 0.000000 -0.025767 0.065165
+v 2.000000 -0.025767 0.065165
+v 0.000000 -0.013136 0.069179
+v 2.000000 -0.013136 0.069179
+v 0.000000 0.000000 0.070534
+v 2.000000 0.000000 0.070534
+v 0.000000 0.013136 0.069179
+v 2.000000 0.013136 0.069179
+v 0.000000 0.025767 0.065165
+v 2.000000 0.025767 0.065165
+v 0.000000 0.037407 0.058647
+v 2.000000 0.037407 0.058647
+v 0.000000 0.047610 0.049875
+v 2.000000 0.047610 0.049875
+v 0.000000 0.055984 0.039187
+v 2.000000 0.055984 0.039187
+v 0.000000 0.062206 0.026992
+v 2.000000 0.062206 0.026992
+v 0.000000 0.066038 0.013761
+v 2.000000 0.066038 0.013761
+v 0.000000 -0.000000 -0.067331
+v 0.000000 2.000000 -0.067331
+v 0.013761 -0.000000 -0.066038
+v 0.013761 2.000000 -0.066038
+v 0.026992 -0.000000 -0.062206
+v 0.026992 2.000000 -0.062206
+v 0.039187 -0.000000 -0.055984
+v 0.039187 2.000000 -0.055984
+v 0.049875 -0.000000 -0.047610
+v 0.049875 2.000000 -0.047611
+v 0.058647 -0.000000 -0.037407
+v 0.058647 2.000000 -0.037407
+v 0.065165 -0.000000 -0.025767
+v 0.065165 2.000000 -0.025767
+v 0.069179 -0.000000 -0.013136
+v 0.069179 2.000000 -0.013136
+v 0.070534 0.000000 0.000000
+v 0.070534 2.000000 -0.000000
+v 0.069179 0.000000 0.013136
+v 0.069179 2.000000 0.013136
+v 0.065165 0.000000 0.025767
+v 0.065165 2.000000 0.025767
+v 0.058647 0.000000 0.037407
+v 0.058647 2.000000 0.037407
+v 0.049875 0.000000 0.047611
+v 0.049875 2.000000 0.047610
+v 0.039187 0.000000 0.055984
+v 0.039187 2.000000 0.055984
+v 0.026992 0.000000 0.062206
+v 0.026992 2.000000 0.062206
+v 0.013761 0.000000 0.066038
+v 0.013761 2.000000 0.066038
+v 0.000000 0.000000 0.067331
+v 0.000000 2.000000 0.067331
+v -0.013761 0.000000 0.066038
+v -0.013761 2.000000 0.066038
+v -0.026992 0.000000 0.062206
+v -0.026992 2.000000 0.062206
+v -0.039187 0.000000 0.055984
+v -0.039187 2.000000 0.055984
+v -0.049875 0.000000 0.047611
+v -0.049875 2.000000 0.047610
+v -0.058647 0.000000 0.037407
+v -0.058647 2.000000 0.037407
+v -0.065165 0.000000 0.025767
+v -0.065165 2.000000 0.025767
+v -0.069179 0.000000 0.013136
+v -0.069179 2.000000 0.013136
+v -0.070534 0.000000 0.000000
+v -0.070534 2.000000 -0.000000
+v -0.069179 -0.000000 -0.013136
+v -0.069179 2.000000 -0.013136
+v -0.065165 -0.000000 -0.025767
+v -0.065165 2.000000 -0.025767
+v -0.058647 -0.000000 -0.037407
+v -0.058647 2.000000 -0.037407
+v -0.049875 -0.000000 -0.047610
+v -0.049875 2.000000 -0.047611
+v -0.039187 -0.000000 -0.055984
+v -0.039187 2.000000 -0.055984
+v -0.026992 -0.000000 -0.062206
+v -0.026992 2.000000 -0.062206
+v -0.013761 -0.000000 -0.066038
+v -0.013761 2.000000 -0.066038
+s 0
+f 477 11 12
+f 480 20 481
+f 477 13 3
+f 481 21 482
+f 4 13 14
+f 474 82 7
+f 308 482 21
+f 4 15 5
+f 475 7 8
+f 478 15 16
+f 1 8 9
+f 478 17 6
+f 1 10 476
+f 479 17 18
+f 476 11 2
+f 480 18 19
+f 17 33 18
+f 11 25 26
+f 19 33 34
+f 11 27 12
+f 20 34 35
+f 12 28 13
+f 20 36 21
+f 13 29 14
+f 7 82 22
+f 308 21 36
+f 15 29 30
+f 8 22 23
+f 16 30 31
+f 8 24 9
+f 17 31 32
+f 9 25 10
+f 308 36 51
+f 30 44 45
+f 23 37 38
+f 30 46 31
+f 24 38 39
+f 32 46 47
+f 25 39 40
+f 33 47 48
+f 25 41 26
+f 33 49 34
+f 26 42 27
+f 34 50 35
+f 28 42 43
+f 35 51 36
+f 28 44 29
+f 22 82 37
+f 49 63 64
+f 41 57 42
+f 49 65 50
+f 43 57 58
+f 51 65 66
+f 43 59 44
+f 37 82 52
+f 308 51 66
+f 45 59 60
+f 37 53 38
+f 45 61 46
+f 39 53 54
+f 47 61 62
+f 39 55 40
+f 47 63 48
+f 41 55 56
+f 53 67 68
+f 61 75 76
+f 53 69 54
+f 61 77 62
+f 55 69 70
+f 63 77 78
+f 55 71 56
+f 63 79 64
+f 57 71 72
+f 65 79 80
+f 57 73 58
+f 65 81 66
+f 59 73 74
+f 52 82 67
+f 308 66 81
+f 59 75 60
+f 72 87 88
+f 80 95 96
+f 72 89 73
+f 81 96 97
+f 74 89 90
+f 67 82 83
+f 308 81 97
+f 74 91 75
+f 67 84 68
+f 76 91 92
+f 68 85 69
+f 76 93 77
+f 69 86 70
+f 77 94 78
+f 71 86 87
+f 79 94 95
+f 91 107 92
+f 85 99 100
+f 92 108 93
+f 86 100 101
+f 94 108 109
+f 86 102 87
+f 94 110 95
+f 88 102 103
+f 95 111 96
+f 89 103 104
+f 97 111 112
+f 90 104 105
+f 83 82 98
+f 308 97 112
+f 90 106 91
+f 83 99 84
+f 111 125 126
+f 104 118 119
+f 112 126 127
+f 104 120 105
+f 98 82 113
+f 308 112 127
+f 106 120 121
+f 98 114 99
+f 106 122 107
+f 99 115 100
+f 108 122 123
+f 101 115 116
+f 108 124 109
+f 102 116 117
+f 109 125 110
+f 102 118 103
+f 115 129 130
+f 122 138 123
+f 115 131 116
+f 124 138 139
+f 116 132 117
+f 125 139 140
+f 118 132 133
+f 125 141 126
+f 118 134 119
+f 126 142 127
+f 120 134 135
+f 113 82 128
+f 308 127 142
+f 120 136 121
+f 114 128 129
