diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0580066b64eef8038a3ecabaa3ac9635f785b044
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11395974 -0.01276610 0.43399359
+v 0.14393937 -0.01553562 0.26234305
+v 0.14393937 0.09052500 0.38355518
+v -0.23484853 0.09052500 0.36840367
+v -0.23484853 -0.01553562 0.26234305
+v 0.14393937 0.09052500 0.26234305
+v -0.07246693 0.07004743 0.41610826
+v -0.09270314 -0.01876618 0.41224460
+v -0.23484853 0.09052500 0.26234305
+v 0.08900414 0.03239397 0.42418306
+v 0.08693249 -0.01585347 0.41025142
+v -0.23484853 -0.01553562 0.36840367
+v -0.10030510 0.04666406 0.42419766
+v -0.10434768 -0.01755702 0.41851956
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 5 2
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 1 3
+f 10 3 7
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 4 5
+f 12 5 8
+f 13 7 4
+f 13 4 12
+f 13 10 7
+f 13 1 10
+f 14 13 12
+f 14 12 8
+f 14 8 1
+f 14 1 13
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47cce0655f2b33e4c09c65231bf32a7208656d9f
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23484853 -0.22765684 0.23204002
+v -0.23484853 -0.22765684 -0.22250546
+v -0.23484853 0.30264622 0.24719154
+v -0.34361771 0.30514858 0.24873032
+v -0.37734258 -0.24299738 0.24313585
+v -0.26167965 0.33714740 -0.24454351
+v -0.39456302 0.21412069 0.26774424
+v -0.36675609 -0.23550857 -0.22824191
+v -0.23484853 -0.01553562 0.24719154
+v -0.38410654 0.21323329 -0.23701295
+v -0.33252807 0.29427369 -0.21653363
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 6 2
+f 8 2 5
+f 9 7 5
+f 9 5 1
+f 9 1 3
+f 9 3 7
+f 10 7 4
+f 10 6 8
+f 10 8 5
+f 10 5 7
+f 11 10 4
+f 11 4 6
+f 11 6 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693a251d8576b7f2c3ef149d80b3e7875a7513e4
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23228926 -0.35917658 -0.22020154
+v -0.22647008 -0.30551887 -0.31924951
+v -0.22723064 -0.34960219 -0.24595070
+v -0.23122138 0.37157472 -0.21865964
+v -0.43282888 0.11678849 -0.21601306
+v -0.22609871 0.32084824 -0.30437531
+v -0.22838756 0.36623931 -0.23080651
+v -0.34301308 -0.27610066 -0.21468498
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+v -0.29535219 0.30255936 -0.25709102
+v -0.28245828 -0.31616389 -0.24284820
+v -0.27006007 0.35008117 -0.21409225
+v -0.22925726 0.04268915 -0.46781284
+v -0.35337206 0.09840808 -0.35959080
+v -0.28153748 -0.15772667 -0.40307985
+v -0.26704501 -0.24203148 -0.36094481
+v -0.23914096 -0.34508396 -0.24204958
+v -0.31363287 -0.30726389 -0.21523810
+v -0.24370021 0.36654267 -0.21582583
+v -0.24023082 0.34485910 -0.25760183
+v -0.41823316 0.16134205 -0.21579942
+v -0.22773031 0.11634040 -0.45050712
+v -0.33928361 0.20216931 -0.31523914
+v -0.35354716 -0.02807683 -0.37505427
+v -0.22819982 -0.16248739 -0.43978416
+v -0.29471068 -0.28823643 -0.27219462
+v -0.35351889 -0.20186059 -0.28637221
+v -0.26650933 -0.30070664 -0.28570634
+v -0.24463112 -0.35385879 -0.21767223
+v -0.26671368 0.31557054 -0.27185400
+v -0.22789999 0.34984182 -0.26001969
+v -0.43274639 -0.10194832 -0.21592639
+v -0.39761322 0.11459932 -0.28706253
+v -0.31137221 0.09989390 -0.40340055
+v -0.35409729 0.24165928 -0.25618754
+v -0.23977065 0.24375552 -0.37414724
+v -0.28221880 -0.07196664 -0.43303798
+v -0.23997448 -0.21514234 -0.40483158
+v -0.22840016 -0.11948627 -0.45342800
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+v -0.22996400 -0.05882889 -0.46662007
+v -0.33893727 -0.27230141 -0.22739353
+v -0.32322081 -0.20236948 -0.32919680
+v -0.26651537 -0.23073467 -0.37222139
+f 6 3 2
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+f 13 11 9
+f 18 2 3
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+f 21 13 20
+f 21 20 4
+f 21 4 7
+f 22 13 9
+f 22 8 13
+f 23 6 2
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+f 29 18 12
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+f 30 3 1
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+f 63 43 28
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+f 64 63 42
+f 64 17 63
+f 64 60 17
+f 64 39 60
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932f49a48bda920ccef3f14012478a3ce382eb79
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.40284287 0.17577024 0.28447328
+v -0.33252807 0.29427369 -0.21653363
+v -0.32575762 0.21173712 0.24719154
+v -0.33637457 0.35763356 0.13912707
+v -0.44235775 0.21912874 -0.05260257
+v -0.31829336 0.32415279 0.25714206
+v -0.42831861 0.24798882 0.12223780
+v -0.39829538 0.28991663 -0.07981364
+v -0.40626144 0.19118014 -0.21746671
+v -0.31715952 0.30766507 0.28665504
+v -0.33392254 0.35459528 0.15319501
+v -0.44725416 0.19166183 0.15351574
+v -0.38282756 0.28969745 -0.12515924
+v -0.41417543 0.27592932 0.10829352
+v -0.37830826 0.21878526 -0.24185117
+v -0.42857196 0.21752446 -0.12645758
+v -0.35699873 0.23274075 0.31353334
+v -0.39648076 0.26172025 0.20883817
+v -0.44331481 0.21760915 0.12220664
+v -0.44794764 0.19100823 -0.08355894
+v -0.34433194 0.35127342 0.13715417
+v -0.41266093 0.27592028 -0.05210301
+v -0.38306216 0.25760756 -0.18330065
+v -0.41200963 0.23294319 -0.15467121
+v -0.38734392 0.18804353 0.30218335
+v -0.33894300 0.31713485 0.23746676
+v -0.42217816 0.17769191 0.24326013
+v -0.44307982 0.20520543 0.15184394
+v -0.39940152 0.29076829 0.13611374
+v -0.43452360 0.19203099 -0.14280606
+v -0.44292919 0.20418496 -0.08264442
+v -0.34229475 0.34833662 0.15086484
+v -0.42793923 0.24572572 -0.06717297
+v -0.35489120 0.27386906 -0.21253629
+v -0.38484547 0.23214521 -0.21388258
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+v -0.41413666 0.20361698 -0.18575040
+v -0.35542926 0.33099963 0.16522256
+v -0.40418566 0.19645116 0.26479291
+v -0.33926221 0.28927446 0.28031733
+f 9 3 1
+f 10 3 2
+f 10 2 6
+f 11 6 2
+f 11 2 4
+f 13 8 4
+f 13 4 2
+f 14 5 7
+f 15 2 3
+f 15 3 9
+f 17 3 10
+f 19 7 5
+f 20 19 5
+f 20 12 19
+f 21 4 8
+f 22 5 14
+f 22 21 8
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+f 24 8 13
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+f 25 1 3
+f 25 3 17
+f 27 12 20
+f 28 12 27
+f 28 19 12
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+f 29 14 7
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+f 31 5 16
+f 31 16 20
+f 32 11 4
+f 32 4 21
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+f 33 16 5
+f 33 5 22
+f 34 23 13
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+f 35 24 23
+f 35 34 15
+f 35 23 34
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+f 37 10 6
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+f 38 37 6
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+f 39 26 18
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+f 44 43 30
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+f 45 18 26
+f 45 21 29
+f 46 33 22
+f 46 22 8
+f 46 8 24
+f 46 24 16
+f 46 16 33
+f 47 34 13
+f 47 13 2
+f 47 2 34
+f 48 24 35
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+f 49 1 25
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+f 50 10 37
+f 50 17 10
+f 51 39 36
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+f 53 48 9
+f 53 24 48
+f 53 44 24
+f 53 43 44
+f 54 45 26
+f 54 26 32
+f 54 32 21
+f 54 21 45
+f 55 40 1
+f 55 1 49
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+f 55 52 40
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+f 56 50 26
+f 56 26 39
+f 56 39 17
+f 56 17 50
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/visual/material.mtl b/objects/objaverse/apple/apple_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69ca6639a96d66a360472375088031d18a3e0596
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/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 489.99998300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a34a982ed1680ba604b8cfd08939da3ac68cf4
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/visual/model_normalized_0.obj
@@ -0,0 +1,6325 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.49184012 0.11783821 0.02722943
+v 0.47048394 0.18380525 0.00961571
+v 0.46544149 0.18901873 0.08503273
+v 0.44200469 0.23539636 0.02961159
+v 0.47720270 0.15214175 -0.05372745
+v 0.48495322 0.11842368 0.09656984
+v 0.49395740 0.10493404 -0.02865728
+v 0.46241428 0.16959674 0.14921344
+v 0.43884287 0.22017975 0.15234703
+v 0.45135721 0.20459164 -0.05969358
+v 0.42799110 0.25493945 0.09460236
+v 0.49159599 0.07324111 0.09811227
+v 0.43429929 0.23381099 -0.04993530
+v 0.49952043 0.06854965 0.00946928
+v 0.48304580 0.11110690 -0.09003899
+v 0.47460682 0.09483370 0.16819157
+v 0.39798630 0.29565442 0.04702147
+v 0.49680031 0.06181641 -0.05384493
+v 0.40841713 0.25978771 0.17149788
+v 0.45687851 0.15734148 -0.13346974
+v 0.45115072 0.16836381 0.19037565
+v 0.41026013 0.27189775 -0.03705743
+v 0.40511781 0.28332799 0.10283533
+v 0.49797752 0.03366041 0.06625723
+v 0.50000000 0.02073742 -0.01394267
+v 0.42770668 0.21735734 -0.12175966
+v 0.49131231 0.03554442 -0.09441227
+v 0.47464083 0.09072240 -0.14101738
+v 0.45129208 0.11400915 0.23402954
+v 0.38832114 0.30068698 -0.02537678
+v 0.40609190 0.23244707 0.22676439
+v 0.39613485 0.27368840 -0.09956496
+v 0.38074962 0.30309784 0.14111097
+v 0.42684814 0.17863928 0.24176630
+v 0.48935013 0.01990204 0.12875995
+v 0.47437138 0.03988900 0.18805477
+v 0.44857341 0.13491930 -0.18662403
+v 0.42946478 0.18014987 -0.18615677
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+v 0.49769287 -0.01475875 0.04186709
+v 0.36673072 0.32929866 0.00843802
+v 0.37728289 0.28036640 0.21657334
+v 0.46781327 0.05650402 -0.17769631
+v 0.34972104 0.34174739 0.09656116
+v 0.49329764 -0.02562790 -0.05093858
+v 0.37389987 0.29747089 -0.11290649
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+v 0.34895031 0.34837352 0.05038882
+v 0.38942694 0.25165050 -0.17526519
+v 0.49193854 -0.04216139 0.08020111
+v 0.42641007 0.12851655 0.27970881
+v 0.39775375 0.20575558 0.27615692
+v 0.34783703 0.34299070 -0.04372481
+v 0.34922435 0.33420747 0.14292093
+v 0.49160420 -0.04835355 -0.00142592
+v 0.34077668 0.32880969 0.19251875
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+v 0.47348509 -0.05499295 -0.12607215
+v 0.32999992 0.35058489 -0.08558370
+v 0.40995208 0.13218229 -0.27978431
+v 0.34767202 0.24159599 0.32428950
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diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..699b8b5b36389199d031f3f63dbb8a7599610640
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_1.obj
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e82f1b94f0454d322a48ff469bbbcb80e7a8fce
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf07c9dca434d4f4a2ed8e29da1b48ff4f7dbd1
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22768488 -0.42303348 0.17606025
+v -0.22854160 -0.34930871 -0.22577912
+v -0.23484847 -0.01063883 0.22391805
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+v -0.22730620 -0.37778451 -0.16505733
+v -0.49170684 -0.00803450 0.14552087
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+v -0.35606058 -0.01063883 0.22391805
+v -0.29536454 -0.37209367 0.17435182
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+v -0.47753767 -0.00778828 -0.07533036
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+v -0.38219716 -0.15728566 -0.22124007
+v -0.23733084 -0.41734862 0.17491873
+v -0.35378032 -0.29824747 0.21726299
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+v -0.26645658 -0.38624693 0.21721773
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212557ce86fe93711f28cee983d5eef7b48cf3aa
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.09733942 -0.46005722 0.25239865
+v -0.09538475 -0.45094046 0.27952760
+v -0.22514389 -0.40507464 0.24947687
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+v -0.13671445 -0.38904876 0.35959369
+v -0.20801445 -0.01315815 0.37406678
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a78cfbe51f8fc9002a7a12d8be48168083c05729
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25679062 -0.36298709 0.23592218
+v 0.47762764 -0.00687506 -0.06072908
+v 0.44954688 -0.02535543 0.29462669
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9f4e30c3743677a7fce3ad427b221db0f867ad
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01706024 -0.26143782 -0.44118961
+v 0.20046196 -0.09434570 -0.43026939
+v -0.18363035 -0.23256554 -0.40358952
+v -0.19940544 -0.00369037 -0.44698407
+v 0.03460470 -0.14954499 -0.48621470
+v 0.12701019 -0.22094305 -0.41023784
+v 0.16852054 -0.00942929 -0.47089422
+v -0.06135912 -0.17440779 -0.48449599
+v 0.18155892 -0.13722069 -0.42259663
+v 0.07400501 -0.18287274 -0.46835025
+v 0.21051769 -0.01743140 -0.45090120
+v 0.02020570 -0.18498907 -0.48596091
+v -0.09348245 -0.22790872 -0.45378596
+v -0.17069224 -0.09792619 -0.46941282
+v 0.07326828 -0.21000907 -0.45407840
+v 0.16308000 -0.12513245 -0.44194108
+v 0.18691794 -0.00987933 -0.46505892
+v -0.04656785 -0.12285469 -0.48613103
