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apple/apple_10/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_10.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_11.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_12.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_13.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_14.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_15.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_16.obj

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+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_17.obj

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apple/apple_10/collision/model_normalized_collision_18.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25933647 -0.25287746 0.00757576
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apple/apple_10/collision/model_normalized_collision_19.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_2.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_20.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_21.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_22.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_23.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_24.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_25.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07702694 0.27511800 0.27727547
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apple/apple_10/collision/model_normalized_collision_26.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_27.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_28.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39783648 -0.21954806 0.01138648
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+f 8 3 2

apple/apple_10/collision/model_normalized_collision_3.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.15013563 -0.40783435 0.00683002
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apple/apple_10/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_4.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_5.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_6.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_7.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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apple/apple_10/collision/model_normalized_collision_8.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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+v -0.21969703 0.18253418 0.29811940
+v -0.28039441 -0.01025353 0.29608752
+v -0.33157262 0.18651648 0.00757576
+v -0.21946572 0.13692122 0.31277421
+v -0.33157262 -0.01045322 0.00757576
+v -0.24962492 -0.00969740 0.30822546
+v -0.33090478 0.10364911 0.23519349
+v -0.37019311 0.12397763 0.17031852
+v -0.35289200 0.18162089 0.17032601
+v -0.33897605 -0.01042636 0.24214506
+v -0.24918016 0.10795484 0.30757061
+v -0.25463248 0.17909825 0.28011344
+v -0.34585999 0.13386391 0.20470672
+v -0.36402172 0.12223226 0.18192661
+v -0.36411346 0.15256124 0.16682778
+v -0.26889464 0.11808828 0.29442967
+v -0.24672264 0.16513817 0.29108171
+v -0.23212521 0.13521460 0.30742302
+v -0.23235653 0.18082756 0.29276822
+f 6 2 3
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+f 8 6 3
+f 9 1 2
+f 9 2 6
+f 10 8 2
+f 10 5 8
+f 11 7 2
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+f 24 23 9
+f 24 9 6

apple/apple_10/collision/model_normalized_collision_9.obj

@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.13812435 0.32288012 0.00757576
+v 0.16454394 0.37299535 -0.25051020
+v 0.13449055 0.40393157 0.00540457
+v -0.12920669 0.42652788 0.00564302
+v -0.20014453 0.31377201 -0.35962202
+v 0.04534067 0.44064031 -0.16835394
+v 0.01691223 0.30772860 -0.23484848
+v -0.21036050 0.32288012 0.00757576
+v 0.12818101 0.42540433 -0.12472829
+v 0.00147608 0.44277931 -0.03927817
+v -0.11272287 0.42798194 -0.20133373
+v 0.01751727 0.33815253 -0.38528985
+v -0.25121459 0.34755005 -0.23152887
+v 0.13129105 0.42555516 -0.08741620
+v 0.10062007 0.42378121 -0.19583528
+v 0.07140645 0.42751229 0.00392395
+v -0.09878718 0.44175283 -0.11182053
+v -0.05368109 0.39661240 -0.30208377
+v -0.20366312 0.40086597 0.00474585
+v -0.24759436 0.34311720 -0.24406808
+v -0.20340540 0.37855112 -0.24034611
+v 0.05846074 0.44110638 -0.14251569
+v 0.12752665 0.40883797 -0.19826306
+v 0.01816820 0.38544510 -0.33075014
+v 0.02926722 0.44220837 -0.05415898
+v -0.04234823 0.44182819 -0.17009032
+v -0.09982123 0.44224972 -0.05518942
+v -0.07148186 0.36642606 -0.34354221
+v -0.17499073 0.41244884 0.00576103
+v -0.20440725 0.41005203 -0.09652390
+v -0.21141878 0.36622951 -0.25498205
+v -0.18503273 0.33410253 -0.34606546
+v 0.10147502 0.40994914 -0.22644326
+v 0.01796116 0.37246837 -0.34757635
+v 0.01379478 0.40982070 -0.27293901
+v 0.05941759 0.44127843 -0.11482665
+v -0.07251942 0.44183606 -0.04130183
+v -0.04209498 0.38184353 -0.32797675
+v -0.18698137 0.39408964 -0.21576970
+v -0.20203419 0.39385332 -0.18541955
+v -0.20456049 0.41006209 -0.05510766
+v -0.15916496 0.42587699 -0.08144230
+v -0.24449340 0.35447119 -0.22909881
+v -0.11362283 0.36409978 -0.33129051
+v -0.11354412 0.40929253 -0.24025153
+v 0.12970398 0.39781664 -0.22985683
+v 0.06042296 0.42480180 -0.21359104
+v -0.00006411 0.42598266 -0.22911633
+v -0.05365485 0.41167665 -0.27173744
+v -0.18696465 0.40920112 -0.14000414
+v -0.18931269 0.40974869 -0.00968760
+v -0.15923937 0.42564790 -0.07021139
+v -0.10138257 0.42643910 -0.21306189
+v -0.02750866 0.42597758 -0.22978126
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 12 7 5
+f 12 2 7
+f 14 3 2
+f 14 2 9
+f 16 10 4
+f 16 4 3
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+f 26 22 6
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+f 28 12 5
+f 29 19 8
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+f 30 17 11
+f 32 31 21
+f 32 5 13
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+f 33 24 15
+f 34 24 2
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+f 53 45 21
+f 53 21 11
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+f 53 49 18
+f 53 18 45
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+f 54 48 49
+f 54 53 26
+f 54 49 53