+f 122 136 137
+f 133 149 134
+f 141 157 142
+f 135 149 150
+f 128 82 143
+f 308 142 157
+f 135 151 136
+f 129 143 144
+f 137 151 152
+f 129 145 130
+f 138 152 153
+f 130 146 131
+f 138 154 139
+f 132 146 147
+f 140 154 155
+f 132 148 133
+f 141 155 156
+f 153 167 168
+f 146 160 161
+f 154 168 169
+f 146 162 147
+f 154 170 155
+f 147 163 148
+f 155 171 156
+f 149 163 164
+f 156 172 157
+f 149 165 150
+f 143 82 158
+f 308 157 172
+f 151 165 166
+f 144 158 159
+f 151 167 152
+f 145 159 160
+f 172 186 187
+f 164 180 165
+f 158 82 173
+f 308 172 187
+f 166 180 181
+f 158 174 159
+f 166 182 167
+f 160 174 175
+f 168 182 183
+f 160 176 161
+f 168 184 169
+f 162 176 177
+f 170 184 185
+f 162 178 163
+f 170 186 171
+f 164 178 179
+f 184 198 199
+f 176 192 177
+f 184 200 185
+f 178 192 193
+f 186 200 201
+f 178 194 179
+f 186 202 187
+f 179 195 180
+f 173 82 188
+f 308 187 202
+f 181 195 196
+f 174 188 189
+f 182 196 197
+f 174 190 175
+f 182 198 183
+f 176 190 191
+f 188 82 203
+f 308 202 217
+f 196 210 211
+f 188 204 189
+f 196 212 197
+f 189 205 190
+f 197 213 198
+f 190 206 191
+f 198 214 199
+f 192 206 207
+f 200 214 215
+f 193 207 208
+f 201 215 216
+f 194 208 209
+f 202 216 217
+f 194 210 195
+f 206 222 207
+f 214 230 215
+f 208 222 223
+f 216 230 231
+f 209 223 224
+f 217 231 232
+f 209 225 210
+f 203 82 218
+f 308 217 232
+f 211 225 226
+f 203 219 204
+f 211 227 212
+f 204 220 205
+f 212 228 213
+f 206 220 221
+f 214 228 229
+f 226 240 241
+f 218 234 219
+f 227 241 242
+f 220 234 235
+f 228 242 243
+f 221 235 236
+f 228 244 229
+f 222 236 237
+f 229 245 230
+f 222 238 223
+f 230 246 231
+f 223 239 224
+f 232 246 247
+f 224 240 225
+f 218 82 233
+f 308 232 247
+f 245 259 260
+f 238 252 253
+f 246 260 261
+f 239 253 254
+f 246 262 247
+f 240 254 255
+f 233 82 248
+f 308 247 262
+f 240 256 241
+f 234 248 249
+f 241 257 242
+f 234 250 235
+f 242 258 243
+f 235 251 236
+f 244 258 259
+f 236 252 237
+f 249 263 264
+f 257 271 272
+f 250 264 265
+f 258 272 273
+f 250 266 251
+f 258 274 259
+f 252 266 267
+f 260 274 275
+f 252 268 253
+f 260 276 261
+f 253 269 254
+f 261 277 262
+f 255 269 270
+f 248 82 263
+f 308 262 277
+f 255 271 256
+f 267 283 268
+f 275 291 276
+f 269 283 284
+f 276 292 277
+f 269 285 270
+f 263 82 278
+f 308 277 292
+f 271 285 286
+f 264 278 279
+f 271 287 272
+f 265 279 280
+f 273 287 288
+f 266 280 281
+f 274 288 289
+f 266 282 267
+f 274 290 275
+f 286 302 287
+f 280 294 295
+f 288 302 303
+f 280 296 281
+f 288 304 289
+f 282 296 297
+f 290 304 305
+f 282 298 283
+f 290 306 291
+f 284 298 299
+f 292 306 307
+f 284 300 285
+f 278 82 293
+f 308 292 307
+f 286 300 301
+f 278 294 279
+f 306 321 322
+f 298 315 299
+f 306 323 307
+f 299 316 300
+f 293 82 309
+f 308 307 323
+f 301 316 317
+f 294 309 310
+f 302 317 318
+f 294 311 295
+f 302 319 303
+f 296 311 312
+f 304 319 320
+f 296 313 297
+f 304 321 305
+f 298 313 314
+f 318 334 319
+f 311 327 312
+f 319 335 320
+f 313 327 328
+f 321 335 336
+f 314 328 329
+f 322 336 337
+f 315 329 330
+f 323 337 338
+f 315 331 316
+f 309 82 324
+f 308 323 338
+f 317 331 332
+f 309 325 310
+f 317 333 318
+f 310 326 311
+f 338 352 353
+f 330 346 331
+f 324 82 339
+f 308 338 353
+f 332 346 347
+f 324 340 325
+f 332 348 333
+f 325 341 326
+f 333 349 334
+f 327 341 342
+f 335 349 350
+f 327 343 328
+f 335 351 336
+f 329 343 344
+f 337 351 352
+f 330 344 345
+f 342 356 357
+f 349 365 350
+f 343 357 358
+f 350 366 351
+f 343 359 344
+f 351 367 352
+f 344 360 345
+f 353 367 368
+f 345 361 346
+f 339 82 354
+f 308 353 368
+f 347 361 362
+f 339 355 340
+f 348 362 363
+f 341 355 356
+f 349 363 364
+f 361 375 376
+f 354 82 369
+f 308 368 383
+f 361 377 362
+f 355 369 370
+f 362 378 363
+f 355 371 356
+f 363 379 364
+f 356 372 357
+f 365 379 380
+f 357 373 358
+f 366 380 381
+f 359 373 374
+f 367 381 382
+f 360 374 375
+f 367 383 368
+f 379 395 380
+f 373 387 388
+f 381 395 396
+f 373 389 374
+f 381 397 382
+f 374 390 375
+f 382 398 383
+f 376 390 391
+f 369 82 384
+f 308 383 398
+f 376 392 377
+f 370 384 385
+f 378 392 393
+f 371 385 386
+f 379 393 394
+f 371 387 372
+f 384 82 399
+f 308 398 413
+f 392 406 407
+f 385 399 400
+f 392 408 393
+f 386 400 401
+f 394 408 409
+f 387 401 402
+f 395 409 410
+f 387 403 388
+f 395 411 396
+f 388 404 389
+f 396 412 397
+f 390 404 405
+f 397 413 398
+f 390 406 391
+f 403 417 418
+f 411 425 426
+f 403 419 404
+f 411 427 412
+f 405 419 420
+f 413 427 428
+f 405 421 406