+v 0.03422843 -0.17494673 -0.48490293
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+v -0.18251047 -0.13947044 -0.45293264
+v 0.11684362 -0.21136616 -0.42630590
+v 0.03178587 -0.21435977 -0.47023694
+v 0.18204241 -0.06538697 -0.45433803
+v -0.03469052 -0.18726611 -0.48572089
+v -0.16992872 -0.05841566 -0.47020457
+v 0.00200578 -0.12296054 -0.48610633
+v 0.16863708 -0.02150008 -0.46974230
+v -0.17811527 -0.22745000 -0.41026679
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+v -0.05785279 -0.13824633 -0.48540341
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+f 36 26 4
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1faa0c741e880105ea4eedecbf18a31ad96a1ef3
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00757578 0.20148238 -0.21547589
+v 0.00767187 0.20128308 -0.45745917
+v 0.00787278 0.40165074 -0.25570784
+v -0.23783773 0.35853273 -0.21879558
+v -0.23074695 0.19817600 -0.39095410
+v 0.00757578 0.35299753 -0.21547589
+v 0.00834121 0.36732997 -0.31061640
+v -0.13997972 0.19545240 -0.42953944
+v -0.23484847 0.20148238 -0.21547589
+v -0.00652260 0.40147049 -0.25519857
+v 0.00806417 0.39605805 -0.26529038
+v -0.13844801 0.33609863 -0.32172418
+v -0.06445944 0.19800860 -0.44402343
+v -0.26043293 0.22397188 -0.35514813
+v -0.21407757 0.19616607 -0.40082643
+v -0.00552997 0.39572161 -0.26514934
+v -0.11144780 0.38727251 -0.25445812
+v 0.00769683 0.25222997 -0.42947493
+v -0.04915102 0.22196129 -0.43816171
+v -0.22358006 0.30540321 -0.30784635
+v -0.13771568 0.27935972 -0.37974295
+v -0.16594350 0.36545784 -0.26554458
+v -0.06558200 0.38000753 -0.28061761
+v -0.09481685 0.32133615 -0.35214366
+v 0.00775512 0.22518581 -0.44648662
+v -0.06433297 0.20920803 -0.44089549
+v -0.16714462 0.22123397 -0.40812971
+v -0.06466918 0.26521834 -0.40922996
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+v -0.11003274 0.36462739 -0.29360529
+v -0.16860265 0.37117504 -0.25376947
+v -0.19433778 0.33491023 -0.29202003
+v -0.03620870 0.36532959 -0.30899422
+v -0.06590547 0.35072097 -0.32483222
+v -0.13876454 0.20799154 -0.42417862
+v -0.18396251 0.19628797 -0.41425014
+v -0.19551194 0.24924564 -0.37872795
+v -0.10851118 0.25077987 -0.40928411
+v -0.03454702 0.24957115 -0.42529246
+v -0.09460880 0.29173588 -0.38101062
+v -0.11019756 0.38088601 -0.26591222
+v -0.22552568 0.33625235 -0.26466797
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+v -0.21204207 0.20850098 -0.39582248
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+v -0.18223969 0.20707554 -0.40969291
+v -0.22566585 0.22182958 -0.38081807
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b674a82052c471a863a8be6e2f18e8bbd4365c6c
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22978162 -0.41183273 0.22117725
+v -0.22757945 -0.40840051 0.23513756
+v -0.46439213 -0.05278952 0.21835849
+v -0.23194190 0.40881095 0.22192450
+v -0.22679495 0.40067508 0.24909132
+v -0.27062726 0.38458938 0.21750648
+v -0.38645444 -0.25676003 0.21824687
+v -0.22714755 -0.26337216 0.39292923
+v -0.24246675 0.40334085 0.21955712
+v -0.38444206 0.14934949 0.32861082
+v -0.25138458 -0.38668991 0.24794410
+v -0.23943744 -0.40600509 0.21910209
+v -0.43207374 0.20947480 0.21659525
+v -0.22579303 -0.39177539 0.27816044
+v -0.34042153 -0.21274031 0.33045206
+v -0.23851547 0.39466674 0.24634410
+v -0.22883268 0.25739817 0.37689431
+v -0.35381638 -0.28409499 0.24503284
+v -0.23705219 -0.40290576 0.23316606
+v -0.44837928 -0.11233941 0.21807320
+v -0.37377435 0.29636880 0.21678000
+v -0.45750305 0.10657335 0.24626691
+v -0.22594737 -0.32200047 0.36388754
+v -0.38904657 0.00683363 0.34189663
+v -0.22761933 0.31598269 0.35121183
+v -0.27899332 -0.32846402 0.30240370
+v -0.36724520 -0.22801997 0.28675963
+v -0.41645332 -0.20090127 0.21805283
+v -0.42828791 -0.08148785 0.27333917
+v -0.32606187 0.33607183 0.23021042
+v -0.38449026 0.21734461 0.28765823
+v -0.46257594 0.13567509 0.21776545
+v -0.22664750 0.38622798 0.27719206
+v -0.25096960 -0.27359460 0.37291572
+v -0.32827539 -0.15989535 0.35809467
+v -0.43051712 0.06332285 0.30152336
+v -0.33283151 0.13615426 0.37031648
+v -0.33875455 -0.28438569 0.27248614
+v -0.25005740 -0.35752946 0.30196810
+v -0.29457720 -0.30067066 0.31447444
+v -0.38313783 -0.25423756 0.23214950
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+v -0.33846474 -0.25626338 0.30226868
+v -0.26482033 -0.30048807 0.34483438
+v -0.41194511 -0.19925163 0.23118765
+v -0.36784738 -0.25536487 0.25926280
+v -0.41211119 -0.18409925 0.24438316
+v -0.43029260 0.02214518 0.30188112
+v -0.34141252 -0.17224406 0.34333831
+f 5 2 1
+f 5 1 4
+f 9 4 1
+f 12 9 1
+f 12 6 9
+f 13 12 7
+f 14 2 5
+f 16 9 6
+f 16 5 4
+f 16 4 9
+f 18 12 11
+f 18 7 12
+f 19 12 1
+f 19 1 2
+f 19 11 12
+f 19 2 14
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+f 21 6 12
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+f 25 17 8
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+f 32 13 3
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+f 55 37 24
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+f 59 15 58
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+f 64 35 24
+f 64 24 43
+f 64 43 44
+f 64 44 15
+f 64 15 35
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d6a7049a1c3ee4e701bbbe6e75c1e5c27dd7f5
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01336698 -0.01029281 0.38586303
+v 0.00757578 -0.01063883 0.25422108
+v 0.00757578 0.35299753 0.25422108
+v -0.09389238 0.34686244 0.41032172
+v -0.10030091 -0.01234035 0.31308966
+v 0.00982209 0.31663531 0.44862054
+v -0.09154147 0.21884618 0.43306894
+v -0.09848483 0.35299753 0.25422108
+v 0.01350215 0.14538442 0.45337869
+v 0.00927942 0.34468137 0.43606066
+v -0.09253569 0.17884971 0.41979677
+v -0.09168973 0.28937858 0.43362095
+v -0.08552363 -0.00022504 0.29049266
+v -0.04950544 0.33204743 0.43342849
+v -0.07583547 0.19224089 0.43129254
+v -0.04792341 0.27517296 0.44808569
+v -0.01940805 0.34290001 0.43338227
+v -0.09208272 0.32929336 0.42130966
+v -0.03327890 0.30157004 0.44635415
+v -0.04729003 0.21969041 0.44871377
+v -0.07778246 0.34296587 0.41856008
+v -0.00511455 0.31605573 0.44692541
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 10 3 4
+f 10 9 3
+f 10 6 9
+f 11 5 1
+f 11 1 9
+f 11 7 4
+f 11 4 5
+f 12 4 7
+f 13 8 2
+f 13 2 5
+f 13 5 8
+f 15 11 9
+f 15 9 7
+f 15 7 11
+f 16 9 6
+f 17 10 4
+f 17 6 10
+f 18 4 12
+f 18 12 14
+f 19 14 12
+f 19 12 16
+f 19 16 6
+f 20 16 12
+f 20 12 7
+f 20 7 9
+f 20 9 16
+f 21 17 4
+f 21 14 17
+f 21 18 14
+f 21 4 18
+f 22 17 14
+f 22 6 17
+f 22 19 6
+f 22 14 19
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58963984ff33f3ccfdf83cda3cba7a10ec2d08a
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00695458 -0.26333882 0.44927932
+v 0.00757578 -0.26821458 0.25422108
+v 0.01336698 -0.01029281 0.38586303
+v -0.08552363 -0.00022504 0.29049266
+v -0.09848483 -0.26821458 0.25422108
+v 0.00757578 -0.01063883 0.25422108
+v -0.09500644 -0.19681268 0.44748967
+v 0.01269340 -0.09600509 0.41952471
+v -0.09687336 -0.26647708 0.44418070
+v -0.09726475 -0.07122287 0.37473757
+v 0.00879167 -0.16550439 0.44976023
+v -0.09452230 -0.24879064 0.44910487
+v -0.09660774 -0.12724155 0.42000568
+v -0.10411759 -0.01827035 0.32166982
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f76c1a696e7c0c9394b792170640629182ef22
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757578 -0.23791155 -0.23062740
+v 0.01706024 -0.26143782 -0.44118961
+v 0.01156412 -0.01001722 -0.42903308
+v -0.18939392 -0.01063883 -0.23062740
+v -0.18939392 -0.23791155 -0.23062740
+v -0.19940544 -0.00369037 -0.44698407
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecdbd5420928870fe873771c7b0264055818518
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44975abd724aed1e4410c1b51275693ed5436536
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38546259 0.20112441 -0.21491819
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26edb0dcd93611c37dc7da60600aec27d071ded3
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21662037 -0.29505677 -0.22795993
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+v 0.25575825 -0.26029210 -0.22353134
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+v 0.26434431 -0.06303778 -0.39529778
+v 0.22239590 -0.28450986 -0.23498236
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e185239282abadc54ac1d02305d65e8145f3300f
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.25200710 -0.25691144 0.38776042
+v 0.25575825 -0.26029210 -0.22353134
+v 0.25114231 0.35470202 -0.21664800
+v 0.00927942 0.34468137 0.43606066
+v 0.00757578 -0.26821458 -0.23062740
+v 0.26161832 0.28816173 0.41508837
+v 0.00695458 -0.26333882 0.44927932
+v 0.26515153 -0.01063883 -0.23062740
+v 0.00757578 0.35299753 -0.21547589
+v 0.24181440 0.33916533 0.37912957
+v 0.03683058 -0.26318403 0.44821936
+v 0.26515153 0.23178542 -0.21547589
+v 0.26042364 -0.05063729 0.46272511
+v 0.00757578 -0.01063883 -0.23062740
+v 0.11030179 0.34153235 0.43270578
+v 0.26130012 0.02276698 0.47868059
+v 0.16843006 -0.25795430 0.43333666
+v 0.16787487 0.33783248 0.41930544
+v 0.25730559 0.16690890 0.47865864
+v 0.23120476 -0.00706439 0.48003316
+v 0.22424622 -0.20064001 0.43091380
+v 0.22578036 0.33733449 0.39270096
+v 0.25855547 0.20846336 0.46352833
+v 0.11135896 0.28563076 0.46300878
+v 0.18886361 -0.02273671 0.47934720
+v 0.11117821 -0.24588752 0.44829340
+v 0.16811538 -0.21774254 0.44639317
+v 0.25170573 -0.22896852 0.40401629
+v 0.22543295 0.30914568 0.41830289
+v 0.01105260 0.25870185 0.46408514
+v 0.20018931 0.25354279 0.46238582
+v 0.08495074 0.21495522 0.47960117
+v 0.05379933 0.28552075 0.46407374
+v 0.00982209 0.31663531 0.44862054
+v 0.20112149 0.21072582 0.47732630
+v 0.24644499 0.18158042 0.47726779
+v 0.13929963 0.31062308 0.44683534
+v 0.24022316 0.27954904 0.43440476
+v 0.09009615 0.11199248 0.47772820
+v 0.02552385 0.27345973 0.46359836
+v 0.22790526 0.23709885 0.46189820
+v 0.25676792 0.28235511 0.42227845
+v 0.22842167 0.26712559 0.44647156
+v 0.13515298 0.02353310 0.47756956
+f 5 2 1
+f 8 2 5
+f 9 4 3
+f 9 7 4
+f 10 6 3
+f 10 3 4
+f 11 7 5
+f 11 5 1
+f 12 8 3
+f 12 3 6
+f 13 1 2
+f 13 2 8
+f 14 8 5
+f 14 5 7
+f 14 7 9
+f 14 9 3
+f 14 3 8
+f 15 10 4
+f 16 12 6
+f 16 8 12
+f 16 13 8
+f 17 11 1
+f 18 10 15
+f 20 13 16
+f 20 16 19
+f 22 6 10
+f 22 10 18
+f 23 19 16
+f 23 16 6
+f 24 15 4
+f 26 11 17
+f 26 20 25
+f 26 25 7
+f 26 7 11
+f 27 13 20
+f 27 21 13
+f 27 17 21
+f 27 26 17
+f 27 20 26
+f 28 21 17
+f 28 17 1
+f 28 1 13
+f 28 13 21
+f 29 22 18
+f 29 6 22
+f 32 25 20
+f 32 20 19
+f 32 30 7
+f 33 24 4
+f 33 32 24
+f 34 4 7
+f 34 7 30
+f 34 33 4
+f 35 31 24
+f 35 32 19
+f 35 24 32
+f 36 19 23
+f 36 35 19
+f 37 18 15
+f 37 15 24
+f 37 24 31
+f 38 6 29
+f 38 29 18
+f 38 18 37
+f 39 32 7
+f 39 25 32
+f 40 30 32
+f 40 32 33
+f 40 34 30
+f 40 33 34
+f 41 36 23
+f 41 31 35
+f 41 35 36
+f 42 38 23
+f 42 23 6
+f 42 6 38
+f 43 38 37
+f 43 37 31
+f 43 31 41
+f 43 41 23
+f 43 23 38
+f 44 39 7
+f 44 7 25
+f 44 25 39
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f606dfe788d53294efd2db72e9886957366fb81
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00757578 -0.26821458 0.25422108
+v 0.00757578 -0.26821458 -0.23062740
+v 0.00757578 0.35299753 0.25422108
+v -0.25129650 0.37417502 0.26729972
+v -0.26668285 -0.30174368 -0.25394401
+v -0.23783773 0.35853273 -0.21879558
+v -0.23484847 -0.26821458 0.25422108
+v 0.00757578 0.35299753 -0.21547589
+v 0.00757578 -0.01063883 -0.23062740
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 5 6
+f 8 6 4
+f 8 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_13/model.xml b/objects/objaverse/apple/apple_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f68a129916bbe20d52347463a71dd46ec14df59c
--- /dev/null
+++ b/objects/objaverse/apple/apple_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_65">
+  <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="Material.340" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </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="Material.340"/>
+        <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="-5.590969999999862e-05 -0.0002460380999999998 -0.034035029" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-5.590969999999862e-05 -0.0002460380999999998 0.03376688420000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0344749447 0.0341161639 -0.0001340723999999999" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/objects/objaverse/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
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/objects/objaverse/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
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+f 26 5 10
+f 26 10 17
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+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