apple/apple_10/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="apple_74">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="M_Apple.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="M_Apple.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="5.150670000000024e-05 -0.00021765170000000031 -0.034554814700000006" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="5.150670000000024e-05 -0.00021765170000000031 0.035" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031895255000000004 0.030994551699999998 0.0002225926499999992" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

apple/apple_10/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg

apple/apple_10/visual/model_normalized_0.obj

@@ -0,0 +1,1288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.42415000 0.06535850 0.10521850
+v -0.37097800 -0.09785550 0.21027950
+v -0.35170000 0.06847850 0.22986400
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+f 1/1/1 242/242/242 232/232/232
+f 236/236/236 21/21/21 6/6/6
+f 175/175/175 53/53/53 176/176/176
+f 203/203/203 173/173/173 200/200/200
+f 71/71/71 279/279/279 258/258/258
+f 47/47/47 165/165/165 45/45/45
+f 280/280/280 148/148/148 271/271/271
+f 46/46/46 2/2/2 227/227/227
+f 95/95/95 164/164/164 93/93/93
+f 203/203/203 282/282/282 173/173/173
+f 270/270/270 304/304/304 305/305/305
+f 54/54/54 74/74/74 55/55/55

apple/apple_18/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="apple_43">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple_A" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Apple_A"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.3477099999999743e-05 0.00016405269999999973 -0.033397056" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.3477099999999743e-05 0.00016405269999999973 0.0337057385" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034353707500000004 0.031381173600000006 0.00015434124999999966" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

apple/apple_18/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png

apple/apple_19/collision/model_normalized_collision_0.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.07838148 0.00743485 -0.42044732
+v 0.01136179 0.10621921 -0.44672220
+v 0.01255594 0.09848485 -0.26428020
+v -0.21471679 0.23484849 -0.26428020
+v -0.20566751 0.18110957 -0.45881053
+v 0.01255594 0.23484849 -0.26428020
+v -0.21471679 -0.00757576 -0.37034080
+v -0.21352386 -0.00644430 -0.47660570
+v 0.01200909 0.23038091 -0.47728764
+v -0.21471679 0.09848485 -0.26428020
+v -0.13337968 -0.00351343 -0.46236845
+v -0.20957885 0.22853828 -0.43431188
+v 0.01162416 0.16063964 -0.47466676
+v -0.20995160 0.12463032 -0.47246876
+v -0.10551693 -0.00249967 -0.44364821
+v -0.09173857 0.22990719 -0.47351558
+v -0.17443333 -0.00458061 -0.47549814
+v -0.16102800 0.22473552 -0.45751196
+v -0.13479938 0.19976396 -0.47229088
+v -0.20597221 0.21169154 -0.44425130
+v -0.19190429 0.22543958 -0.44367551
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 8 7 4
+f 9 6 3
+f 9 4 6
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 7 8
+f 12 8 4
+f 13 9 3
+f 13 3 2
+f 13 2 11
+f 14 12 5
+f 14 8 12
+f 15 11 2
+f 15 2 1
+f 15 1 7
+f 15 7 11
+f 16 9 8
+f 16 8 14
+f 16 12 4
+f 16 4 9
+f 17 13 11
+f 17 11 8
+f 17 8 9
+f 17 9 13
+f 18 12 16
+f 19 16 14
+f 19 14 5
+f 19 18 16
+f 19 5 18
+f 20 18 5
+f 20 5 12
+f 21 20 12
+f 21 12 18
+f 21 18 20