+f 399 82 414
+f 308 413 428
+f 407 421 422
+f 399 415 400
+f 407 423 408
+f 401 415 416
+f 409 423 424
+f 401 417 402
+f 409 425 410
+f 422 436 437
+f 415 429 430
+f 423 437 438
+f 415 431 416
+f 423 439 424
+f 417 431 432
+f 425 439 440
+f 417 433 418
+f 425 441 426
+f 419 433 434
+f 427 441 442
+f 419 435 420
+f 427 443 428
+f 420 436 421
+f 414 82 429
+f 308 428 443
+f 441 455 456
+f 434 448 449
+f 442 456 457
+f 435 449 450
+f 443 457 458
+f 435 451 436
+f 429 82 444
+f 308 443 458
+f 437 451 452
+f 429 445 430
+f 437 453 438
+f 430 446 431
+f 438 454 439
+f 431 447 432
+f 439 455 440
+f 433 447 448
+f 452 468 453
+f 445 461 446
+f 453 469 454
+f 447 461 462
+f 455 469 470
+f 447 463 448
+f 455 471 456
+f 449 463 464
+f 457 471 472
+f 450 464 465
+f 458 472 473
+f 450 466 451
+f 444 82 459
+f 308 458 473
+f 452 466 467
+f 444 460 445
+f 471 481 472
+f 465 477 3
+f 473 481 482
+f 465 4 466
+f 459 82 474
+f 308 473 482
+f 467 4 5
+f 459 475 460
+f 467 478 468
+f 461 475 1
+f 469 478 6
+f 462 1 476
+f 469 479 470
+f 463 476 2
+f 470 480 471
+f 463 477 464
+f 477 2 11
+f 480 19 20
+f 477 12 13
+f 481 20 21
+f 4 3 13
+f 4 14 15
+f 475 474 7
+f 478 5 15
+f 1 475 8
+f 478 16 17
+f 1 9 10
+f 479 6 17
+f 476 10 11
+f 480 479 18
+f 17 32 33
+f 11 10 25
+f 19 18 33
+f 11 26 27
+f 20 19 34
+f 12 27 28
+f 20 35 36
+f 13 28 29
+f 15 14 29
+f 8 7 22
+f 16 15 30
+f 8 23 24
+f 17 16 31
+f 9 24 25
+f 30 29 44
+f 23 22 37
+f 30 45 46
+f 24 23 38
+f 32 31 46
+f 25 24 39
+f 33 32 47
+f 25 40 41
+f 33 48 49
+f 26 41 42
+f 34 49 50
+f 28 27 42
+f 35 50 51
+f 28 43 44
+f 49 48 63
+f 41 56 57
+f 49 64 65
+f 43 42 57
+f 51 50 65
+f 43 58 59
+f 45 44 59
+f 37 52 53
+f 45 60 61
+f 39 38 53
+f 47 46 61
+f 39 54 55
+f 47 62 63
+f 41 40 55
+f 53 52 67
+f 61 60 75
+f 53 68 69
+f 61 76 77
+f 55 54 69
+f 63 62 77
+f 55 70 71
+f 63 78 79
+f 57 56 71
+f 65 64 79
+f 57 72 73
+f 65 80 81
+f 59 58 73
+f 59 74 75
+f 72 71 87
+f 80 79 95
+f 72 88 89
+f 81 80 96
+f 74 73 89
+f 74 90 91
+f 67 83 84
+f 76 75 91
+f 68 84 85
+f 76 92 93
+f 69 85 86
+f 77 93 94
+f 71 70 86
+f 79 78 94
+f 91 106 107
+f 85 84 99
+f 92 107 108
+f 86 85 100
+f 94 93 108
+f 86 101 102
+f 94 109 110
+f 88 87 102
+f 95 110 111
+f 89 88 103
+f 97 96 111
+f 90 89 104
+f 90 105 106
+f 83 98 99
+f 111 110 125
+f 104 103 118
+f 112 111 126
+f 104 119 120
+f 106 105 120
+f 98 113 114
+f 106 121 122
+f 99 114 115
+f 108 107 122
+f 101 100 115
+f 108 123 124
+f 102 101 116
+f 109 124 125
+f 102 117 118
+f 115 114 129
+f 122 137 138
+f 115 130 131
+f 124 123 138
+f 116 131 132
+f 125 124 139
+f 118 117 132
+f 125 140 141
+f 118 133 134
+f 126 141 142
+f 120 119 134
+f 120 135 136
+f 114 113 128
+f 122 121 136
+f 133 148 149
+f 141 156 157
+f 135 134 149
+f 135 150 151
+f 129 128 143
+f 137 136 151
+f 129 144 145
+f 138 137 152
+f 130 145 146
+f 138 153 154
+f 132 131 146
+f 140 139 154
+f 132 147 148
+f 141 140 155
+f 153 152 167
+f 146 145 160
+f 154 153 168
+f 146 161 162
+f 154 169 170
+f 147 162 163
+f 155 170 171
+f 149 148 163
+f 156 171 172
+f 149 164 165
+f 151 150 165
+f 144 143 158
+f 151 166 167
+f 145 144 159
+f 172 171 186
+f 164 179 180
+f 166 165 180
+f 158 173 174
+f 166 181 182
+f 160 159 174
+f 168 167 182
+f 160 175 176
+f 168 183 184
+f 162 161 176
+f 170 169 184
+f 162 177 178
+f 170 185 186
+f 164 163 178
+f 184 183 198
+f 176 191 192
+f 184 199 200
+f 178 177 192
+f 186 185 200
+f 178 193 194
+f 186 201 202
+f 179 194 195
+f 181 180 195
+f 174 173 188
+f 182 181 196
+f 174 189 190
+f 182 197 198
+f 176 175 190
+f 196 195 210
+f 188 203 204
+f 196 211 212
+f 189 204 205
+f 197 212 213
+f 190 205 206
+f 198 213 214
+f 192 191 206
+f 200 199 214
+f 193 192 207
+f 201 200 215
+f 194 193 208
+f 202 201 216
+f 194 209 210
+f 206 221 222
+f 214 229 230
+f 208 207 222
+f 216 215 230
+f 209 208 223
+f 217 216 231
+f 209 224 225
+f 211 210 225
+f 203 218 219
+f 211 226 227
+f 204 219 220
+f 212 227 228
+f 206 205 220
+f 214 213 228
+f 226 225 240
+f 218 233 234
+f 227 226 241
+f 220 219 234
+f 228 227 242
+f 221 220 235
+f 228 243 244
+f 222 221 236
+f 229 244 245
+f 222 237 238
+f 230 245 246
+f 223 238 239
+f 232 231 246
+f 224 239 240
+f 245 244 259
+f 238 237 252
+f 246 245 260
+f 239 238 253
+f 246 261 262
+f 240 239 254
+f 240 255 256
+f 234 233 248
+f 241 256 257
+f 234 249 250
+f 242 257 258
+f 235 250 251
+f 244 243 258
+f 236 251 252
+f 249 248 263
+f 257 256 271
+f 250 249 264
+f 258 257 272