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+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
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/objects/objaverse/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
+f 8 5 6
+f 9 7 3
+f 9 3 4
+f 9 4 5
+f 9 1 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36942246 -0.24690344 -0.23156638
+v 0.42147470 -0.09595162 -0.22940612
+v 0.23982867 -0.25000000 -0.23397717
+v 0.25498018 0.23484849 -0.23397717
+v 0.23751738 -0.00752452 -0.46569422
+v 0.40705477 0.18299534 -0.22823955
+v 0.37837343 -0.22896545 -0.22942154
+v 0.23248552 -0.24428269 -0.42120310
+v 0.23982867 -0.00757576 -0.23397717
+v 0.24833911 0.25884168 -0.39184770
+v 0.37338235 0.02222484 -0.35935506
+v 0.39246644 -0.19818232 -0.22904976
+v 0.23372970 -0.08163323 -0.46444739
+v 0.38460856 0.23160767 -0.23104282
+v 0.41808501 0.08194195 -0.25665108
+v 0.28962901 0.12481546 -0.42729541
+v 0.42246547 0.12596812 -0.22832004
+v 0.37403971 -0.12319325 -0.32785184
+v 0.38846243 -0.19636620 -0.24279493
+v 0.30002056 -0.07888938 -0.42882834
+v 0.24678801 0.24221643 -0.40494478
+v 0.25366480 0.26402230 -0.38391927
+v 0.39328695 0.21390511 -0.22878362
+v 0.38684652 0.15450889 -0.29820304
+v 0.40308172 -0.04975467 -0.30211517
+v 0.41790521 -0.06522264 -0.25704990
+v 0.32910889 -0.23840872 -0.32858996
+v 0.40144034 -0.12247088 -0.27034965
+v 0.24925800 -0.00706829 -0.46316204
+v 0.34566334 -0.08106414 -0.38642447
+v 0.25705656 -0.19700754 -0.42968972
+v 0.30482806 0.06571814 -0.42805269
+v 0.24742395 0.14115274 -0.44808200
+v 0.33110888 0.17976236 -0.36927793
+v 0.40226432 0.16870859 -0.25635540
+v 0.40347445 0.05105910 -0.30312267
+v 0.35714534 -0.24132059 -0.27024140
+v 0.34235224 -0.21167662 -0.32785034
+v 0.37114518 -0.15234882 -0.31518377
+v 0.40634204 -0.15443603 -0.22925402
+v 0.41742592 -0.09528230 -0.24334988
+v 0.24580122 -0.08077467 -0.45841058
+v 0.38756680 -0.06494753 -0.32757614
+v 0.23375942 -0.17148380 -0.44836809
+v 0.31508912 -0.13908657 -0.39890007
+v 0.28697398 -0.21203079 -0.39894873
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+v 0.27399438 0.09589965 -0.44231409
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+v 0.24313692 -0.24077895 -0.41523181
+v 0.29790062 -0.21213893 -0.38752933
+v 0.24833886 0.18405442 -0.43378744
+v 0.30045518 0.13783981 -0.41500429
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+f 56 19 28
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+f 58 31 8
+f 58 8 44
+f 59 44 13
+f 59 13 42
+f 59 42 20
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+f 60 20 45
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+f 60 46 31
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+f 61 27 8
+f 61 8 46
+f 62 38 27
+f 62 61 46
+f 62 27 61
+f 62 55 38
+f 62 46 55
+f 63 47 33
+f 63 33 21
+f 63 21 47
+f 64 47 34
+f 64 16 47
+f 64 34 50
+f 64 50 32
+f 64 32 16
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.22952008 -0.28076690 -0.38688661
+v -0.19216618 -0.22670632 -0.44775927
+v -0.21471679 0.09848485 -0.37034080
+v -0.35668908 0.09550828 -0.36286702
+v -0.34923540 -0.10680956 -0.37099580
+v -0.20933947 0.09660349 -0.47823457
+v -0.19956528 -0.00757576 -0.35518929
+v -0.27748811 -0.18071199 -0.41248534
+v -0.29358924 -0.00756992 -0.44634537
+v -0.19414481 -0.24403518 -0.43621536
+v -0.29829759 -0.24514751 -0.34843661
+v -0.19956528 -0.00757576 -0.41579535
+v -0.37988145 -0.00761718 -0.35439709
+v -0.27761345 0.09514196 -0.44560568
+v -0.29082616 -0.10746027 -0.42795565
+v -0.22858002 -0.00635385 -0.47541092
+v -0.23393479 -0.24218827 -0.41406435
+v -0.31889310 -0.18222256 -0.37040278
+v -0.19451462 -0.17090744 -0.46217262
+v -0.33410188 -0.06414700 -0.40221745
+v -0.32178700 0.07893668 -0.41331834
+v -0.37027806 -0.09644411 -0.34927123
+v -0.26723635 0.08088857 -0.45707216
+v -0.31821598 -0.12133145 -0.40010605
+v -0.23303287 -0.18094662 -0.44299376
+v -0.20655907 -0.24102302 -0.43122457
+v -0.27430358 -0.20844604 -0.40004201
+v -0.29219433 -0.24110617 -0.35796425
+v -0.21352386 -0.00644430 -0.47660570
+v -0.25154570 -0.08008372 -0.45709809
+v -0.36507226 -0.03400256 -0.37244811
+v -0.29162659 -0.03445025 -0.44450211
+v -0.37127151 0.04987622 -0.36242133
+v -0.34959595 0.09358640 -0.37282870
+v -0.35500933 -0.13940520 -0.34873551
+v -0.36475649 -0.09486499 -0.35651314
+v -0.22219420 0.09489166 -0.47323805
+v -0.29221968 0.04886238 -0.44453848
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+v -0.29067871 -0.15285328 -0.41262338
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+v -0.30983603 -0.22769007 -0.34840796
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+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
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+f 7 3 4
+f 7 6 3
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+f 10 2 7
+f 11 1 7
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+f 14 4 6
+f 19 12 2
+f 19 6 12
+f 22 7 13
+f 24 5 20
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+f 28 17 1
+f 28 1 11
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+f 29 19 16
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+f 34 4 14
+f 34 14 21
+f 34 33 4
+f 35 7 22
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+f 36 5 22
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+f 37 23 14
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+f 37 6 23
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+f 42 18 35
+f 43 25 8
+f 43 15 32
+f 43 40 15
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+f 44 25 17
+f 44 8 25
+f 45 25 2
+f 45 17 25
+f 45 26 17
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+f 46 19 2
+f 46 2 25
+f 46 25 43
+f 46 43 30
+f 46 30 19
+f 47 27 8
+f 47 17 27
+f 47 44 17
+f 47 8 44
+f 48 28 11
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+f 48 27 28
+f 49 21 9
+f 49 9 31
+f 49 31 13
+f 49 13 33
+f 49 33 34
+f 50 35 18
+f 50 11 7
+f 50 7 35
+f 50 48 11
+f 50 18 48
+f 51 39 9
+f 51 9 23
+f 51 23 6
+f 51 6 39
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+f 52 9 39
+f 52 39 30
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+f 52 30 43
+f 53 49 34
+f 53 34 21
+f 53 21 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.22919375 -0.28622379 0.29754871
+v 0.36449210 -0.03672659 0.25878227
+v 0.26024547 -0.14146669 0.33837138
+v 0.25366421 0.09809972 0.33898761
+v 0.20952564 -0.00757576 0.26602284
+v 0.31723676 -0.00782360 0.31209896
+v 0.20255252 -0.20132856 0.35810633
+v 0.31902052 -0.21486401 0.25710643
+v 0.29562984 0.09691038 0.32003562
+v 0.33044953 -0.12502685 0.28235410
+v 0.27507720 -0.02201215 0.33897049
+v 0.20337217 -0.25899218 0.33250027
+v 0.20922610 -0.00765779 0.35440549
+v 0.30413329 -0.24298859 0.25675755
+v 0.25941694 0.09978332 0.33604475
+v 0.36663485 -0.00663457 0.26010829
+v 0.28575034 -0.10985949 0.32545252
+v 0.34582580 -0.05081449 0.28045115
+v 0.33448200 -0.17062132 0.25838732
+v 0.27212005 -0.21229138 0.30872146
+v 0.23054761 -0.14148618 0.35417458
+v 0.26153033 0.08048798 0.33793194
+v 0.27497851 -0.00799630 0.33874847
+v 0.20290042 -0.24277916 0.34235698
+v 0.29197039 -0.25953962 0.25874178
+v 0.36047372 -0.00614247 0.27014251
+v 0.31594585 -0.03572459 0.31119560
+v 0.35775939 -0.03606358 0.26976731
+v 0.31298313 -0.18207076 0.28281522
+v 0.34911976 -0.11111591 0.25874998
+v 0.24106003 -0.19671398 0.33799467
+v 0.21435789 -0.19861194 0.35266333
+v 0.23758573 -0.05415335 0.35350231
+v 0.24430758 -0.25396053 0.30968476
+v 0.27253006 -0.24159778 0.29455440
+v 0.33036289 -0.05076914 0.29527777
+v 0.32793388 -0.16854269 0.26915582
+v 0.30089184 -0.18443114 0.29388561
+v 0.34306212 -0.10903442 0.26937434
+v 0.21318363 -0.23849552 0.33959835
+v 0.20834100 -0.03762884 0.35598799
+v 0.24870480 0.08149677 0.34361407
+v 0.29809291 -0.23929071 0.26702249
+v 0.28599047 -0.25557491 0.26874934
+v 0.31611764 -0.12538901 0.29498227
+v 0.27036182 -0.16904663 0.32359589
+v 0.31242905 -0.21214526 0.26724207
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+f 28 2 16
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+f 30 19 8
+f 30 8 2
+f 32 21 7
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+f 33 7 21
+f 33 21 11
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+f 34 12 1
+f 35 20 34
+f 35 34 1
+f 36 27 10
+f 36 10 18
+f 36 18 27
+f 37 19 10
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+f 38 20 35
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+f 40 34 20
+f 40 20 31
+f 41 33 13
+f 41 13 7
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+f 42 23 22
+f 42 22 4
+f 42 4 13
+f 42 13 33
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+f 44 1 25
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+f 45 38 10
+f 45 10 17
+f 45 17 38
+f 46 38 17
+f 46 17 3
+f 46 3 31
+f 46 31 20
+f 46 20 38
+f 47 43 8
+f 47 8 29
+f 47 29 35
+f 47 35 43
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26182520 0.22833261 0.29709894
+v 0.40654905 0.22886332 -0.16847338
+v 0.40416311 0.24321009 0.07877287
+v 0.23267330 0.43651004 0.02153488
+v 0.23982867 0.23484849 -0.24912868
+v 0.35948223 0.32667978 -0.09498403
+v 0.28465408 0.32475143 0.19450087
+v 0.39047081 0.22899952 0.13985813
+v 0.36187274 0.22747107 -0.28553940
+v 0.23272669 0.25803875 0.29902306
+v 0.41812241 0.24401377 -0.05135124
+v 0.34455077 0.34140276 0.02096456
+v 0.32769690 0.26785406 0.21009216
+v 0.36091209 0.22876839 0.19731061
+v 0.34316163 0.31282829 -0.19768861
+v 0.23807763 0.23341615 0.30839842
+v 0.23056050 0.40389290 -0.22756851
+v 0.23158166 0.35954339 0.21283685
+v 0.40276011 0.25266545 -0.13973262
+v 0.42262247 0.23055111 -0.00806014
+v 0.27343284 0.41366435 -0.09549523
+v 0.36010807 0.32661195 0.00587787
+v 0.28553318 0.38477690 0.07706347
+v 0.27082249 0.25080558 0.28064821
+v 0.38718834 0.23907823 0.13857594
+v 0.38765262 0.25150934 -0.19739193
+v 0.34313927 0.28014498 -0.25491801
+v 0.34379856 0.23360429 -0.30827008
+v 0.23231364 0.28680040 0.28251515
+v 0.23116213 0.41924316 0.09456679
+v 0.31543863 0.29474180 0.19487202
+v 0.38793744 0.28304225 -0.10972368
+v 0.37262933 0.29823387 -0.13976304
+v 0.42251902 0.23027151 -0.05154139
+v 0.40853551 0.23006283 0.08015243
+v 0.27318459 0.41419215 -0.00712618
+v 0.23295851 0.43644515 -0.12668849
+v 0.31470844 0.36964961 -0.13582221
+v 0.41835821 0.24387590 -0.00911661
+v 0.35871735 0.31318414 0.07752305
+v 0.25602489 0.38507556 0.13814087
+v 0.29901005 0.25367048 0.24997766
+v 0.25941260 0.24123184 0.29262921
+v 0.35750376 0.23691444 0.19475597
+v 0.39213098 0.22880865 -0.21489981
+v 0.40179104 0.24212864 -0.16692988
+v 0.24368784 0.38718944 -0.24124620
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+v 0.25776036 0.41368087 0.05029908
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+v 0.24187138 0.41279749 0.09211187
+v 0.38704041 0.24181971 -0.21350854
+v 0.27193436 0.39848836 -0.16688017
+v 0.23364120 0.39298733 -0.24485023
+v 0.33891123 0.24584732 -0.30484624
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+f 30 17 18
+f 31 18 13
+f 31 7 18
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+f 58 57 40
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+f 59 18 7
+f 59 7 53
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+f 60 41 23
+f 60 30 41
+f 60 52 30
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+f 61 46 45
+f 61 26 46
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+f 63 28 5
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+f 63 17 47
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+f 64 27 48
+f 64 63 47
+f 64 28 63
+f 64 49 28
+f 64 48 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.32809183 -0.26070308 0.18583387
+v -0.34210250 -0.26901306 -0.23648429
+v -0.33592892 -0.00757576 -0.23397717
+v -0.41777543 -0.00814996 0.18601400
+v -0.42267495 -0.16775286 0.02142292
+v -0.33592892 -0.00757576 0.19026526
+v -0.37720751 -0.25521985 0.05164352
+v -0.39335942 -0.16583899 0.15038582
+v -0.41505718 -0.00644460 -0.28520842
+v -0.40919078 -0.19429656 -0.15558663
+v -0.37774766 -0.16562796 0.18044836
+v -0.43791687 -0.09469071 0.07933003
+v -0.36303005 -0.24143127 0.13960209
+v -0.40822333 -0.08514914 -0.28332255
+v -0.42321603 -0.16797155 -0.12534017
+v -0.37705021 -0.25416143 -0.13969099
+v -0.40684660 -0.07900486 0.18149675
+v -0.40851588 -0.18083981 0.07900491
+v -0.45662773 -0.00856539 0.06547622
+v -0.35037457 -0.25615066 0.15099587
+v -0.39236351 -0.19325334 -0.22894261
+v -0.45448059 -0.03476396 -0.12555421
+v -0.42332867 -0.09267931 0.13624174
+v -0.42274931 -0.15264073 0.06385515
+v -0.39178699 -0.18010338 0.13916332
+v -0.40749303 -0.19487167 0.05140064
+v -0.36409747 -0.25517802 0.10973341
+v -0.33401533 -0.25546514 0.18061601
+v -0.43872981 -0.09540892 -0.16909217
+v -0.37751815 -0.23888681 -0.18356784
+v -0.45451019 -0.00891550 -0.12506370