apple/apple_19/collision/model_normalized_collision_1.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.35518929
+v 0.23964943 0.26346984 -0.39508842
+v 0.20260276 0.34635279 -0.34785079
+v 0.01247353 0.39970977 -0.35354883
+v 0.01121494 0.19024530 -0.47652907
+v 0.09828726 0.31337334 -0.42693289
+v 0.18596100 0.35941457 -0.34627109
+v 0.15105938 -0.00522456 -0.46156500
+v -0.03689487 0.03896380 -0.40802783
+v -0.06117414 0.31904958 -0.43522792
+v 0.14562569 0.23048455 -0.45843405
+v 0.10121848 0.39079401 -0.34878399
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
+v 0.01212971 0.39217724 -0.36185591
+v 0.09992271 0.38538470 -0.35555391
+v 0.04015558 0.34037166 -0.41603145
+v -0.03264276 0.35554581 -0.40111477
+v 0.02528538 0.28380066 -0.45899874
+v 0.17278693 0.24063840 -0.44382737
+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 12 4 1
+f 12 1 7
+f 14 5 8
+f 14 10 5
+f 14 9 10
+f 16 9 4
+f 18 11 8
+f 18 8 5
+f 19 2 8
+f 19 8 11
+f 20 6 15
+f 21 7 3
+f 21 13 20
+f 21 12 7
+f 23 14 8
+f 23 8 1
+f 23 1 9
+f 23 9 14
+f 25 10 9
+f 25 9 16
+f 26 5 10
+f 26 10 17
+f 26 18 5
+f 27 17 10
+f 27 15 17
+f 27 10 25
+f 27 25 16
+f 28 15 6
+f 29 2 19
+f 29 13 21
+f 30 20 13
+f 30 6 20
+f 30 28 6
+f 30 22 28
+f 31 21 3
+f 31 3 2
+f 31 29 21
+f 31 2 29
+f 32 21 20
+f 33 22 11
+f 33 26 17
+f 34 24 15
+f 34 4 24
+f 35 24 4
+f 35 4 12
+f 35 32 24
+f 35 12 21
+f 35 21 32
+f 36 20 15
+f 36 15 24
+f 36 32 20
+f 36 24 32
+f 37 27 16
+f 37 16 4
+f 37 4 34
+f 37 34 15
+f 37 15 27
+f 38 17 15
+f 38 15 28
+f 38 28 22
+f 38 33 17
+f 38 22 33
+f 39 19 11
+f 39 11 22
+f 40 13 29
+f 40 30 13
+f 40 22 30
+f 40 39 22
+f 40 29 39
+f 41 33 11
+f 41 11 18
+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39

apple/apple_19/collision/model_normalized_collision_10.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.25498018 -0.26515152 -0.23397717
+v 0.25498018 -0.00757576 -0.23397717
+v 0.01719942 -0.00617872 0.34038587
+v 0.01363146 -0.27557517 0.37113491
+v 0.01255594 -0.00757576 -0.23397717
+v 0.25498018 -0.00757576 0.26602284
+v 0.01255594 -0.26515152 -0.23397717
+v 0.21099575 -0.00717313 0.35417994
+v 0.20337217 -0.25899218 0.33250027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
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apple/apple_19/collision/model_normalized_collision_11.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_12.obj

@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_13.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_14.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_15.obj

@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_16.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_17.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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apple/apple_19/collision/model_normalized_collision_18.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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