+f 250 265 266
+f 258 273 274
+f 252 251 266
+f 260 259 274
+f 252 267 268
+f 260 275 276
+f 253 268 269
+f 261 276 277
+f 255 254 269
+f 255 270 271
+f 267 282 283
+f 275 290 291
+f 269 268 283
+f 276 291 292
+f 269 284 285
+f 271 270 285
+f 264 263 278
+f 271 286 287
+f 265 264 279
+f 273 272 287
+f 266 265 280
+f 274 273 288
+f 266 281 282
+f 274 289 290
+f 286 301 302
+f 280 279 294
+f 288 287 302
+f 280 295 296
+f 288 303 304
+f 282 281 296
+f 290 289 304
+f 282 297 298
+f 290 305 306
+f 284 283 298
+f 292 291 306
+f 284 299 300
+f 286 285 300
+f 278 293 294
+f 306 305 321
+f 298 314 315
+f 306 322 323
+f 299 315 316
+f 301 300 316
+f 294 293 309
+f 302 301 317
+f 294 310 311
+f 302 318 319
+f 296 295 311
+f 304 303 319
+f 296 312 313
+f 304 320 321
+f 298 297 313
+f 318 333 334
+f 311 326 327
+f 319 334 335
+f 313 312 327
+f 321 320 335
+f 314 313 328
+f 322 321 336
+f 315 314 329
+f 323 322 337
+f 315 330 331
+f 317 316 331
+f 309 324 325
+f 317 332 333
+f 310 325 326
+f 338 337 352
+f 330 345 346
+f 332 331 346
+f 324 339 340
+f 332 347 348
+f 325 340 341
+f 333 348 349
+f 327 326 341
+f 335 334 349
+f 327 342 343
+f 335 350 351
+f 329 328 343
+f 337 336 351
+f 330 329 344
+f 342 341 356
+f 349 364 365
+f 343 342 357
+f 350 365 366
+f 343 358 359
+f 351 366 367
+f 344 359 360
+f 353 352 367
+f 345 360 361
+f 347 346 361
+f 339 354 355
+f 348 347 362
+f 341 340 355
+f 349 348 363
+f 361 360 375
+f 361 376 377
+f 355 354 369
+f 362 377 378
+f 355 370 371
+f 363 378 379
+f 356 371 372
+f 365 364 379
+f 357 372 373
+f 366 365 380
+f 359 358 373
+f 367 366 381
+f 360 359 374
+f 367 382 383
+f 379 394 395
+f 373 372 387
+f 381 380 395
+f 373 388 389
+f 381 396 397
+f 374 389 390
+f 382 397 398
+f 376 375 390
+f 376 391 392
+f 370 369 384
+f 378 377 392
+f 371 370 385
+f 379 378 393
+f 371 386 387
+f 392 391 406
+f 385 384 399
+f 392 407 408
+f 386 385 400
+f 394 393 408
+f 387 386 401
+f 395 394 409
+f 387 402 403
+f 395 410 411
+f 388 403 404
+f 396 411 412
+f 390 389 404
+f 397 412 413
+f 390 405 406
+f 403 402 417
+f 411 410 425
+f 403 418 419
+f 411 426 427
+f 405 404 419
+f 413 412 427
+f 405 420 421
+f 407 406 421
+f 399 414 415
+f 407 422 423
+f 401 400 415
+f 409 408 423
+f 401 416 417
+f 409 424 425
+f 422 421 436
+f 415 414 429
+f 423 422 437
+f 415 430 431
+f 423 438 439
+f 417 416 431
+f 425 424 439
+f 417 432 433
+f 425 440 441
+f 419 418 433
+f 427 426 441
+f 419 434 435
+f 427 442 443
+f 420 435 436
+f 441 440 455
+f 434 433 448
+f 442 441 456
+f 435 434 449
+f 443 442 457
+f 435 450 451
+f 437 436 451
+f 429 444 445
+f 437 452 453
+f 430 445 446
+f 438 453 454
+f 431 446 447
+f 439 454 455
+f 433 432 447
+f 452 467 468
+f 445 460 461
+f 453 468 469
+f 447 446 461
+f 455 454 469
+f 447 462 463
+f 455 470 471
+f 449 448 463
+f 457 456 471
+f 450 449 464
+f 458 457 472
+f 450 465 466
+f 452 451 466
+f 444 459 460
+f 471 480 481
+f 465 464 477
+f 473 472 481
+f 465 3 4
+f 467 466 4
+f 459 474 475
+f 467 5 478
+f 461 460 475
+f 469 468 478
+f 462 461 1
+f 469 6 479
+f 463 462 476
+f 470 479 480
+f 463 2 477
+f 483 515 484
+f 484 515 485
+f 485 515 486
+f 486 515 487
+f 487 515 488
+f 488 515 489
+f 489 515 490
+f 490 515 491
+f 491 515 492
+f 492 515 493
+f 493 515 494
+f 494 515 495
+f 495 515 496
+f 496 515 497
+f 497 515 498
+f 498 515 499
+f 499 515 500
+f 500 515 501
+f 501 515 502
+f 502 515 503
+f 503 515 504
+f 504 515 505
+f 505 515 506
+f 506 515 507
+f 507 515 508
+f 508 515 509
+f 509 515 510
+f 510 515 511
+f 511 515 512
+f 512 515 513
+f 512 513 486
+f 513 515 514
+f 514 515 483
+f 514 483 484
+f 484 485 514
+f 485 486 513
+f 514 485 513
+f 486 487 511
+f 487 488 510
+f 488 489 510
+f 489 490 509
+f 510 489 509
+f 490 491 507
+f 491 492 506
+f 492 493 506
+f 493 494 505
+f 506 493 505
+f 494 495 503
+f 495 496 502
+f 496 497 502
+f 497 498 501
+f 502 497 501
+f 498 499 500
+f 500 501 498
+f 502 503 495
+f 503 504 494
+f 504 505 494
+f 506 507 491
+f 507 508 490
+f 508 509 490
+f 510 511 487
+f 511 512 486
+f 516 548 517
+f 517 548 518
+f 518 548 519
+f 519 548 520
+f 520 548 521
+f 521 548 522
+f 522 548 523
+f 523 548 524
+f 524 548 525
+f 525 548 526
+f 526 548 527
+f 527 548 528
+f 528 548 529
+f 529 548 530
+f 530 548 531
+f 531 548 532
+f 532 548 533
+f 533 548 534
+f 534 548 535
+f 535 548 536
+f 536 548 537
+f 537 548 538
+f 538 548 539
+f 539 548 540
+f 540 548 541
+f 541 548 542
+f 542 548 543
+f 543 548 544