+v -0.45478362 -0.06485684 -0.00812743
+v -0.40720018 -0.12270018 0.15068944
+v -0.43898139 -0.01890272 0.13698294
+v -0.43825318 -0.12216666 0.02170664
+v -0.40679245 -0.15251604 0.12441973
+v -0.40707970 -0.15222484 -0.22862797
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+v -0.45365918 -0.03420125 0.06432832
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+v -0.40856672 -0.18304461 -0.18357601
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+v -0.42406601 -0.03520277 -0.25845795
+v -0.45386992 -0.04980869 -0.11032171
+v -0.42351888 -0.00870377 -0.25851957
+f 1 2 3
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+f 14 9 3
+f 14 3 2
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+f 45 24 36
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+f 45 23 12
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+f 46 39 29
+f 46 37 39
+f 47 31 9
+f 47 38 22
+f 47 22 31
+f 48 10 15
+f 48 15 39
+f 48 21 10
+f 48 39 37
+f 48 37 21
+f 49 39 15
+f 49 29 39
+f 49 15 35
+f 49 35 42
+f 50 40 21
+f 50 21 2
+f 50 2 40
+f 51 41 19
+f 51 19 32
+f 51 45 41
+f 51 32 45
+f 52 46 29
+f 52 29 38
+f 52 38 46
+f 53 46 38
+f 53 9 14
+f 53 14 46
+f 53 38 47
+f 54 49 42
+f 54 42 22
+f 54 22 29
+f 54 29 49
+f 55 53 47
+f 55 47 9
+f 55 9 53
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20879970 -0.26185807 0.31749628
+v -0.21471679 -0.26515152 0.19026526
+v -0.21471679 -0.00757576 0.19026526
+v -0.34014843 -0.00570773 0.28128726
+v -0.33925328 -0.24328675 0.18357774
+v -0.21270349 -0.00771711 0.32830436
+v -0.20703408 -0.23057229 0.32992267
+v -0.32809183 -0.26070308 0.18583387
+v -0.30691042 -0.17190337 0.27934993
+v -0.41777543 -0.00814996 0.18601400
+v -0.24847142 -0.15486635 0.32464503
+v -0.27758847 -0.19876249 0.29283424
+v -0.33388095 -0.21288423 0.22293122
+v -0.38197086 -0.00620526 0.23734274
+v -0.41214097 -0.04984815 0.18381893
+v -0.28254915 -0.00745367 0.31017357
+v -0.27696576 -0.12526143 0.31027450
+v -0.21984732 -0.25957384 0.31116220
+v -0.26244614 -0.18361509 0.30799905
+v -0.33403541 -0.24032502 0.19577888
+v -0.27315591 -0.25606617 0.26544265
+v -0.35117053 -0.04960447 0.26604747
+v -0.38243143 -0.15262407 0.18289576
+v -0.40776714 -0.04915226 0.19413439
+v -0.24323711 -0.02418834 0.32418457
+v -0.22752424 -0.00774033 0.32609040
+v -0.29140545 -0.15676511 0.29388160
+v -0.23262338 -0.19898215 0.32384541
+v -0.24431233 -0.25437218 0.29523351
+v -0.31776041 -0.19737057 0.25221197
+v -0.31770731 -0.23906670 0.22453479
+v -0.33837610 -0.03570791 0.27884915
+v -0.39303669 -0.07760194 0.20794967
+v -0.41220112 -0.00804165 0.19788232
+v -0.39651717 -0.10862729 0.18335354
+v -0.25240782 -0.11471272 0.32268176
+v -0.21797982 -0.22861307 0.32353682
+v -0.36240377 -0.16582528 0.20963991
+v -0.31782783 -0.25429052 0.20945724
+v -0.36286663 -0.10709617 0.23632283
+v -0.38044736 -0.03636493 0.23592757
+v -0.39127384 -0.10689589 0.19611599
+v -0.36512386 -0.05147437 0.25087649
+v -0.37709388 -0.15017667 0.19525825
+f 5 3 2
+f 6 3 4
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+f 7 2 3
+f 7 3 6
+f 8 5 2
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+f 11 7 6
+f 14 4 3
+f 14 3 10
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+f 16 4 11
+f 17 11 4
+f 18 1 7
+f 19 9 12
+f 20 13 5
+f 20 5 8
+f 21 8 1
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+f 23 15 3
+f 23 3 5
+f 23 5 13
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+f 25 11 6
+f 26 6 4
+f 26 4 16
+f 26 25 6
+f 26 16 25
+f 27 11 17
+f 27 19 11
+f 27 9 19
+f 28 19 12
+f 28 7 11
+f 28 11 19
+f 29 12 9
+f 29 9 21
+f 29 21 18
+f 29 18 12
+f 30 21 9
+f 31 30 13
+f 31 21 30
+f 32 17 4
+f 32 4 22
+f 32 27 17
+f 32 22 9
+f 32 9 27
+f 34 14 10
+f 34 10 24
+f 35 24 15
+f 35 15 23
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+f 36 16 11
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+f 37 7 28
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+f 38 30 9
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+f 39 8 21
+f 39 21 31
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+f 39 20 8
+f 39 13 20
+f 40 38 9
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+f 41 14 34
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+f 41 24 33
+f 42 33 24
+f 42 24 35
+f 42 35 23
+f 42 38 33
+f 43 40 9
+f 43 9 22
+f 43 22 14
+f 43 14 41
+f 43 41 33
+f 43 33 40
+f 44 42 23
+f 44 38 42
+f 44 23 13
+f 44 13 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07177282 -0.10425216 0.47532376
+v 0.12138266 -0.08458280 0.46047776
+v 0.08518965 -0.03766552 0.45399937
+v 0.00747019 0.01664753 0.30613888
+v 0.03102762 -0.05632458 0.33739471
+v 0.06475096 0.00829249 0.30446262
+v 0.06474128 -0.03878729 0.44859339
+v 0.10836627 -0.06606456 0.47975477
+v 0.08222642 -0.10587438 0.44881315
+v 0.05862044 -0.10272042 0.45690573
+v 0.04196030 0.00817094 0.35324731
+v 0.00717263 -0.00463690 0.30854376
+v 0.06797102 -0.04615849 0.35140368
+v 0.10770611 -0.07879563 0.47955423
+v 0.07456494 -0.07607315 0.48088709
+v 0.12198015 -0.06942144 0.47103790
+v 0.08971546 -0.10063483 0.46633904
+v 0.03043937 -0.01118130 0.37946002
+v 0.05530050 -0.10003085 0.43265704
+v 0.03171923 0.01475595 0.31393730
+v 0.07447226 -0.02245822 0.42976968
+v 0.05783730 -0.00710785 0.31179233
+v 0.07912307 -0.10229151 0.47600028
+v 0.07996037 -0.06491900 0.47817430
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+v 0.09218644 -0.10074110 0.45303702
+v 0.01313638 0.00097496 0.33402343
+v 0.04033947 -0.00644522 0.38996083
+v 0.06883389 -0.05130288 0.46162104
+v 0.05870802 -0.08997027 0.45405673
+v 0.06134385 -0.00919046 0.40035491
+v 0.02400881 0.00685859 0.34847063
+v 0.04517317 -0.01723871 0.40493423
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+f 12 4 6
+f 13 6 2
+f 13 9 5
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+f 15 14 8
+f 15 10 1
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+f 19 5 9
+f 19 9 10
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+f 20 11 6
+f 20 6 4
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+f 21 3 16
+f 21 7 3
+f 22 12 6
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+f 22 13 5
+f 22 6 13
+f 23 15 1
+f 23 14 15
+f 23 1 9
+f 23 9 17
+f 23 17 2
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+f 24 8 3
+f 24 3 7
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+f 26 17 9
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+f 28 7 21
+f 29 18 15
+f 29 7 18
+f 29 24 7
+f 29 15 24
+f 30 18 10
+f 30 10 15
+f 30 15 18
+f 31 21 6
+f 31 6 11
+f 31 28 21
+f 31 11 28
+f 32 27 18
+f 32 4 27
+f 32 18 28
+f 32 28 11
+f 32 11 4
+f 33 28 18
+f 33 18 7
+f 33 7 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21471679 0.09848485 -0.26428020
+v -0.21446305 0.09836604 -0.47579583
+v -0.23855064 0.26166094 -0.38592117
+v -0.35148774 0.22697956 -0.25859383
+v -0.40528108 0.09662831 -0.26224344
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16212758 -0.29064604 0.33514002
+v 0.20337217 -0.25899218 0.33250027
+v 0.11795859 -0.18793644 0.38630624
+v 0.19414372 0.09860902 0.35401859
+v 0.01477951 -0.06195485 0.33278650
+v 0.19082705 -0.12924834 0.36948623
+v 0.17410088 -0.21481459 0.36852835
+v 0.18821728 -0.27414031 0.33249517
+v 0.21038989 0.09801908 0.35270862
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+v 0.01396304 -0.15175720 0.38547556
+v 0.18673484 -0.18617427 0.36887317
+v 0.14497211 -0.24023247 0.36927872
+v 0.19929068 -0.25448289 0.33819947
+v 0.20920123 0.09865968 0.35282993
+v 0.20052803 -0.21452340 0.35515060
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11380307 -0.47330030 0.06385911
+v 0.38009170 -0.26001025 -0.17072998
+v 0.23247875 -0.25727686 0.31484777
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+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
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+v -0.35388229 -0.25713096 0.14092052
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+v -0.07581233 -0.26064219 0.37153259
+v -0.17643778 -0.45851300 -0.03803848
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+v -0.32318275 -0.25750357 0.19759276
+v 0.06861421 -0.45937731 0.15209319
+v 0.08412577 -0.36957922 0.29601104
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+v -0.14732425 -0.31373599 0.32212681
+v -0.03062523 -0.48911480 -0.12533840
+v -0.26041639 -0.40104213 -0.10977160
+v 0.38932073 -0.26929055 0.02057419
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+v 0.39330468 -0.25906035 -0.09590322
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 0.23484849 0.17511375
+v 0.01253732 0.23469643 -0.47591587
+v 0.01347209 0.49226780 0.06742689
+v -0.07588872 0.47360591 0.10907927
+v -0.38499608 0.22894507 0.08158542
+v -0.11841987 0.42807528 -0.26942064
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+v -0.14840020 0.22732275 -0.46170352
+v -0.07293763 0.48887179 -0.09505247
+v -0.00100639 0.47432268 0.14040062
+v -0.35758007 0.23011910 0.17122929
+v -0.00271971 0.23061976 -0.47758495
+v -0.36716708 0.22707737 0.15357946
+v -0.33875299 0.22826938 -0.28982893
+v -0.10353572 0.31087182 -0.43163334
+v -0.07277785 0.49022431 0.02169424
+v 0.01153572 0.45887615 -0.24197083
+v 0.01093171 0.47448735 0.14000243
+v -0.01628429 0.49004706 0.06677236
+v -0.08555630 0.45700674 0.15082786
+v -0.04643745 0.24482316 -0.47352670
+v -0.00297937 0.24423065 -0.47331694
+v -0.27474183 0.37089159 -0.12562072
+v -0.36808751 0.22780733 -0.21440674
+v -0.20118647 0.32360912 -0.35868990
+v 0.01197648 0.49142883 -0.12552661
+v -0.06167567 0.47372646 -0.18359805
+v -0.03194136 0.41352549 -0.32984373
+v -0.06175103 0.49019323 0.03648835
+v -0.04553782 0.47324039 0.12412534
+v -0.04530925 0.45769332 0.16661213
+v -0.21852925 0.41409551 0.06652497
+v -0.04679442 0.23081758 -0.47751694
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+v -0.07282137 0.45734971 -0.22678463
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+f 12 1 7
+f 13 2 1
+f 13 1 9
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+f 14 1 12
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+f 19 7 3
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+f 20 4 11
+f 23 8 2
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+f 23 22 8
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+f 62 28 43
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+f 62 6 52
+f 63 40 6
+f 63 6 42
+f 63 42 29
+f 63 29 40
+f 64 43 27
+f 64 27 18
+f 64 18 43
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23248174 0.22883874 0.31371025
+v 0.23982867 0.23484849 0.17511375
+v 0.20204201 0.40603553 0.16889624
+v -0.08796169 0.44798825 0.16874368
+v -0.35758007 0.23011910 0.17122929
+v 0.05509743 0.38712360 0.27927097
+v 0.23563950 0.38050012 0.17171267
+v -0.35338588 0.22707634 0.18427565
+v -0.35215206 0.24038357 0.16822382
+v 0.09980230 0.45056916 0.16933893
+v 0.16771113 0.33953026 0.28026780
+v -0.12062769 0.23488323 0.33997069
+v -0.16006190 0.41712714 0.16816421
+v -0.03014520 0.42894228 0.22415179
+v 0.10088891 0.28897965 0.33755912
+v 0.22677615 0.32527075 0.24982858
+v 0.12639371 0.41474842 0.22087221
+v 0.10148994 0.22988423 0.35723045
+v -0.25920212 0.31025946 0.22312991
+v -0.04543569 0.44462979 0.19606518
+v 0.06871019 0.42982389 0.22190173
+v -0.08631287 0.39982447 0.25071276
+v 0.11198880 0.31289042 0.32322056
+v -0.04365740 0.33264782 0.32301203
+v 0.22973857 0.27019761 0.29378298
+v 0.18368521 0.38616600 0.22080919
+v 0.11108301 0.36892538 0.28115776
+v 0.12785024 0.42830523 0.19608650
+v -0.20845919 0.23054274 0.31185004
+v 0.20404983 0.22997278 0.32935213
+v -0.26370125 0.34193297 0.16848743
+v -0.30389992 0.29446149 0.18138252
+v 0.02610754 0.39950205 0.26823259
+v 0.08245411 0.44247363 0.19533954
+v 0.08340656 0.41403446 0.23665117
+v -0.14627254 0.41230502 0.19565281
+v -0.08598292 0.42818677 0.20824364
+v 0.01216430 0.25926728 0.35385007
+v 0.06871445 0.32787990 0.32366885
+v 0.19942465 0.29899630 0.29262786
+v 0.22774653 0.35538359 0.21996731
+v 0.22884004 0.37098299 0.19649538
+v 0.14038084 0.36908452 0.26638955
+v 0.12588948 0.32845712 0.30742450
+v 0.19864745 0.40121327 0.18122751
+v -0.33780279 0.22772564 0.20899415
+v -0.10492978 0.27139984 0.33911593
+v 0.15840978 0.24440222 0.33927074
+v 0.22987853 0.24186084 0.30913284
+v -0.30753779 0.29794139 0.16814564
+v -0.34780587 0.23741516 0.18124854
+v -0.26061906 0.33818615 0.18188156
+v -0.02960146 0.39961761 0.26658186
+v -0.04402225 0.38446765 0.28091670
+v -0.17395692 0.35434936 0.25160171
+v -0.08598788 0.44295562 0.18162687
+v -0.10091850 0.41249603 0.22304134
+v 0.04246405 0.30467263 0.33854613
+v -0.03045072 0.23542279 0.35525321
+v 0.20034446 0.24248985 0.32563647
+v 0.17057281 0.29824082 0.30764473
+v 0.21212285 0.38368069 0.19498649
+v -0.23367403 0.25855216 0.29250670
+v -0.29012193 0.26539787 0.23876311