+f 544 548 545
+f 545 548 546
+f 545 546 519
+f 546 548 547
+f 547 548 516
+f 547 516 517
+f 517 518 547
+f 518 519 546
+f 547 518 546
+f 519 520 544
+f 520 521 543
+f 521 522 543
+f 522 523 542
+f 543 522 542
+f 523 524 540
+f 524 525 539
+f 525 526 539
+f 526 527 538
+f 539 526 538
+f 527 528 536
+f 528 529 535
+f 529 530 535
+f 530 531 534
+f 535 530 534
+f 531 532 533
+f 533 534 531
+f 535 536 528
+f 536 537 527
+f 537 538 527
+f 539 540 524
+f 540 541 523
+f 541 542 523
+f 543 544 520
+f 544 545 519
+f 549 581 550
+f 550 581 551
+f 551 581 552
+f 552 581 553
+f 553 581 554
+f 554 581 555
+f 555 581 556
+f 556 581 557
+f 557 581 558
+f 558 581 559
+f 559 581 560
+f 560 581 561
+f 561 581 562
+f 562 581 563
+f 563 581 564
+f 564 581 565
+f 565 581 566
+f 566 581 567
+f 567 581 568
+f 568 581 569
+f 569 581 570
+f 570 581 571
+f 571 581 572
+f 572 581 573
+f 573 581 574
+f 574 581 575
+f 575 581 576
+f 576 581 577
+f 577 581 578
+f 578 581 579
+f 578 579 552
+f 579 581 580
+f 580 581 549
+f 580 549 550
+f 550 551 580
+f 551 552 579
+f 580 551 579
+f 552 553 577
+f 553 554 576
+f 554 555 576
+f 555 556 575
+f 576 555 575
+f 556 557 573
+f 557 558 572
+f 558 559 572
+f 559 560 571
+f 572 559 571
+f 560 561 569
+f 561 562 568
+f 562 563 568
+f 563 564 567
+f 568 563 567
+f 564 565 566
+f 566 567 564
+f 568 569 561
+f 569 570 560
+f 570 571 560
+f 572 573 557
+f 573 574 556
+f 574 575 556
+f 576 577 553
+f 577 578 552
+f 583 584 582
+f 585 586 584
+f 587 588 586
+f 589 590 588
+f 591 592 590
+f 593 594 592
+f 595 596 594
+f 597 598 596
+f 599 600 598
+f 601 602 600
+f 603 604 602
+f 605 606 604
+f 607 608 606
+f 609 610 608
+f 611 612 610
+f 613 614 612
+f 615 616 614
+f 617 618 616
+f 619 620 618
+f 621 622 620
+f 623 624 622
+f 625 626 624
+f 627 628 626
+f 629 630 628
+f 631 632 630
+f 633 634 632
+f 635 636 634
+f 637 638 636
+f 639 640 638
+f 641 642 640
+f 591 589 607
+f 643 644 642
+f 645 582 644
+f 640 642 620
+f 583 585 584
+f 585 587 586
+f 587 589 588
+f 589 591 590
+f 591 593 592
+f 593 595 594
+f 595 597 596
+f 597 599 598
+f 599 601 600
+f 601 603 602
+f 603 605 604
+f 605 607 606
+f 607 609 608
+f 609 611 610
+f 611 613 612
+f 613 615 614
+f 615 617 616
+f 617 619 618
+f 619 621 620
+f 621 623 622
+f 623 625 624
+f 625 627 626
+f 627 629 628
+f 629 631 630
+f 631 633 632
+f 633 635 634
+f 635 637 636
+f 637 639 638
+f 639 641 640
+f 641 643 642
+f 587 585 613
+f 585 583 615
+f 583 645 617
+f 645 643 619
+f 643 641 619
+f 641 639 621
+f 619 641 621
+f 639 637 623
+f 637 635 625
+f 623 637 625
+f 635 633 629
+f 633 631 629
+f 629 627 635
+f 627 625 635
+f 623 621 639
+f 619 617 645
+f 617 615 583
+f 615 613 585
+f 613 611 587
+f 611 609 587
+f 609 607 589
+f 587 609 589
+f 607 605 591
+f 605 603 593
+f 591 605 593
+f 603 601 597
+f 601 599 597
+f 597 595 603
+f 595 593 603
+f 643 645 644
+f 645 583 582
+f 644 582 614
+f 582 584 612
+f 584 586 612
+f 586 588 610
+f 612 586 610
+f 588 590 606
+f 590 592 604
+f 592 594 604
+f 594 596 602
+f 604 594 602
+f 596 598 600
+f 600 602 596
+f 604 606 590
+f 606 608 588
+f 608 610 588
+f 612 614 582
+f 614 616 644
+f 616 618 644
+f 618 620 642
+f 644 618 642
+f 620 622 638
+f 622 624 636
+f 624 626 636
+f 626 628 634
+f 636 626 634
+f 628 630 632
+f 632 634 628
+f 636 638 622
+f 638 640 620
+f 647 648 646
+f 649 650 648
+f 651 652 650
+f 653 654 652
+f 655 656 654
+f 657 658 656
+f 659 660 658
+f 661 662 660
+f 663 664 662
+f 665 666 664
+f 667 668 666
+f 669 670 668
+f 671 672 670
+f 673 674 672
+f 675 676 674
+f 677 678 676
+f 679 680 678
+f 681 682 680
+f 683 684 682
+f 685 686 684
+f 687 688 686
+f 689 690 688
+f 691 692 690
+f 693 694 692
+f 695 696 694
+f 697 698 696
+f 699 700 698
+f 701 702 700
+f 703 704 702
+f 705 706 704
+f 655 653 671
+f 707 708 706
+f 709 646 708
+f 704 706 684
+f 647 649 648
+f 649 651 650
+f 651 653 652
+f 653 655 654
+f 655 657 656
+f 657 659 658
+f 659 661 660
+f 661 663 662
+f 663 665 664
+f 665 667 666
+f 667 669 668
+f 669 671 670
+f 671 673 672
+f 673 675 674
+f 675 677 676
+f 677 679 678
+f 679 681 680
+f 681 683 682
+f 683 685 684
+f 685 687 686
+f 687 689 688
+f 689 691 690
+f 691 693 692
+f 693 695 694
+f 695 697 696
+f 697 699 698
+f 699 701 700
+f 701 703 702
+f 703 705 704
+f 705 707 706
+f 651 649 677
+f 649 647 679
+f 647 709 681
+f 709 707 683
+f 707 705 683
+f 705 703 685
+f 683 705 685
+f 703 701 687
+f 701 699 689
+f 687 701 689
+f 699 697 693