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
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+f 9 5 8
+f 10 3 4
+f 13 4 3
+f 18 8 1
+f 20 10 4
+f 21 20 14
+f 22 14 20
+f 25 1 7
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+f 28 3 10
+f 28 17 26
+f 29 18 12
+f 30 18 1
+f 33 21 14
+f 33 6 21
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+f 49 1 25
+f 50 31 13
+f 50 9 32
+f 50 13 3
+f 50 3 9
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+f 51 9 8
+f 51 46 32
+f 51 8 46
+f 52 32 19
+f 52 50 32
+f 52 31 50
+f 52 36 13
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+f 53 33 14
+f 53 14 22
+f 54 24 6
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+f 54 53 22
+f 55 22 36
+f 55 54 22
+f 55 24 54
+f 55 52 19
+f 55 36 52
+f 56 37 20
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+f 56 4 36
+f 56 36 37
+f 57 37 36
+f 57 36 22
+f 57 22 37
+f 58 38 18
+f 58 18 15
+f 58 15 39
+f 58 39 24
+f 58 24 38
+f 59 12 18
+f 59 18 38
+f 59 47 12
+f 59 38 47
+f 60 25 40
+f 60 49 25
+f 60 30 49
+f 60 48 30
+f 60 23 48
+f 61 40 11
+f 61 11 44
+f 61 44 23
+f 61 60 40
+f 61 23 60
+f 62 45 26
+f 62 26 42
+f 62 42 3
+f 62 3 45
+f 63 46 29
+f 63 55 19
+f 63 29 47
+f 63 47 24
+f 63 24 55
+f 64 19 32
+f 64 32 46
+f 64 63 19
+f 64 46 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12885102 -0.44950018 -0.23034917
+v 0.36942246 -0.24690344 -0.23156638
+v 0.34605304 -0.28524327 -0.22824216
+v -0.35902274 -0.24549068 -0.23104948
+v -0.13508931 -0.24567290 -0.46119569
+v 0.36461583 -0.25726437 -0.22954748
+v -0.23548183 -0.38602680 -0.22733937
+v 0.33304687 -0.24108532 -0.31793264
+v -0.35270608 -0.25670851 -0.22932570
+v 0.22896814 -0.40095991 -0.22825100
+v -0.05862522 -0.41404207 -0.32872623
+v -0.33794490 -0.24171508 -0.28688088
+v 0.35741644 -0.25235936 -0.25709569
+v -0.33523839 -0.28501379 -0.22874178
+v -0.01665838 -0.46401104 -0.22895172
+v 0.28423730 -0.30956818 -0.31494926
+v -0.20146079 -0.34129579 -0.35447341
+v 0.17390821 -0.24320313 -0.44784251
+v 0.36134547 -0.24320898 -0.25899314
+v -0.33245789 -0.25340579 -0.28366343
+v 0.05612576 -0.46305063 -0.22940645
+v -0.14842007 -0.43019178 -0.24192521
+v 0.31487868 -0.31331828 -0.25767691
+v 0.15627553 -0.38245267 -0.34135184
+v -0.11793978 -0.32740078 -0.41274175
+v -0.22329339 -0.24425943 -0.42009312
+v -0.24592065 -0.36860108 -0.25564019
+v 0.28900847 -0.24140104 -0.37510273
+v -0.35506873 -0.24301746 -0.24459525
+v 0.17336500 -0.43217726 -0.22953451
+v 0.01436893 -0.44381886 -0.28661066
+v -0.14950494 -0.43384180 -0.22983584
+v -0.08803122 -0.44444795 -0.25604760
+v -0.14509217 -0.39824799 -0.31320286
+v 0.25831737 -0.36938018 -0.25576270
+v 0.29734467 -0.28270344 -0.33005467
+v 0.31201152 -0.29751616 -0.28433489
+v 0.08457897 -0.30075353 -0.44353332
+v -0.17467273 -0.29988677 -0.41318624
+v -0.28663497 -0.26787818 -0.34341896
+v -0.17376813 -0.41242607 -0.25507251
+v 0.25975961 -0.24192439 -0.40203243
+v 0.18229923 -0.39835653 -0.30008099
+v 0.10066192 -0.42737695 -0.30119565
+v -0.10433150 -0.44928479 -0.22960088
+v -0.06131397 -0.44306499 -0.27113075
+v -0.14728092 -0.41168170 -0.28593778
+v -0.07278482 -0.42894683 -0.29937240
+v -0.10405347 -0.38417575 -0.35580309
+v -0.20381203 -0.38165101 -0.28515141
+v 0.29833239 -0.26852481 -0.34112671
+v -0.08838983 -0.29756213 -0.44322457
+v 0.13005754 -0.24493561 -0.46093353
+v 0.18485431 -0.29557419 -0.41292216
+v -0.14581329 -0.36963680 -0.35543514
+v -0.23082995 -0.26552071 -0.40044742
+v -0.13579130 -0.25845063 -0.45738086
+v -0.30954787 -0.24265305 -0.33307785
+v -0.21401337 -0.33972763 -0.34287959
+v -0.30568312 -0.28060704 -0.29917617
+v 0.21342502 -0.32430080 -0.37143750
+v 0.19649248 -0.41298923 -0.25423555
+v 0.24127898 -0.34074328 -0.32777893
+v 0.11515848 -0.44472572 -0.25663053
+f 6 2 4
+f 9 6 4
+f 9 3 6
+f 10 3 7
+f 13 6 3
+f 13 2 6
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 15 10 7
+f 19 13 8
+f 19 2 13
+f 21 10 15
+f 23 3 10
+f 23 13 3
+f 26 18 5
+f 26 12 18
+f 27 7 14
+f 28 12 8
+f 29 4 2
+f 29 2 19
+f 29 12 20
+f 29 20 14
+f 29 14 4
+f 29 19 8
+f 29 8 12
+f 30 21 1
+f 30 10 21
+f 31 21 15
+f 35 23 10
+f 35 16 23
+f 36 23 16
+f 37 8 13
+f 37 13 23
+f 37 36 8
+f 37 23 36
+f 41 7 27
+f 41 32 7
+f 41 22 32
+f 42 18 12
+f 42 12 28
+f 44 24 43
+f 44 38 24
+f 44 31 11
+f 44 11 38
+f 45 15 7
+f 45 7 32
+f 45 33 15
+f 45 32 22
+f 45 22 33
+f 46 31 15
+f 46 15 33
+f 47 33 22
+f 47 22 41
+f 48 47 34
+f 48 33 47
+f 48 46 33
+f 48 11 31
+f 48 31 46
+f 49 25 11
+f 49 48 34
+f 49 11 48
+f 50 17 34
+f 50 41 27
+f 50 47 41
+f 50 34 47
+f 51 36 28
+f 51 28 8
+f 51 8 36
+f 52 38 11
+f 52 11 25
+f 53 5 18
+f 53 18 38
+f 54 38 18
+f 54 24 38
+f 54 18 42
+f 55 39 25
+f 55 17 39
+f 55 25 49
+f 55 49 34
+f 55 34 17
+f 56 39 17
+f 56 26 39
+f 56 40 26
+f 56 17 40
+f 57 39 26
+f 57 26 5
+f 57 38 52
+f 57 53 38
+f 57 5 53
+f 57 52 25
+f 57 25 39
+f 58 20 12
+f 58 12 26
+f 58 26 40
+f 59 40 17
+f 59 50 27
+f 59 17 50
+f 60 27 14
+f 60 14 20
+f 60 58 40
+f 60 20 58
+f 60 59 27
+f 60 40 59
+f 61 54 42
+f 61 24 54
+f 61 43 24
+f 61 42 28
+f 61 28 36
+f 62 10 30
+f 62 43 35
+f 62 35 10
+f 63 16 35
+f 63 35 43
+f 63 43 61
+f 63 61 36
+f 63 36 16
+f 64 1 21
+f 64 21 31
+f 64 31 44
+f 64 44 43
+f 64 43 62
+f 64 62 30
+f 64 30 1
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.00757576 -0.26428020
+v 0.02298665 -0.00917011 -0.41267579
+v 0.01255594 0.09848485 -0.26428020
+v -0.09350467 0.09848485 -0.26428020
+v -0.09884115 -0.00532069 -0.43827878
+v -0.09350467 -0.00757576 -0.26428020
+v -0.01858108 0.10573230 -0.44892421
+v -0.03208565 -0.00852111 -0.43007705
+v 0.01232709 0.09996707 -0.44331429
+v -0.09549683 0.10069910 -0.47131820
+v -0.09871365 0.07205789 -0.46378319
+v -0.06865854 0.10455011 -0.46247753
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 9 8
+f 10 7 9
+f 11 5 4
+f 11 4 10
+f 11 10 8
+f 11 8 5
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33592892 -0.00757576 0.15996223
+v -0.33592892 -0.00757576 0.06905314
+v -0.33592892 0.15909091 0.06905314
+v -0.37916060 0.18112552 0.18019429
+v -0.45582246 -0.00765906 0.06875205
+v -0.44271912 -0.00848687 0.12636608
+v -0.44448552 0.09519965 0.06629219
+v -0.43145782 -0.00807336 0.15527874
+v -0.41295414 0.17345131 0.07659019
+v -0.43912935 0.05190548 0.12556103
+v -0.42449247 0.12234038 0.12564126
+v -0.42243965 0.09382771 0.15145029
+v -0.40955437 0.15214909 0.13755158
+v -0.43846214 0.07902268 0.11005255
+v -0.40930309 0.13690066 0.15247487
+v -0.43855630 0.09366050 0.09530169
+v -0.40090244 0.15476206 0.15535747
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 12 10 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 14 7 10
+f 14 12 11
+f 14 10 12
+f 15 12 4
+f 15 13 11
+f 15 11 12
+f 16 14 11
+f 16 11 7
+f 16 7 14
+f 17 15 4
+f 17 4 13
+f 17 13 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 -0.25000000 -0.23397717
+v 0.26524116 -0.26912447 -0.37829619
+v 0.23982867 -0.00757576 -0.35518929
+v -0.42798603 -0.00538136 -0.24339485
+v -0.35902274 -0.24549068 -0.23104948
+v -0.38318598 -0.00794390 -0.34814873
+v 0.23982867 -0.00757576 -0.23397717
+v -0.40810324 -0.10739103 -0.27330328
+v -0.30436587 -0.23926272 -0.34501763
+v -0.38160954 -0.21038911 -0.22926993
+v -0.40807194 -0.03443032 -0.29973433
+v -0.33400122 -0.19377315 -0.34517446
+v -0.42505962 -0.08306782 -0.23339948
+v -0.40801305 -0.00890209 -0.30064909
+v -0.37887866 -0.10660848 -0.33002672
+v -0.39300418 -0.13650326 -0.28412729
+v -0.33284373 -0.23849763 -0.29904119
+v -0.41149079 -0.13860631 -0.22981508
+v -0.40828110 -0.08031369 -0.28540566
+v -0.41783700 -0.00812545 -0.27662447
+v -0.37815733 -0.06480472 -0.34539586
+v -0.39244789 -0.18173922 -0.24129437
+v -0.34681414 -0.16639719 -0.34402271
+v -0.34716053 -0.23804383 -0.27164120
+v -0.36411645 -0.12181161 -0.34525957
+v -0.39579830 -0.18387275 -0.22967574
+v -0.37807907 -0.20815289 -0.24163366
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 12 6 2
+f 12 2 9
+f 13 7 4
+f 14 4 6
+f 14 6 11
+f 16 8 15
+f 17 12 9
+f 17 9 5
+f 18 10 7
+f 18 7 13
+f 18 13 8
+f 19 13 11
+f 19 8 13
+f 19 15 8
+f 20 13 4
+f 20 11 13
+f 20 14 11
+f 20 4 14
+f 21 11 6
+f 21 19 11
+f 21 15 19
+f 22 16 12
+f 22 8 16
+f 23 12 16
+f 24 17 5
+f 24 22 12
+f 24 12 17
+f 25 21 6
+f 25 6 12
+f 25 12 23
+f 25 15 21
+f 25 23 16
+f 25 16 15
+f 26 10 18
+f 26 18 8
+f 26 8 22
+f 27 24 5
+f 27 5 10
+f 27 22 24
+f 27 26 22
+f 27 10 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.42223643 -0.05042252 0.13975704
+v 0.36663485 -0.00663457 0.26010829
+v 0.25498018 -0.00757576 0.26602284
+v 0.25498018 -0.26515152 0.14481072
+v 0.25498018 -0.00757576 0.14481072
+v 0.34412045 -0.23908922 0.21027964
+v 0.42666915 -0.00659745 0.14130461
+v 0.37763954 -0.00622621 0.24239055
+v 0.37602704 -0.22899328 0.13895531
+v 0.32908281 -0.19761337 0.25323372
+v 0.42201519 -0.00648782 0.15455224
+v 0.40267338 -0.04883642 0.19356622
+v 0.40705281 -0.12546376 0.13913004
+v 0.36384986 -0.25743626 0.13939962
+v 0.34193240 -0.15419980 0.25348135
+v 0.29956229 -0.25534177 0.25305968
+v 0.41767397 -0.04960547 0.15332516
+v 0.40580784 -0.00633558 0.19586011
+v 0.37154455 -0.19697671 0.18269626
+v 0.34187834 -0.25237839 0.19632901
+v 0.35796259 -0.07960371 0.25492628
+v 0.35865310 -0.19897784 0.20882834
+v 0.32852873 -0.22768786 0.23766057
+v 0.38692155 -0.13948102 0.18264624
+v 0.37154486 -0.22727986 0.15239335
+v 0.39216685 -0.18578894 0.13946648
+v 0.31328758 -0.25446865 0.23675437
+v 0.35765808 -0.16949828 0.22355516
+v 0.37369962 -0.04913024 0.23985101
+v 0.38746697 -0.18460646 0.15286503
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 12 8 6
+f 13 9 3
+f 14 10 6
+f 14 6 2
+f 15 5 6
+f 15 6 10
+f 15 1 5
+f 16 3 1
+f 16 1 11
+f 17 11 1
+f 18 2 8
+f 18 8 12
+f 18 12 13
+f 18 14 2
+f 18 13 14
+f 19 13 12
+f 19 9 13
+f 19 12 6
+f 19 6 9
+f 21 15 7
+f 21 1 15
+f 22 3 16
+f 23 11 7
+f 23 7 20
+f 24 17 7
+f 24 7 11
+f 24 11 17
+f 25 14 13
+f 25 23 20
+f 25 13 23
+f 26 20 7
+f 26 10 20
+f 26 15 10
+f 26 7 15
+f 27 20 10
+f 27 10 14
+f 28 17 1
+f 28 1 21
+f 28 21 7
+f 28 7 17
+f 29 22 16
+f 29 13 22
+f 29 23 13
+f 29 16 11
+f 29 11 23
+f 30 22 13
+f 30 13 3
+f 30 3 22
+f 31 25 20
+f 31 20 27
+f 31 27 14
+f 31 14 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36648992 0.24476096 -0.25810376
+v 0.33229192 0.22675661 -0.33051208
+v 0.26827376 0.31092689 -0.32718131
+v 0.20663944 0.41023248 -0.24610131
+v 0.20952564 0.23484849 -0.24912868
+v 0.26015369 0.37370531 -0.24216365
+v 0.32885450 0.26588711 -0.29736888
+v 0.20492451 0.22981720 -0.43556640
+v 0.21314694 0.38689144 -0.28412829
+v 0.33303428 0.29961234 -0.24240574
+v 0.21679298 0.40580038 -0.24367701
+v 0.32740459 0.23899964 -0.32708824
+v 0.21683144 0.22750292 -0.43074954
+v 0.20133492 0.35972644 -0.33135533
+v 0.25655488 0.35399272 -0.28227256
+v 0.32908196 0.29623228 -0.25549026
+v 0.21369120 0.40152538 -0.25668374
+v 0.28519147 0.26711869 -0.35533404
+v 0.20269621 0.24253208 -0.43046579
+v 0.20439153 0.40522124 -0.25889496
+v 0.24397941 0.31032323 -0.35647967
+v 0.22659838 0.38473092 -0.27019647
+v 0.31392852 0.29638101 -0.28238109
+v 0.28887436 0.24007570 -0.37166737
+v 0.21434439 0.24032594 -0.42588405
+v 0.20470440 0.39024104 -0.28731113
+v 0.20321514 0.27113305 -0.41620193
+v 0.25673829 0.36937246 -0.25493109
+v 0.29177301 0.22899744 -0.37575734
+v 0.22635558 0.25235042 -0.41310170
+v 0.25581849 0.28316698 -0.36837526
+v 0.24224866 0.29802881 -0.36833538
+v 0.21141071 0.26769827 -0.41337539
+f 5 2 1
+f 10 6 5
+f 10 5 1
+f 11 4 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 16 10 1
+f 16 1 7
+f 16 6 10
+f 17 4 11
+f 17 11 6
+f 18 7 12
+f 19 8 5
+f 19 5 14
+f 20 14 5
+f 20 5 4
+f 20 4 17
+f 21 14 9
+f 21 3 18
+f 21 15 3
+f 21 9 15
+f 22 15 9
+f 22 17 6
+f 22 9 17
+f 23 16 7
+f 23 3 15
+f 23 15 6
+f 23 6 16
+f 23 18 3
+f 23 7 18
+f 24 18 12
+f 24 12 2
+f 25 13 8
+f 25 8 19
+f 26 9 14
+f 26 14 20
+f 26 20 17
+f 26 17 9
+f 27 19 14
+f 27 14 21
+f 27 25 19
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 24 2
+f 29 2 13
+f 30 25 27
+f 30 24 29
+f 30 29 13
+f 30 13 25
+f 31 18 24
+f 31 24 30
+f 32 21 18
+f 32 18 31
+f 32 27 21
+f 32 31 30
+f 33 32 30
+f 33 30 27
+f 33 27 32
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09350467 -0.00757576 -0.26428020
+v -0.07838148 0.00743485 -0.42044732
+v -0.09350467 0.09848485 -0.26428020
+v -0.40528108 0.09662831 -0.26224344
+v -0.41392038 -0.00848588 -0.28834868
+v -0.09350467 0.09848485 -0.37034080
+v -0.41127230 0.07896157 -0.25917997
+v -0.37323582 -0.00780934 -0.36407721
+v -0.42212897 -0.00786334 -0.26281154
+v -0.35668908 0.09550828 -0.36286702
+v -0.40719931 0.06269844 -0.28498031
+v -0.40708722 0.07778616 -0.27296020
+v -0.39150244 0.09284921 -0.29986516
+v -0.37766459 0.06219561 -0.34524416
+v -0.36571356 0.07844415 -0.35814026
+v -0.38318598 -0.00794390 -0.34814873
+v -0.37648367 0.09212402 -0.32947027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 2
+f 10 2 8
+f 10 4 6
+f 11 9 7
+f 11 5 9
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 11 4
+f 13 4 10
+f 14 5 11
+f 14 11 13
+f 15 10 8
+f 15 8 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 15 14
+f 17 14 13
+f 17 13 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 -0.24912868
+v 0.24925800 -0.00706829 -0.46316204
+v 0.25498018 0.23484849 -0.24912868
+v 0.14891957 0.23484849 -0.24912868
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14749365 0.23275805 -0.45735484
+v 0.24701847 0.22739433 -0.41537111
+v 0.14624315 0.21615109 -0.46180218
+v 0.15105938 -0.00522456 -0.46156500
+v 0.22957588 0.14015828 -0.45853433
+v 0.24511361 0.09484617 -0.45920737
+v 0.17296567 0.21412881 -0.45658835
+v 0.24507275 0.16733265 -0.44176977
+v 0.18714628 0.22694490 -0.44470534
+v 0.18797607 0.19885171 -0.45614149
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 2 8
+f 11 2 10
+f 12 10 8
+f 12 8 6
+f 13 11 10
+f 13 7 2
+f 13 2 11
+f 14 12 6
+f 14 6 7
+f 14 7 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26524116 -0.26912447 -0.37829619
+v 0.22651848 -0.23991091 -0.42821420
+v 0.23751738 -0.00752452 -0.46569422
+v -0.03689487 0.03896380 -0.40802783
+v -0.22952008 -0.28076690 -0.38688661
+v 0.23982867 -0.00757576 -0.35518929
+v 0.23046046 -0.13976014 -0.45670270
+v 0.01277710 -0.24349767 -0.47380691
+v 0.01657022 0.04163065 -0.40548364
+v -0.19956528 -0.00757576 -0.35518929
+v 0.23163863 -0.19871600 -0.44237650
+v 0.14454661 -0.24385824 -0.45782845
+v 0.16195520 -0.15852371 -0.47518645
+v -0.22858002 -0.00635385 -0.47541092
+v 0.18614806 -0.21384188 -0.45744501
+v 0.07218376 -0.22925403 -0.47317592
+v -0.13459697 -0.19966784 -0.47441268
+v 0.16589177 -0.11620088 -0.47614427
+v -0.17443333 -0.00458061 -0.47549814
+v -0.25294507 -0.00992749 -0.46729231
+v 0.11691942 -0.20220085 -0.47365943
+v 0.20065896 -0.19823439 -0.45596877
+v -0.14839444 -0.24450551 -0.45769891
+v -0.02441846 0.03557638 -0.41527788
+v -0.22126838 -0.14032141 -0.45890924
+v -0.10578817 -0.22813110 -0.47297860
+v -0.01698120 -0.24338772 -0.47319690
+v -0.22845647 -0.02108071 -0.47415352
+v -0.19237978 -0.19980081 -0.45615829
+v -0.24446554 -0.15008043 -0.44548598
+v -0.20412639 -0.25501917 -0.42411153
+v -0.18915403 -0.23854318 -0.44226728
+f 6 1 3
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 13 3 7
+f 15 11 2
+f 15 2 12
+f 16 12 8
+f 16 8 13
+f 18 3 13
+f 18 17 14
+f 18 13 8
+f 18 8 17
+f 19 18 14
+f 19 3 18
+f 20 10 4
+f 20 4 14
+f 20 5 10
+f 21 15 12
+f 21 13 15
+f 21 16 13
+f 21 12 16
+f 22 15 13
+f 22 13 7
+f 22 7 11
+f 22 11 15
+f 24 19 14
+f 24 14 4
+f 24 4 9
+f 24 9 3
+f 24 3 19
+f 26 23 17
+f 26 17 8
+f 27 8 5
+f 27 5 23
+f 27 26 8
+f 27 23 26
+f 28 25 20
+f 28 20 14
+f 28 14 17
+f 28 17 25
+f 29 25 17
+f 29 17 23
+f 30 5 20
+f 30 20 25
+f 30 25 29
+f 31 23 5
+f 31 5 30
+f 32 29 23
+f 32 23 31
+f 32 31 30
+f 32 30 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 0.19026526
+v 0.25498018 -0.00757576 -0.24912868
+v 0.25498018 0.23484849 0.19026526
+v 0.01255594 0.23484849 0.19026526
+v -0.01220938 -0.00581289 0.22035646
+v 0.25498018 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14891957 -0.00757576 -0.35518929
+v 0.14891957 0.23484849 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.35518929
+v 0.14891957 0.23484849 -0.35518929
+v 0.04034365 -0.00514319 -0.40098420
+v 0.03769154 0.02037405 -0.39899530
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 7 2
+f 9 8 5
+f 9 5 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01229981 -0.00848648 0.31133540
+v 0.01255594 -0.00757576 -0.26428020
+v 0.01242542 0.23517771 0.35977365
+v -0.26998960 0.25703465 0.26233510
+v -0.45679790 -0.00898169 -0.11057621
+v 0.01255594 0.23484849 -0.26428020
+v -0.28254915 -0.00745367 0.31017357
+v 0.01412653 0.17953980 0.35562186
+v -0.35148774 0.22697956 -0.25859383
+v -0.20548855 0.19913815 0.32164523
+v -0.42584284 -0.00833866 0.16793325
+v -0.21270349 -0.00771711 0.32830436
+v 0.01255594 0.23484849 0.17511375
+v -0.42212897 -0.00786334 -0.26281154
+v -0.12062769 0.23488323 0.33997069
+v -0.32544877 0.12649216 0.27801303
+v -0.39328624 0.22539928 0.02251988
+v -0.22752424 -0.00774033 0.32609040
+v -0.01679131 0.19057711 0.35543847
+v -0.42776671 -0.00856811 -0.24486981
+v -0.03045072 0.23542279 0.35525321
+v -0.25154006 0.24381581 0.28624801
+v -0.27978490 0.09614328 0.30795029
+v -0.34014843 -0.00570773 0.28128726
+v -0.42297366 0.15117973 -0.11038728
+v -0.45578954 0.06711198 0.00757850
+v -0.39334435 0.22566209 -0.06664865
+v -0.39184818 0.18143059 0.15149133
+v -0.22747919 0.06733223 0.32447143
+v -0.17764411 0.22919350 0.32403682
+v -0.26522671 0.13980996 0.30728393
+v -0.29408556 0.19870636 0.27707002
+v -0.39508059 0.04890234 0.22190546
+v -0.33952829 0.06641381 0.27778460
+v -0.43913655 0.05161761 -0.18425973
+v -0.45662773 -0.00856539 0.06547622
+v -0.43877497 0.12316471 0.05346346
+v -0.37697766 0.22480181 -0.18372880
+v -0.36263315 0.22459898 0.16669537
+v -0.22066491 0.22945573 0.30654790
+v -0.29526693 0.13970247 0.29162887
+v -0.29111698 0.22445305 0.26423379
+v -0.39419316 -0.00552984 0.22294604
+v -0.37834574 0.15336363 0.20644708
+v -0.34967239 0.07949070 0.26749384
+v -0.44007400 -0.00874042 -0.19936015
+v -0.45591748 0.06670528 -0.03583452
+v -0.42390333 0.05176840 -0.24371296
+v -0.40813087 0.19650681 -0.05148203
+v -0.39236539 0.20896963 0.09542571
+v -0.45481507 0.02162313 0.06506231
+v -0.40885892 0.09420190 0.18243724
+v -0.39352611 0.21051064 -0.14073475
+v -0.37763969 0.22435757 0.12581537
+v -0.24992765 0.22956357 0.29183003
+v -0.31017863 0.16903184 0.27627479
+v -0.34952575 0.22343831 0.19724167
+v -0.33475611 0.13879933 0.26850097
+v -0.43758304 0.10782361 -0.10983804
+v -0.43872518 0.12288159 -0.03593940
+v -0.45512361 0.05148218 -0.06608069
+v -0.43910638 0.00634506 -0.19911557
+v -0.40764774 0.09292276 -0.25817818
+v -0.40818214 0.19595852 0.02254828
+f 5 2 1
+f 6 4 3
+f 8 1 2
+f 8 2 6
+f 9 4 6
+f 12 1 8
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 6 2
+f 18 7 11
+f 18 11 1
+f 18 1 12
+f 19 12 8
+f 19 8 3
+f 20 14 2
+f 21 3 4
+f 21 4 15
+f 21 19 3
+f 21 12 19
+f 21 18 12
+f 21 15 18
+f 22 15 4
+f 24 11 7
+f 24 7 23
+f 27 17 4
+f 27 4 9
+f 29 18 15
+f 29 15 10
+f 29 10 23
+f 29 23 7
+f 29 7 18
+f 30 10 15
+f 30 15 22
+f 31 23 10
+f 34 24 23
+f 34 23 16
+f 36 5 1
+f 36 1 11
+f 38 27 9
+f 40 30 22
+f 40 10 30
+f 40 31 10
+f 41 16 23
+f 41 23 31
+f 41 31 32
+f 42 32 22
+f 42 22 4
+f 43 33 11
+f 43 11 24
+f 43 24 33
+f 45 33 24
+f 45 24 34
+f 45 34 16
+f 46 5 35
+f 46 20 2
+f 46 2 5
+f 47 26 37
+f 47 36 26
+f 47 5 36
+f 48 14 20
+f 49 17 27
+f 50 37 28
+f 51 37 26
+f 51 26 36
+f 51 36 11
+f 52 28 37
+f 52 44 28
+f 52 33 44
+f 52 11 33
+f 52 51 11
+f 52 37 51
+f 53 27 38
+f 53 49 27
+f 53 25 49
+f 54 39 4
+f 54 4 17
+f 54 17 50
+f 54 50 28
+f 54 28 39
+f 55 40 22
+f 55 22 32
+f 55 32 31
+f 55 31 40
+f 56 41 32
+f 56 16 41
+f 57 42 4
+f 57 4 39
+f 57 39 28
+f 57 28 44
+f 58 44 33
+f 58 33 45
+f 58 45 16
+f 58 16 56
+f 58 56 32
+f 58 57 44
+f 58 32 42
+f 58 42 57
+f 59 25 35
+f 60 47 37
+f 60 59 47
+f 60 25 59
+f 60 49 25
+f 60 37 49
+f 61 35 5
+f 61 5 47
+f 61 59 35
+f 61 47 59
+f 62 46 35
+f 62 35 48
+f 62 48 20
+f 62 20 46
+f 63 9 14
+f 63 14 48
+f 63 38 9
+f 63 53 38
+f 63 25 53
+f 63 48 35
+f 63 35 25
+f 64 49 37
+f 64 17 49
+f 64 50 17
+f 64 37 50
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01215429 -0.26125886 0.37627269
+v 0.01255594 -0.26515152 0.22056829
+v 0.01334021 -0.00737982 0.32639003
+v -0.21745402 0.03860492 0.32660850
+v -0.21471679 -0.26515152 0.22056829
+v -0.00001485 -0.00305932 0.23022139
+v 0.01396304 -0.15175720 0.38547556
+v -0.10819592 -0.27935737 0.35531433
+v -0.17036035 0.03817523 0.32195040
+v -0.21471679 -0.00757576 0.22056829
+v -0.18808155 0.03886892 0.32615375
+v 0.01439838 -0.08884582 0.35894334
+v -0.20351547 -0.25742982 0.32251690
+v -0.13494910 -0.18947513 0.36969215
+v -0.21215770 0.03719991 0.32763403
+v -0.20993213 -0.10287315 0.33752379
+v -0.13630787 -0.27560643 0.34925364
+v -0.03077085 -0.23047949 0.38641010
+v -0.09071440 -0.13271994 0.37000329
+v -0.18023522 -0.14780399 0.35500397
+v -0.20278628 -0.21343952 0.33862385
+v -0.08907546 -0.26033660 0.36910249
+v 0.01184050 -0.21898358 0.38629115
+v -0.03113844 -0.19037415 0.38511723
+v -0.00110253 -0.15223467 0.38444273
+v -0.14458593 -0.25791451 0.35481190
+v -0.17735244 -0.18799173 0.35389259
+v -0.10516568 -0.27313153 0.35981622
+v -0.13200225 -0.21763499 0.36830148
+v -0.00288954 -0.23132729 0.38639880
+v -0.18871116 -0.24175297 0.33724990
+v -0.13374428 -0.26958854 0.35375575
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 15 11 4
+f 15 7 11
+f 16 4 5
+f 16 5 13
+f 17 13 5
+f 17 5 8
+f 19 15 4
+f 19 4 14
+f 20 14 4
+f 20 4 16
+f 21 20 16
+f 21 16 13
+f 22 1 18
+f 23 1 7
+f 23 7 18
+f 24 18 7
+f 24 14 18
+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
+f 25 19 24
+f 26 13 17
+f 27 14 20
+f 27 20 21
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+f 29 22 18
+f 29 18 14
+f 29 26 22
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+f 29 27 21
+f 29 21 26
+f 30 23 18
+f 30 18 1
+f 30 1 23
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+f 31 21 13
+f 31 13 26
+f 32 17 8
+f 32 8 28
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+f 32 22 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.31723676 -0.00782360 0.31209896
+v 0.41529551 -0.00710834 0.17278943
+v 0.34549366 0.22605021 0.22141198
+v 0.01242542 0.23517771 0.35977365
+v -0.01220938 -0.00581289 0.22035646
+v 0.21491675 0.22686454 0.32461799
+v 0.35785495 0.08175194 0.26941955
+v 0.10513849 -0.01668350 0.34390284
+v 0.01255594 0.23484849 0.19026526
+v 0.25498018 0.23484849 0.17511375
+v 0.25405120 -0.00783018 0.34909654
+v 0.36047372 -0.00614247 0.27014251
+v 0.40820058 0.12605814 0.16908879
+v 0.27621129 0.14100230 0.32231561
+v 0.25498018 -0.00757576 0.17511375
+v 0.01229981 -0.00848648 0.31133540
+v -0.00240681 0.09912979 0.31093922
+v 0.37670556 0.22902383 0.16734814
+v 0.15782597 0.20105709 0.35319279
+v 0.15438166 -0.01001101 0.35602913
+v 0.33239596 -0.00671559 0.29779377
+v 0.38871388 0.05208537 0.22488306
+v 0.37455794 0.15245479 0.22273127
+v 0.31648202 0.05158211 0.31020391
+v 0.31420038 0.18140328 0.28082599
+v 0.01412653 0.17953980 0.35562186
+v 0.28667553 0.22531856 0.28300744
+v 0.12931728 0.22836282 0.35189465
+v 0.21890081 0.18499103 0.33685283
+v 0.19251474 -0.00808499 0.35640070
+v 0.40580784 -0.00633558 0.19586011
+v 0.40222126 0.09454125 0.19671263
+v 0.37289689 0.18206469 0.20974961
+v 0.33160714 0.07953829 0.29461146
+v 0.34384174 0.13918711 0.26809067
+v -0.00033016 0.10622482 0.32017030
+v 0.24427204 0.22644868 0.30809323
+v 0.29989993 0.20883228 0.28114206
+v 0.24373938 0.19572782 0.32232271
+v 0.24638110 0.12600387 0.33848167
+v 0.17314715 0.17084883 0.35370601
+v 0.38837034 -0.00615659 0.22478387
+v 0.40273430 0.12494843 0.18179100
+v 0.37279127 0.11052521 0.23892392
+v 0.37112276 0.22680240 0.17953798
+v 0.39246682 0.18462841 0.16871440
+v 0.30142208 0.12415155 0.30852654
+v 0.32827836 0.18077926 0.26542517
+v 0.35780048 0.19727445 0.22148863
+v 0.34623590 0.09454044 0.27884078
+v 0.31332254 0.21108869 0.26556991
+v 0.25824706 0.21100049 0.30702044
+v 0.38724453 0.18285439 0.18148368
+v 0.35794640 0.16702910 0.23675305
+f 8 2 1
+f 10 9 4
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+f 12 1 2
+f 15 8 5
+f 15 2 8
+f 15 5 9
+f 15 13 2
+f 16 5 8
+f 17 9 5
+f 17 4 9
+f 17 5 16
+f 18 13 15
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+f 18 9 10
+f 18 10 4
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+f 21 12 7
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+f 26 16 8
+f 26 20 4
+f 26 8 20
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+f 28 6 4
+f 28 4 19
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+f 39 6 29
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+f 47 25 14
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+f 52 39 38
+f 52 38 27
+f 53 33 23
+f 53 23 43
+f 53 43 13
+f 53 13 46
+f 53 46 18
+f 53 18 33
+f 54 49 35
+f 54 35 23
+f 54 23 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36384986 -0.25743626 0.13939962
+v 0.44870517 -0.06433105 -0.13901382
+v 0.41713199 0.15509842 0.13599867
+v 0.25498018 0.23484849 0.17511375
+v 0.25498018 -0.26515152 -0.23397717
+v 0.38835415 0.22689361 -0.22684404
+v 0.41529551 -0.00710834 0.17278943
+v 0.37231340 -0.25583478 -0.21197623
+v 0.25498018 -0.26515152 0.14481072
+v 0.44967555 0.12589811 -0.09677021
+v 0.37051397 0.26117466 0.14217078
+v 0.25498018 0.23484849 -0.23397717
+v 0.43246511 -0.13838242 0.03564314
+v 0.38851329 -0.25684779 -0.14073652