+f 697 695 693
+f 693 691 699
+f 691 689 699
+f 687 685 703
+f 683 681 709
+f 681 679 647
+f 679 677 649
+f 677 675 651
+f 675 673 651
+f 673 671 653
+f 651 673 653
+f 671 669 655
+f 669 667 657
+f 655 669 657
+f 667 665 661
+f 665 663 661
+f 661 659 667
+f 659 657 667
+f 707 709 708
+f 709 647 646
+f 708 646 678
+f 646 648 676
+f 648 650 676
+f 650 652 674
+f 676 650 674
+f 652 654 670
+f 654 656 668
+f 656 658 668
+f 658 660 666
+f 668 658 666
+f 660 662 664
+f 664 666 660
+f 668 670 654
+f 670 672 652
+f 672 674 652
+f 676 678 646
+f 678 680 708
+f 680 682 708
+f 682 684 706
+f 708 682 706
+f 684 686 702
+f 686 688 700
+f 688 690 700
+f 690 692 698
+f 700 690 698
+f 692 694 696
+f 696 698 692
+f 700 702 686
+f 702 704 684
+f 711 712 710
+f 713 714 712
+f 715 716 714
+f 717 718 716
+f 719 720 718
+f 721 722 720
+f 723 724 722
+f 725 726 724
+f 727 728 726
+f 729 730 728
+f 731 732 730
+f 733 734 732
+f 735 736 734
+f 737 738 736
+f 739 740 738
+f 741 742 740
+f 743 744 742
+f 745 746 744
+f 747 748 746
+f 749 750 748
+f 751 752 750
+f 753 754 752
+f 755 756 754
+f 757 758 756
+f 759 760 758
+f 761 762 760
+f 763 764 762
+f 765 766 764
+f 767 768 766
+f 769 770 768
+f 719 717 735
+f 771 772 770
+f 773 710 772
+f 768 770 748
+f 711 713 712
+f 713 715 714
+f 715 717 716
+f 717 719 718
+f 719 721 720
+f 721 723 722
+f 723 725 724
+f 725 727 726
+f 727 729 728
+f 729 731 730
+f 731 733 732
+f 733 735 734
+f 735 737 736
+f 737 739 738
+f 739 741 740
+f 741 743 742
+f 743 745 744
+f 745 747 746
+f 747 749 748
+f 749 751 750
+f 751 753 752
+f 753 755 754
+f 755 757 756
+f 757 759 758
+f 759 761 760
+f 761 763 762
+f 763 765 764
+f 765 767 766
+f 767 769 768
+f 769 771 770
+f 715 713 741
+f 713 711 743
+f 711 773 745
+f 773 771 747
+f 771 769 747
+f 769 767 749
+f 747 769 749
+f 767 765 751
+f 765 763 753
+f 751 765 753
+f 763 761 757
+f 761 759 757
+f 757 755 763
+f 755 753 763
+f 751 749 767
+f 747 745 773
+f 745 743 711
+f 743 741 713
+f 741 739 715
+f 739 737 715
+f 737 735 717
+f 715 737 717
+f 735 733 719
+f 733 731 721
+f 719 733 721
+f 731 729 725
+f 729 727 725
+f 725 723 731
+f 723 721 731
+f 771 773 772
+f 773 711 710
+f 772 710 742
+f 710 712 740
+f 712 714 740
+f 714 716 738
+f 740 714 738
+f 716 718 734
+f 718 720 732
+f 720 722 732
+f 722 724 730
+f 732 722 730
+f 724 726 728
+f 728 730 724
+f 732 734 718
+f 734 736 716
+f 736 738 716
+f 740 742 710
+f 742 744 772
+f 744 746 772
+f 746 748 770
+f 772 746 770
+f 748 750 766
+f 750 752 764
+f 752 754 764
+f 754 756 762
+f 764 754 762
+f 756 758 760
+f 760 762 756
+f 764 766 750
+f 766 768 748
diff --git a/examples/python/Colon/colon.stl b/examples/python/Colon/colon.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bd9bd64f8b571a92b1897378e944cb3da168afe3
Binary files /dev/null and b/examples/python/Colon/colon.stl differ
diff --git a/examples/python/Colon/demo 1.py b/examples/python/Colon/demo 1.py
new file mode 100644
index 0000000000000000000000000000000000000000..a20f776753d704e3a1c4476a8a3af28be15661f1
--- /dev/null
+++ b/examples/python/Colon/demo 1.py	
@@ -0,0 +1,270 @@
+"""
+Created on Fri Oct  4 16:42:10 2024
+
+@author: chris
+"""
+
+import sys
+import numpy as np
+import meshio
+import polyscope as ps
+
+import os
+import pymandos
+
+from parallel_transport import compute_rotations_parallel_transport
+import polyscope.imgui as psim
+
+
+n_points = 160
+total_length = 1000
+delta_x = total_length / n_points
+insertion_speed = 100
+total_mass = 1
+vUnit = np.zeros(3)
+m_point = []
+
+playing = False
+
+def create_model():
+    
+    ## load the colon
+    # mesh = meshio.read("14/3D_10mm_3109.msh")
+    mesh = meshio.read("colon.stl")
+    x = mesh.points
+    
+    # ##  find the coordinates to place the endoscope
+    minZ = np.min(x[:,2])
+    
+    initalIndices = np.where (x[:,2]< minZ + 5)
+    average = np.average(x[initalIndices], axis=(0))
+    print(average)
+    middlePoint = np.zeros((1,3))
+    middlePoint[0,0] = average[0]
+    middlePoint[0,1] = average[1]
+    middlePoint[0,2] = average[2]
+    m_point.extend(middlePoint)
+
+    print(average)
+
+    # ## find a vector, perpendicular to the colons' whole
+    p = x[initalIndices[0][0]]; q = x[initalIndices[0][1]]; r = x[initalIndices[0][2]]
+    pq = q-p
+    pr = r-p
+    v = np.cross(pq,pr)
+    global vUnit 
+    vUnit = -v / (v**2).sum()**0.5   ##### carefull with the sign, I am not defining a sign until now!