+v 0.43412334 -0.04999003 -0.21334645
+v 0.25498018 -0.00757576 0.17511375
+v 0.44932209 0.05191624 0.06500466
+v 0.41892739 0.22807752 -0.10927865
+v 0.40324735 0.15535561 0.16686936
+v 0.41649668 -0.12261322 -0.22771195
+v 0.40258769 -0.16944720 0.12255052
+v 0.36461583 -0.25726437 -0.22954748
+v 0.38730196 -0.25721017 0.06593331
+v 0.41830823 -0.19889499 -0.09586586
+v 0.44944586 0.03635285 -0.17015825
+v 0.43389572 0.18392089 0.02187200
+v 0.43420532 0.06741053 0.12302813
+v 0.43336636 -0.04970233 0.10805832
+v 0.44801217 -0.06444226 0.03470354
+v 0.41747453 0.15528927 -0.22635014
+v 0.40265551 0.22731983 -0.18236183
+v 0.38602215 0.22789369 0.15062304
+v 0.36702431 0.24358065 0.16988390
+v 0.43321255 -0.07995229 -0.19968438
+v 0.40289847 -0.21110205 -0.16894389
+v 0.38948600 -0.19749939 0.13788933
+v 0.38729575 -0.21098854 -0.22723364
+v 0.40329057 -0.21217476 0.08116919
+v 0.44934942 -0.09465432 -0.05318189
+v 0.40325088 -0.24209611 -0.03731596
+v 0.44889879 -0.00631508 -0.16958402
+v 0.44868141 0.12568844 0.00664077
+v 0.41754748 0.22845514 0.03623189
+v 0.44923694 0.09564303 0.04968694
+v 0.41804743 0.05169147 0.16760500
+v 0.43246540 -0.09486368 0.07988143
+v 0.41752782 -0.07988232 0.13812292
+v 0.43304671 -0.00575004 0.12311611
+v 0.44881818 -0.00620470 0.06473115
+v 0.43215729 0.18255649 -0.12470264
+v 0.43225799 0.14016874 -0.18304871
+v 0.43405937 0.08140122 -0.21369368
+v 0.40212198 0.19598383 -0.22629998
+v 0.40139243 0.18251346 0.15072283
+v 0.37383100 0.23773767 0.16512362
+v 0.36594160 0.25797406 0.15411476
+v 0.44855175 -0.04914742 -0.15413152
+v 0.43342870 -0.12333196 -0.15457820
+v 0.40273670 -0.22612071 -0.14047200
+v 0.37323329 -0.24171614 -0.22752788
+v 0.40251910 -0.18357633 -0.21292272
+v 0.38870227 -0.24266110 0.09384016
+v 0.44920680 -0.07941124 -0.11145238
+v 0.41867547 -0.19913319 0.00785389
+f 9 4 5
+f 9 1 7
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 16 9 7
+f 16 7 4
+f 16 4 9
+f 20 5 12
+f 22 14 5
+f 22 8 14
+f 22 5 20
+f 23 9 5
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+f 23 1 9
+f 26 10 18
+f 30 20 12
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+f 52 25 15
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+f 52 30 51
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+f 53 30 6
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+f 55 19 32
+f 55 32 11
+f 55 11 33
+f 56 33 11
+f 56 11 4
+f 56 4 33
+f 57 34 15
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+f 57 41 2
+f 57 15 41
+f 58 34 2
+f 58 20 34
+f 59 14 8
+f 59 8 35
+f 59 40 14
+f 59 24 40
+f 59 58 24
+f 59 35 58
+f 60 37 8
+f 60 8 22
+f 60 22 37
+f 61 37 20
+f 61 35 37
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+f 62 38 36
+f 62 36 1
+f 62 1 23
+f 62 23 38
+f 63 25 39
+f 63 41 25
+f 63 2 41
+f 63 58 2
+f 63 39 24
+f 63 24 58
+f 64 38 23
+f 64 23 40
+f 64 13 38
+f 64 39 13
+f 64 40 24
+f 64 24 39
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.26515152 0.22056829
+v 0.01255594 -0.26515152 -0.23397717
+v 0.01255594 -0.00757576 -0.23397717
+v -0.33592892 -0.00757576 0.19026526
+v -0.34210250 -0.26901306 -0.23648429
+v -0.00001485 -0.00305932 0.23022139
+v -0.32809183 -0.26070308 0.18583387
+v -0.33592892 -0.00757576 -0.23397717
+v -0.21471679 -0.26515152 0.22056829
+v -0.21471679 -0.00757576 0.22056829
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 0.23484849 0.17511375
+v 0.23964943 0.26346984 -0.39508842
+v 0.22718303 0.44358177 0.00476466
+v 0.01347209 0.49226780 0.06742689
+v 0.01255594 0.23484849 -0.35518929
+v 0.06942815 0.44418614 -0.27058608
+v 0.17611755 0.39523173 0.21519190
+v 0.22845750 0.44456699 -0.08050216
+v 0.23982867 0.23484849 -0.24912868
+v 0.01255594 0.23484849 0.17511375
+v 0.01162540 0.41416398 -0.32988539
+v 0.22977830 0.38744778 0.16695410
+v 0.09802323 0.46010958 0.15138246
+v 0.22745872 0.39961790 -0.24057523
+v 0.09971704 0.49069815 -0.06688579
+v 0.13627946 0.40659727 0.22491678
+v 0.01197648 0.49142883 -0.12552661
+v 0.14057465 0.38200113 -0.34260224
+v 0.01187989 0.40384069 -0.34781347
+v 0.17024377 0.45841918 0.07789694
+v 0.22795696 0.42850707 -0.16820027
+v 0.15642829 0.47496400 0.02053323
+v 0.12885039 0.41904873 0.21396904
+v 0.01168645 0.44676909 -0.27306602
+v 0.09943498 0.47314918 -0.16829293
+v 0.01127224 0.47824789 0.12585899
+v 0.19740805 0.35421987 -0.34234422
+v 0.14055477 0.42832207 -0.27065774
+v 0.08427547 0.39739599 -0.34367610
+v 0.05685766 0.42888503 -0.29944997
+v 0.22717139 0.42860415 0.07720987
+v 0.22747980 0.41479846 -0.21028678
+v 0.20093915 0.45792235 0.00475193
+v 0.15683784 0.47404190 -0.09502983
+v 0.09903645 0.49082134 0.00608901
+v 0.11332007 0.47247230 0.09301576
+v 0.16942603 0.44279286 0.12301585
+v 0.01136011 0.47822449 -0.18490038
+v 0.05643691 0.48986887 -0.11011714
+v 0.01160912 0.46266468 0.16818296
+v 0.20169255 0.38433500 -0.29846421
+v 0.17081869 0.44215957 -0.21007806
+v 0.11461450 0.45764258 -0.21115676
+v 0.11465193 0.42754763 -0.28291018
+v 0.02674535 0.41356508 -0.32954099
+v 0.21475042 0.44310897 0.05023172
+v 0.14479360 0.47314819 -0.12509932
+v 0.21679417 0.44333123 -0.13798700
+v 0.20152693 0.45793485 -0.08014250
+v 0.14437603 0.47289225 0.05075024
+v 0.04093736 0.48970400 0.06677326
+v 0.12784949 0.44345438 0.16578229
+v 0.20031154 0.42773149 0.12265938
+v 0.08421471 0.45796491 -0.22655813
+v 0.05651398 0.47465420 -0.18398962
+v 0.07165551 0.45873187 0.16661926
+v 0.18605813 0.38206878 -0.31234285
+v 0.21637864 0.42718925 -0.19832522
+v 0.15558697 0.44196906 -0.22514609
+v 0.18679529 0.45801214 -0.12520942
+v 0.09720420 0.47245770 0.10891025
+v 0.05638170 0.47443699 0.12483742
+v 0.17104298 0.39986611 0.21146107
+v 0.22731683 0.39915401 0.14980418
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 12 7 1
+f 12 8 3
+f 12 1 8
+f 16 10 1
+f 16 1 7
+f 17 4 15
+f 19 2 5
+f 19 5 11
+f 21 8 2
+f 23 16 7
+f 26 4 17
+f 26 11 5
+f 26 5 10
+f 27 2 18
+f 29 18 2
+f 29 2 19
+f 29 28 18
+f 30 29 19
+f 30 6 29
+f 30 24 6
+f 31 12 3
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+f 32 2 14
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+f 50 35 36
+f 51 35 4
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+f 53 20 37
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+f 54 6 38
+f 54 43 6
+f 54 25 43
+f 55 38 17
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+f 55 25 54
+f 55 39 25
+f 55 17 39
+f 56 40 23
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+f 57 41 27
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+f 58 32 14
+f 58 14 41
+f 58 41 28
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+f 58 21 32
+f 58 48 21
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+f 59 43 42
+f 59 42 28
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+f 60 47 34
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+f 60 34 49
+f 60 48 42
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+f 62 51 4
+f 62 4 26
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+f 62 13 61
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+f 62 26 56
+f 63 52 23
+f 63 23 7
+f 63 53 52
+f 63 7 53
+f 64 12 31
+f 64 31 53
+f 64 53 7
+f 64 7 12
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/model.xml b/objects/objaverse/apple/apple_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d232e8bbdba68c1be2cf41af92c3ec90d878d7f0
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_11">
+  <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="Material_35.001" 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="Material_35.001"/>
+        <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"/>
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+        <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"/>
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+        <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"/>
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+        <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="-0.00024928225 2.507294999999882e-05 -0.033476419900000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 0.033662096300000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031477288500000006 0.034458746 9.283819999999971e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_19/visual/material.mtl b/objects/objaverse/apple/apple_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/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
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_19/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/objects/objaverse/apple/apple_19/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a271a5681fb0c0a8b180dae6fd1fa238dd130e7
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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+v 0.09220082 -0.26106147 0.19117684
+v -0.02750834 -0.11284288 0.19048582
+v 0.01283482 -0.01205700 0.14977872
+v 0.17784431 -0.20152830 0.19112796
+v 0.00497953 -0.27203661 0.18883849
+v 0.09616945 -0.27733676 0.18164089
+v -0.02723322 -0.09652865 0.17671752
+v 0.19107485 -0.18526079 0.18843329
+v 0.06552327 -0.27093564 0.18723818
+v -0.02550731 -0.08923478 0.17024309
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 5
+f 10 4 6
+f 11 7 3
+f 11 3 4
+f 12 3 7
+f 13 9 7
+f 13 5 9
+f 14 11 4
+f 14 7 11
+f 14 13 7
+f 15 3 12
+f 16 12 7
+f 16 7 9
+f 17 1 8
+f 17 15 12
+f 17 8 15
+f 17 16 9
+f 17 9 1
+f 18 10 5
+f 18 5 13
+f 18 13 14
+f 19 15 8
+f 19 8 3
+f 19 3 15
+f 20 17 12
+f 20 12 16
+f 20 16 17
+f 21 4 10
+f 21 10 18
+f 21 18 14
+f 21 14 4
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d375faea4e715f055c625c5e2a092cb71d082d5
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17622698 -0.01011541 0.00757575
+v -0.17622698 -0.01011541 -0.34090910
+v -0.17622698 0.18685429 0.00757575
+v -0.31654367 0.18851269 0.00897430
+v -0.35816446 -0.01835002 0.02316998
+v -0.17622698 0.14139975 -0.34090910
+v -0.17622698 0.18685429 -0.23484850
+v -0.31721230 -0.01072510 -0.34479879
+v -0.31402298 0.18754018 -0.23536866
+v -0.29820352 0.13365790 -0.32813131
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 4 3
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 9 7 6
+f 9 4 7
+f 9 8 5
+f 9 5 4
+f 10 9 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eada2eddee002f41be994516cb5c38e11bf1af6c
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.31348629 -0.19233833 0.00785709
+v -0.31215736 -0.19173548 -0.23464866
+v -0.30709053 -0.15915939 0.06545676
+v -0.31654367 0.18851269 0.00897430
+v -0.37198144 -0.00768572 -0.21806079
+v -0.31402298 0.18754018 -0.23536866
+v -0.35447903 -0.12292019 -0.18706877
+v -0.37146537 -0.00731598 -0.00987507
+v -0.35437799 0.13230792 -0.15700706
+v -0.35538294 -0.09838564 -0.22859277
+v -0.32450277 -0.18315731 -0.20134599
+v -0.32162093 -0.01100801 0.10464445
+v -0.36978461 -0.05255533 -0.05534075
+v -0.34021323 -0.11358833 0.03272681
+v -0.35492431 0.09289389 -0.22833512
+v -0.34002900 0.16349882 -0.15638842
+v -0.35493361 0.11834678 -0.02566855
+v -0.37062612 0.04780824 -0.17244483
+v -0.35697758 -0.10889094 -0.21768218
+v -0.32384839 -0.18347953 -0.01329572
+v -0.31013039 -0.11512443 0.09698466
+v -0.32373509 -0.15297308 0.03186091
+v -0.33970826 -0.00765401 0.07347931
+v -0.35486140 -0.12312203 -0.04022521
+v -0.35621376 0.11804332 -0.20266489
+v -0.32557791 0.17852837 -0.21543301
+v -0.34004313 0.16388375 -0.05587687
+v -0.35492383 0.13313956 -0.08376980
+v -0.37030798 0.04790497 -0.05566073
+v -0.36996495 -0.05276312 -0.17227893
+v -0.33910527 -0.15259229 -0.20125047
+v -0.34026118 -0.13834701 -0.22664605
+v -0.31665248 -0.18686265 -0.22973365
+v -0.32343014 0.06709371 0.08881262
+v -0.32412449 -0.11115523 0.07460821
+v -0.31177355 -0.15445593 0.06027008
+v -0.33936885 -0.13818875 0.00196660
+v -0.33995543 -0.05267776 0.06010014
+v -0.35415154 -0.08243177 0.00105898
+v -0.34207432 0.13375216 -0.22904867
+v -0.37084691 0.01749614 -0.21799330
+v -0.34035813 0.14805403 -0.21491622
+v -0.32355760 0.17874236 0.00073483
+v -0.37088595 0.00241686 -0.00989169
+v -0.32602042 -0.16906650 -0.22706611
+v -0.33920670 0.00261807 0.07408459
+v -0.31553517 -0.11095836 0.09104136
+v -0.35465758 -0.02191714 0.03153516
+v -0.32369510 -0.06814441 0.08816779
+v -0.35389350 0.09307478 0.00159486
+v -0.32992043 -0.00837398 0.09151320
+v -0.35469427 0.01786546 0.03139376
+v -0.33893589 0.06318937 0.05880012
+v -0.35372498 0.06274669 0.01669416
+v -0.32993724 0.06390716 0.07678397
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 10 6 2
+f 11 2 1
+f 13 8 5
+f 15 10 5
+f 15 6 10
+f 18 5 8
+f 19 5 10
+f 20 11 1
+f 21 3 4
+f 22 20 1
+f 24 8 13
+f 24 7 11
+f 24 11 20
+f 25 9 16
+f 25 18 9
+f 26 4 6
+f 27 26 16
+f 27 4 26
+f 28 9 18
+f 28 17 27
+f 28 27 16
+f 28 16 9
+f 29 18 8
+f 29 28 18
+f 29 17 28
+f 30 13 5
+f 30 5 19
+f 30 19 7