+
+    # ### Creat the pymandos model
+    model = pymandos.Model()
+    # ## create the rod model
+    endoscope = model.add_rigidbody_cloud(name="endoscope")
+    
+    # Set initial conditions
+    positions = np.zeros((n_points, 6))
+    velocities = np.zeros((n_points, 6))
+
+    startingPos= np.array([middlePoint[0,0], middlePoint[0,1], middlePoint[0,2]])
+    for i, position in enumerate(positions):
+        if i==0:
+            position[0] = startingPos[0] 
+            position[1] = startingPos[1] 
+            position[2] = startingPos[2] 
+        else:
+            position[0] = startingPos[0] - delta_x * vUnit[0]
+            position[1] = startingPos[1] - delta_x * vUnit[1]
+            position[2] = startingPos[2] - delta_x * vUnit[2]
+    
+        startingPos[0] = position[0]
+        startingPos[1] = position[1]
+        startingPos[2] = position[2]
+
+    positions = np.flip(positions,0) 
+    lin_pos = np.array([pos[:3] for pos in positions])
+    rotvecs = compute_rotations_parallel_transport(lin_pos)
+    for rotvec, pos in zip(rotvecs, positions):
+        pos[3:] = rotvec
+    endoscope.size = n_points
+    endoscope.x = positions
+    endoscope.v = velocities
+    # # Set up rigid body mass and inertia
+    endoscope.mass = total_mass / n_points * np.ones(n_points)
+    endoscope.inertiaTensor = [total_mass / n_points *np.diag([1.0, 1.0, 1.0]) for _ in range(n_points)]
+    endoscope.disable_gravity()
+
+    # # Rod energy
+    Ks = [5000.0 for _ in range(n_points - 1)]
+    stiffness_tensor = [20000 * np.ones(3) for _ in range(n_points - 2)]
+    cosserat_stiffness = [100.0 for _ in range(n_points - 1)]
+
+    mass_spring = endoscope.mass_spring
+    cosserat_rod = endoscope.cosserat_rod_alignment
+    for i in range(n_points-1):
+        mass_spring.add_element([i, i+1], pymandos.energies.MassSpring.ParameterSet(x0 = endoscope.x[[i, i+1], 0:3], stiffness=Ks[i]))
+        cosserat_rod.add_element([i, i+1], pymandos.energies.CosseratRodAlignment.ParameterSet(x0 = endoscope.x[[i, i+1], :], cosserat_stiffness=cosserat_stiffness[i]))
+
+    bending_rod = endoscope.cosserat_bending_rod
+    for i in range(n_points-2):
+        bending_rod.add_element([i, i+1], pymandos.energies.CosseratBendingRod.ParameterSet(x0 = endoscope.x[[i, i+1], :], stiffness_tensor=stiffness_tensor[i]))
+    
+    
+    # ########### Map particles to rigid bodies for contact ####
+    mapping = model.add_rigidbody_point_mapping(endoscope, to_name="Collider")
+
+    # # The tube entrance has a diameter of 0.014, so dont go too crazy with the size of the collision radius
+    collision_radius = 0.003
+    for i in range(n_points):
+        mapping.add_particle(0 * np.array([1,0,0]), i)
+        # mapping.add_particle(collision_radius * np.array([1,0,0]), i)
+        # mapping.add_particle(collision_radius * np.array([-1,0,0]), i)
+        # mapping.add_particle(collision_radius * np.array([0,1,0]), i)
+        # mapping.add_particle(collision_radius * np.array([0,-1,0]), i)
+        # mapping.add_particle(collision_radius * np.array([0,0,1]), i)
+        # mapping.add_particle(collision_radius * np.array([0,0,-1]), i)
+    deformable = mapping.deformable   
+
+    collision_radius = 0.1
+    rod_collider = deformable.add_sphere_cloud(collision_radius)
+    ps.register_point_cloud("ColliderSC", deformable.x, radius=0.0)
+    
+    ########################## Prepare the rigid body
+    colon = model.add_rigidbody(name="colon")
+    # Set initial conditions
+    x = np.zeros(6)
+    colon.x = x
+    vel = np.zeros(6)
+    colon.v = vel
+    # Disable gravity
+    colon.disable_gravity()
+    
+    # Set up rigid body mass and inertia
+    colon.mass = 1
+    colon.inertiaTensor = 1*np.diag([2.0, 1.0, 4.0])
+    colon.fix()
+    
+    ##### Prepare Contact  for the rigid body######
+    colon_mesh = pymandos.SurfaceMesh()
+    m = meshio.read("colon.stl")
+    colon_mesh.x = m.points
+    colon_mesh.indices = m.cells_dict["triangle"]
+    colon_sdf = colon.add_sdf(colon_mesh, 0.1*np.max((np.max(colon_mesh.x, axis=0) - np.min(colon_mesh.x, axis=0))/512) , 512)
+
+    # bound_low = np.min(colon_mesh.x, axis=0)
+    # bound_high = np.max(colon_mesh.x, axis=0)
+    # print(bound_low)
+    # print(bound_high)
+    # dims = (512, 512, 512)
+
+    # def distance(x):
+    #     if len(np.shape(x)) == 2:
+    #         return np.array([colon_sdf.distance(x[i, :]) for i in range(np.shape(x)[0])])
+    
+    # ps.register_volume_grid("SDF", dims, bound_low, bound_high).add_scalar_quantity_from_callable("distance", distance)
+    
+    model.add_collision_pair(colon_sdf, rod_collider, stiffness=1000, name="collision_points", threshold=0.1)
+    model.compute_dag()
+    
+    # Render
+    axis_mesh = meshio.read("axis.obj")
+    positions = np.array([x[:3] for x in endoscope.x])
+
+    # for i in range(n_points):
+    #     endoscope_view = ps.register_surface_mesh(f"Endoscope_{i}", axis_mesh.points, axis_mesh.cells_dict["triangle"], transparency=None)
+    #     endoscope_view.set_transform(endoscope.get_transform(i))
+    #     endoscope_view.add_color_quantity("c", axis_mesh.points, enabled=True)
+    indices = np.array([(i, i+1) for i in range(n_points -1)])
+    endoscope_view = ps.register_curve_network("Endoscope", positions, indices, radius = 0.005)
+    
+    ps.register_surface_mesh("Colon", m.points , m.cells_dict["triangle"], transparency=0.3)
+    ps.get_surface_mesh("Colon").set_transform(colon.get_transform())
+    
+    return model
+
+def simulate_callback(model):
+
+    step_parameters = pymandos.StepParameters()
+    step_parameters.h = 0.001
+    step_parameters.newton_iterations = 5
+    step_parameters.cg_iterations = 250
+    step_parameters.cg_error = 1e-8
+    step_parameters.grad_norm = 1e-2
+    step_parameters.line_search_iterations = 0
+    step_parameters.accept_failed_solution = True
+    global playing
+    if playing:
+        if psim.Button("Pause"):
+            playing = False
+    elif psim.Button("Simulate"):
+        playing=True
+
+    doStep = playing
+    if psim.Button("Step"):
+        doStep = True
+
+    endoscope = model.get_rigidbody_cloud("endoscope")
+
+    if doStep:
+        print(pymandos.step(model, step_parameters))
+    
+        dx = np.array([0, 0, step_parameters.h * insertion_speed])
+
+        pos = endoscope.x.copy()
+
+        # pos[0, 0:3] -= endoscope.get_transform(n_points-2)[0:3, 0:3] @ dx
+
+        # endoscope.x = pos
+        # index = 0
+        # pos[index,2] = pos[index,2] + dx 
+        # endoscope.clear_fixing()
+        # endoscope.fix_translation(index)
+        # endoscope.fix_rotation(index)
+
+        A = np.abs(np.asarray(pos[:, 0:3]) - np.asarray(m_point[0]))
+        index = (A ** 2).sum(1).argmin() -1
+
+        pos = np.array([x for x in endoscope.x])
+        endoscope.clear_fixing()
+        for i in range(index, -1, -1):
+            endoscope.fix_translation(i)
+            pos[i,0:3] = pos[i,0:3] + dx * vUnit
+            pos[i,0]= m_point[0][0]
+            pos[i,1]= m_point[0][1]
+        
+        endoscope.x = pos
+
+    model.detect_collisions()
+    model.compute_forces(0)
+
+    collision_points = model.get_collisions_state("collision_points")
+    collider = model.get_deformable3d("Collider")
+
+    if doStep:
+        if collision_points.size > 0:
+            n_collisions = collision_points.size // 2
+            x = collision_points.x[n_collisions:2*n_collisions, :]
+            collisions = ps.register_point_cloud("collision_points", x, radius = 0)
+            collisions.add_vector_quantity("f", collision_points.f[n_collisions:2*n_collisions, :], enabled=True)
+            # playing = False
+        else:
+            if ps.has_point_cloud("collision_points"):
+                ps.remove_point_cloud("collision_points")
+
+    # positions = np.array([x[:3] for x in endoscope.x])  
+    # for i in range(n_points):
+    #     ps.get_surface_mesh(f"Endoscope_{i}").set_transform(endoscope.get_transform(i))
+    ps.get_curve_network("Endoscope").update_node_positions(endoscope.x[:,0:3])
+    ps.get_point_cloud("ColliderSC").update_point_positions(collider.x)
+        
+if __name__ == "__main__":
+    ps.init()
+    ps.set_up_dir("z_up")
+    # ps.look_at((0.0, 10.0, 2.0), (0.0, 0.0, 0.0))
+    ps.set_ground_plane_mode("none") # Disable ground rendering
+    model = create_model()
+    ps.set_user_callback(lambda: simulate_callback(model))
+    ps.show()
+
+
+
+
+
diff --git a/examples/python/Colon/parallel_transport.py b/examples/python/Colon/parallel_transport.py
new file mode 100644
index 0000000000000000000000000000000000000000..433e23473495d83e931fc235b0a46299df6fb6ad
--- /dev/null
+++ b/examples/python/Colon/parallel_transport.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+import numpy as np
+from scipy.spatial.transform import Rotation
+
+
+def parallel_transport(v1: np.array, v2: np.array) -> np.array:
+    """
+    Compute the parallel transport rotation matrix
+
+    The parallel transport matrix is the minimum rotation that aligns v1 and v2
+
+    Parameters:
+    v1 (np.array): The initial 3d vector
+    v2 (np.array): The final 3d vector
+
+    Returns:
+    np.array: The 3x3 parallel transport rotation matrix
+    """
+    cross = np.cross(v1, v2)
+    cross_norm = np.linalg.norm(cross)
+    if cross_norm < 1e-7:
+        return np.identity(3)
+    axis = cross / cross_norm
+    angle = np.atan2(cross_norm, np.dot(v1, v2))
+    return Rotation.from_rotvec(axis * angle).as_matrix()
+
+
+def normalize(a: np.array) -> np.array:
+    return a / np.linalg.norm(a)
+
+
+def compute_rotation_matrix_from_direction(direction: np.array) -> np.array:
+    initial_dir = np.array((0.0, 0.0, 1.0))
+    return parallel_transport(initial_dir, normalize(direction))
+
+
+def compute_rotations_parallel_transport(positions: np.array) -> np.array:
+    """
+    Compute the rotation vectors necessary so that the z director is following the centreline of the curve.
+
+    Parameters:
+    positions (np.array): An Nx3 shaped array containing the positions of the centreline.
+
+    Returns:
+    np.array: An array of equal shape as the positions array with the rotation vectors
+    """
+    rotvecs = [(0.0, 0.0, 0.0)] * positions.size
+
+    # Compute first rotation
+    direction0 = positions[0] - positions[1]
+    R0 = compute_rotation_matrix_from_direction(direction0)
+
+    rotvecs[0] = Rotation.from_matrix(R0).as_rotvec()
+
+    last_direction = normalize(direction0)
+    last_rotation = R0
+
+    for i in range(1, len(positions)):
+        vA = positions[i - 1]
+        vB = positions[i]
+
+        AB = vA - vB
+
+        direction = normalize(AB)
+        rotation = parallel_transport(last_direction, direction) @ last_rotation
+
+        rotvecs[i] = Rotation.from_matrix(rotation).as_rotvec()
+
+        last_rotation = rotation
+        last_direction = direction
+
+    return np.array(rotvecs)