+f 30 24 13
+f 30 7 24
+f 31 19 11
+f 31 11 7
+f 31 7 19
+f 32 19 10
+f 32 10 2
+f 33 2 11
+f 34 21 4
+f 34 12 21
+f 36 22 1
+f 36 1 3
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+f 36 35 14
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+f 37 24 20
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+f 38 8 14
+f 38 14 35
+f 39 24 14
+f 39 14 8
+f 39 8 24
+f 40 6 15
+f 40 15 25
+f 40 26 6
+f 41 25 15
+f 41 15 5
+f 41 5 18
+f 41 18 25
+f 42 25 16
+f 42 16 26
+f 42 40 25
+f 42 26 40
+f 43 27 17
+f 43 4 27
+f 44 29 8
+f 44 17 29
+f 45 33 11
+f 45 11 19
+f 45 19 32
+f 45 32 2
+f 45 2 33
+f 46 8 23
+f 47 35 3
+f 47 3 21
+f 47 21 12
+f 48 38 23
+f 48 23 8
+f 48 8 38
+f 49 38 35
+f 49 23 38
+f 49 35 47
+f 49 47 12
+f 50 4 43
+f 50 43 17
+f 50 17 44
+f 51 46 23
+f 51 12 34
+f 51 34 46
+f 51 49 12
+f 51 23 49
+f 52 44 8
+f 52 8 46
+f 53 34 4
+f 53 4 50
+f 53 52 46
+f 54 53 50
+f 54 50 44
+f 54 44 52
+f 54 52 53
+f 55 53 46
+f 55 46 34
+f 55 34 53
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e48c8cd77d9e83b30ad4780b3ba95de27935503
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02551102 -0.14969265 0.30989233
+v 0.05451996 -0.12467780 0.20907547
+v 0.01149165 -0.08320359 0.33603055
+v 0.01149165 -0.01011541 0.25000000
+v 0.00596110 -0.13265159 0.20298709
+v 0.02822440 -0.13554693 0.30874319
+v 0.05170865 -0.13160188 0.21040988
+v 0.02360267 -0.01667870 0.15551275
+v 0.00529984 -0.15341885 0.30571459
+v 0.02882702 -0.15150603 0.29210982
+v 0.00930712 -0.01667863 0.15551262
+v 0.04003245 -0.06506310 0.15188116
+v 0.00834225 -0.14801876 0.31176907
+v 0.00511871 -0.12763050 0.30420136
+v 0.00408317 -0.15150603 0.29210982
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 8 4 2
+f 10 7 2
+f 10 2 1
+f 10 1 9
+f 10 5 7
+f 11 4 8
+f 12 7 5
+f 12 11 8
+f 12 5 11
+f 12 8 2
+f 12 2 7
+f 13 9 1
+f 13 1 3
+f 13 3 9
+f 14 9 3
+f 14 3 4
+f 14 4 11
+f 15 10 9
+f 15 5 10
+f 15 9 14
+f 15 14 11
+f 15 11 5
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4307e2a700faa12d44f91415b4870c466f49f0
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18740939 0.18685429 0.00757575
+v 0.18740939 0.18685429 -0.23484850
+v 0.17866733 0.35020563 -0.11292415
+v -0.09755257 0.36607691 0.00310839
+v -0.32973920 0.18086419 -0.17226921
+v 0.18200713 0.34185309 0.00325603
+v -0.32005064 0.18362753 0.00485457
+v -0.10874798 0.35176498 -0.22611213
+v 0.07944264 0.38099777 -0.04085755
+v 0.13306363 0.36417363 0.00417554
+v 0.17964798 0.32175520 -0.22661011
+v -0.32997935 0.18124508 -0.03992086
+v -0.21447522 0.31640949 0.00426573
+v -0.31804328 0.18221002 -0.23132635
+v -0.05253553 0.38155359 -0.14016827
+v 0.00395990 0.38193697 0.00193455
+v 0.14798108 0.36459841 -0.04118046
+v 0.17936942 0.33585912 -0.18513128
+v 0.00302514 0.36528227 -0.22614647
+v -0.29666617 0.24918146 -0.05773807
+v -0.16783517 0.34999650 -0.12720445
+v 0.03407178 0.38079237 -0.01034900
+v -0.05207221 0.38094044 -0.04083950
+v 0.07933665 0.38220732 -0.09798418
+v 0.16393037 0.35049259 0.00252698
+v 0.17857477 0.35005928 -0.04107529
+v -0.05287336 0.36620672 -0.21132883
+v 0.11913512 0.35041637 -0.22511190
+v -0.30907076 0.22419909 -0.02567968
+v -0.30822943 0.22342340 -0.18646696
+v -0.16874286 0.34926548 -0.04143013
+v -0.12239413 0.36521107 -0.15496322
+v -0.22576716 0.32210062 -0.14049304
+v -0.00667373 0.38131475 0.00191106
+v 0.01861604 0.38034875 -0.17023413
+v 0.13333454 0.36575139 -0.15418239
+v 0.14849346 0.36546210 -0.08273051
+v -0.00713798 0.36487786 -0.22595667
+v 0.16424882 0.33631818 -0.21174876
+v -0.31028031 0.20983167 0.00139792
+v -0.29693694 0.23301808 0.00395121
+v -0.32455694 0.19404142 -0.04077828
+v -0.21403656 0.30579986 -0.22634875
+v -0.13807791 0.35141998 0.00170959
+v -0.12315945 0.36408285 -0.02633976
+v -0.08271991 0.36466307 -0.20059545
+v -0.22449020 0.32205387 -0.02883144
+v -0.28172515 0.26291808 -0.14029056
+v -0.00706889 0.38146858 -0.17045290
+v 0.04894924 0.36662017 -0.21134525
+v 0.16389324 0.35113590 -0.15432797
+v 0.06421407 0.38160542 -0.14020152
+v 0.13337209 0.35002427 -0.21319693
+v -0.32412921 0.19346111 -0.17142769
+v -0.29647773 0.23166485 -0.21564684
+v -0.19854526 0.32017721 -0.21081945
+v -0.15252028 0.34982240 -0.01365676
+v 0.10917351 0.36543026 -0.18478929
+v -0.30738298 0.20740840 -0.22745505
+v -0.22192951 0.30823110 -0.21130371
+v -0.21333240 0.31886992 -0.18570424
+v -0.13731745 0.34857184 -0.20074201
+v -0.15229473 0.33351518 -0.22508599
+v -0.19777030 0.33422024 -0.02895366
+f 5 2 1
+f 6 1 2
+f 10 1 6
+f 11 6 2
+f 12 5 1
+f 12 1 7
+f 13 7 1
+f 13 10 4
+f 13 1 10
+f 14 8 2
+f 14 2 5
+f 16 4 10
+f 17 9 10
+f 18 3 6
+f 18 6 11
+f 19 11 2
+f 19 2 8
+f 22 16 10
+f 22 10 9
+f 22 9 16
+f 23 16 15
+f 24 16 9
+f 24 15 16
+f 25 17 10
+f 25 10 6
+f 25 6 17
+f 26 17 6
+f 26 6 3
+f 28 11 19
+f 30 14 5
+f 32 21 31
+f 32 23 15
+f 33 31 21
+f 33 21 32
+f 34 23 4
+f 34 4 16
+f 34 16 23
+f 37 24 9
+f 37 9 17
+f 37 36 24
+f 37 3 36
+f 37 26 3
+f 37 17 26
+f 38 19 8
+f 38 8 27
+f 39 18 11
+f 40 29 12
+f 40 12 7
+f 41 20 29
+f 41 29 40
+f 41 40 7
+f 41 7 13
+f 42 29 20
+f 42 5 12
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+f 43 8 14
+f 44 13 4
+f 45 4 23
+f 45 32 31
+f 45 23 32
+f 45 44 4
+f 46 27 8
+f 46 8 32
+f 46 32 15
+f 47 33 20
+f 47 31 33
+f 47 41 13
+f 47 20 41
+f 48 30 20
+f 48 20 33
+f 49 15 24
+f 49 46 15
+f 49 27 46
+f 49 38 27
+f 49 35 19
+f 49 19 38
+f 50 28 19
+f 50 19 35
+f 51 36 3
+f 51 3 18
+f 51 39 36
+f 51 18 39
+f 52 24 36
+f 52 49 24
+f 52 35 49
+f 53 39 11
+f 53 11 28
+f 53 36 39
+f 54 30 5
+f 54 5 42
+f 54 42 20
+f 54 20 30
+f 55 48 33
+f 55 30 48
+f 57 45 31
+f 57 44 45
+f 57 13 44
+f 58 28 50
+f 58 53 28
+f 58 36 53
+f 58 52 36
+f 58 50 35
+f 58 35 52
+f 59 55 43
+f 59 43 14
+f 59 14 30
+f 59 30 55
+f 60 55 33
+f 60 43 55
+f 60 56 43
+f 61 33 32
+f 61 32 56
+f 61 60 33
+f 61 56 60
+f 62 56 32
+f 62 32 8
+f 62 8 56
+f 63 56 8
+f 63 8 43
+f 63 43 56
+f 64 57 31
+f 64 31 47
+f 64 47 13
+f 64 13 57
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57c667ef05e325c8e492fdcd0d168922f6736ea
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.20004137 -0.30795217 -0.23188707
+v 0.35487613 -0.09889899 -0.22980870
+v 0.22073086 -0.30094353 -0.22666587
+v 0.20256090 0.17170278 -0.23484850
+v 0.19596446 -0.11377594 -0.43418350
+v 0.32692439 0.16616522 -0.23050944
+v 0.19735548 -0.30241571 -0.24388162
+v 0.27461979 -0.18241665 -0.32945143
+v 0.33937947 -0.14000752 -0.22816137
+v 0.19621638 0.16410959 -0.41562959
+v 0.19739820 -0.27105294 -0.30453343
+v 0.30712277 -0.00796734 -0.35715775
+v 0.35438825 0.09346707 -0.22955836
+v 0.31939792 -0.10590823 -0.31800218
+v 0.31165731 -0.20175005 -0.22933569
+v 0.19562032 0.10808931 -0.43309663
+v 0.20299387 -0.26865535 -0.30092132
+v 0.19653379 -0.15563614 -0.42020968
+v 0.32356476 0.10638140 -0.31609780
+v 0.33437076 -0.09810606 -0.28853464
+v 0.25165786 -0.06873992 -0.41357869
+v 0.29377566 -0.20668176 -0.25612946
+v 0.21877884 -0.23704273 -0.32556351
+v 0.21729473 -0.29611523 -0.23896102
+v 0.29199271 0.16265824 -0.31822204
+v 0.33417838 0.11706631 -0.27310838
+v 0.25266557 0.06303429 -0.41256653
+v 0.33606785 -0.00763747 -0.31925004
+v 0.32242154 -0.06810290 -0.32739951
+v 0.21600277 -0.13847968 -0.41641078
+v 0.29252763 -0.09306646 -0.35663845
+v 0.30673623 -0.19958309 -0.24224806
+v 0.21835745 -0.19351785 -0.36990439
+v 0.31876990 0.16240228 -0.25786395
+v 0.23814821 0.10682117 -0.41209520
+v 0.30647076 0.01690650 -0.35669545
+v 0.22293383 0.06317616 -0.42876536
+v 0.35131203 0.01719577 -0.27391625
+v 0.35051415 -0.02269195 -0.27354065
+v 0.26098365 -0.06797091 -0.40247614
+v 0.23106552 -0.10779468 -0.41646933
+v 0.20506235 -0.14984255 -0.41745349
+v 0.30659643 -0.12317852 -0.32521345
+v 0.20467897 0.15824596 -0.41506330
+v 0.29249953 0.14816720 -0.32665900
+v 0.27667185 0.10236102 -0.37151588
+v 0.26089695 0.06308477 -0.40279692
+v 0.33521650 0.01747712 -0.31947873
+v 0.22345238 -0.06729714 -0.42872684
+v 0.34950308 -0.06780019 -0.25822487
+v 0.20801724 -0.11264849 -0.42817707
+v 0.24576484 0.16243037 -0.37070878
+v 0.32257238 0.06254122 -0.32718956
+f 1 3 4
+f 6 4 3
+f 7 1 4
+f 10 4 6
+f 10 7 4
+f 11 1 7
+f 13 6 3
+f 13 3 9
+f 13 9 2
+f 15 9 3
+f 16 5 7
+f 16 7 10
+f 18 11 7
+f 18 7 5
+f 20 2 9
+f 20 15 14
+f 20 9 15
+f 22 15 3
+f 22 3 8
+f 23 17 11
+f 23 8 17
+f 24 11 17
+f 24 3 1
+f 24 1 11
+f 24 17 8
+f 24 8 3
+f 25 10 6
+f 26 19 6
+f 26 6 13
+f 26 13 19
+f 27 12 21
+f 29 12 28
+f 29 28 20
+f 29 20 14
+f 30 18 5
+f 31 29 14
+f 32 22 8
+f 32 15 22
+f 32 8 14
+f 32 14 15
+f 33 8 23
+f 33 23 11
+f 33 11 18
+f 34 25 6
+f 34 6 19
+f 34 19 25
+f 36 12 27
+f 37 27 21
+f 37 5 16
+f 37 35 27
+f 37 16 35
+f 38 19 13
+f 38 13 2
+f 39 20 28
+f 39 38 2
+f 39 28 38
+f 40 21 12
+f 40 12 29
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+f 40 29 31
+f 41 21 31
+f 41 31 8
+f 41 8 30
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+f 42 18 30
+f 42 33 18
+f 42 8 33
+f 43 31 14
+f 43 14 8
+f 43 8 31
+f 44 35 16
+f 44 16 10
+f 45 25 19
+f 46 19 27
+f 46 27 35
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+f 47 36 27
+f 47 27 19
+f 48 28 12
+f 48 12 36
+f 48 38 28
+f 48 19 38
+f 49 37 21
+f 49 5 37
+f 50 39 2
+f 50 2 20
+f 50 20 39
+f 51 41 30
+f 51 30 5
+f 51 21 41
+f 51 49 21
+f 51 5 49
+f 52 44 10
+f 52 10 25
+f 52 35 44
+f 52 25 45
+f 52 46 35
+f 52 45 46
+f 53 47 19
+f 53 36 47
+f 53 48 36
+f 53 19 48
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e11f1c160cca1becea84d950b5975795846a96b
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.30354483 -0.19343061 -0.25164118
+v -0.26622478 -0.17633233 -0.34007396
+v -0.26713607 -0.01011541 -0.23484850
+v -0.33001343 0.14974261 -0.24117561
+v -0.33953884 -0.02271981 -0.30391849
+v -0.30467819 0.13714199 -0.31873023
+v -0.34513400 -0.12542368 -0.22889353
+v -0.26713607 -0.01011541 -0.25000001
+v -0.32507075 0.09315404 -0.31729751
+v -0.32152530 -0.17393932 -0.23198113
+v -0.34207432 0.13375216 -0.22904867
+v -0.32393064 -0.09661420 -0.31890327
+v -0.29809719 -0.01419981 -0.36696651
+v -0.33089324 -0.15614316 -0.22931359
+v -0.35930572 0.06332252 -0.22989692
+v -0.32317261 0.11680487 -0.30344436
+v -0.35930253 -0.06866324 -0.22996923
+v -0.28137207 -0.16871592 -0.32764714
+v -0.30604931 0.10757677 -0.33509948
+v -0.31209775 -0.10845507 -0.32657203
+v -0.32547017 -0.05280497 -0.32664589
+v -0.32590128 0.04727185 -0.32669424
+v -0.33931985 0.11728167 -0.25835141
+v -0.30924170 0.13106606 -0.31727327
+v -0.33952334 -0.09828074 -0.27379865
+v -0.35393029 -0.03756438 -0.25838567
+v -0.31391069 0.10365388 -0.32862481
+v -0.33821691 0.03248884 -0.30400466
+v -0.35433449 0.03218934 -0.25842790
+f 1 2 3
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 10 1 3
+f 11 3 4
+f 12 1 10
+f 13 6 2
+f 14 10 3
+f 14 12 10
+f 14 7 12
+f 14 11 7
+f 14 3 11
+f 15 7 11
+f 16 11 4
+f 17 7 15
+f 18 2 1
+f 18 1 12
+f 19 6 13
+f 20 13 2
+f 20 12 13
+f 20 18 12
+f 20 2 18
+f 21 13 12
+f 21 12 5
+f 22 21 5
+f 22 13 21
+f 23 15 11
+f 23 9 15
+f 23 16 9
+f 23 11 16
+f 24 16 4
+f 24 4 6
+f 24 9 16
+f 25 17 12
+f 25 12 7
+f 25 7 17
+f 26 5 12
+f 26 12 17
+f 27 19 13
+f 27 13 22
+f 27 22 9
+f 27 9 24
+f 27 24 6
+f 27 6 19
+f 28 9 22
+f 28 22 5
+f 29 26 17
+f 29 17 15
+f 29 15 9
+f 29 9 28
+f 29 28 5
+f 29 5 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f17c7cd5502e841eb1e0ec9dafe6b112ad47e8
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.20725612 -0.21225095 -0.36117602
+v 0.24099160 -0.13440850 -0.39117787
+v -0.17622698 -0.11617601 -0.35606062
+v 0.19219246 -0.19742324 -0.38974135
+v -0.11105352 -0.11179404 -0.46470206
+v 0.16698564 -0.11048181 -0.44628814
+v -0.18859512 -0.22108094 -0.36977045
+v -0.15703143 -0.11163374 -0.44965045
+v 0.19596446 -0.11377594 -0.43418350
+v 0.02004503 -0.19837720 -0.44377940
+v 0.12152688 -0.11047726 -0.46142700
+v -0.17456225 -0.11495038 -0.44268292
+v 0.19023781 -0.16529876 -0.41782478
+v -0.12546106 -0.19868259 -0.42687578
+v 0.12161645 -0.19919938 -0.42787638
+v 0.02002132 -0.16777815 -0.45830742
+v -0.10952263 -0.12547682 -0.46048865
+v 0.19572144 -0.13909218 -0.42643005
+v -0.02419944 -0.19841530 -0.44389186
+v -0.16354076 -0.19498282 -0.41718110
+v 0.16170108 -0.19701729 -0.41692628
+v 0.07634054 -0.15401642 -0.45883699
+v -0.02418250 -0.16782562 -0.45844065
+v 0.10621254 -0.13820961 -0.45725035
+v -0.17052781 -0.15522923 -0.42939491
+v 0.09116896 -0.18382825 -0.44249615
+v -0.08015924 -0.15346966 -0.45775661
+v -0.08068588 -0.18460582 -0.44459745
+f 1 2 3
+f 2 1 4
+f 7 1 3
+f 8 3 6
+f 9 6 3
+f 9 3 2
+f 10 1 7
+f 11 8 6
+f 11 5 8
+f 12 7 3
+f 12 3 8
+f 13 2 4
+f 15 1 10
+f 17 12 8
+f 17 8 5
+f 18 9 2
+f 18 2 13
+f 18 6 9
+f 19 10 7
+f 19 7 14
+f 20 14 7
+f 20 17 14
+f 21 4 1
+f 21 1 15
+f 21 13 4
+f 21 18 13
+f 22 16 5
+f 22 5 11
+f 22 10 16
+f 23 5 16
+f 23 16 10
+f 23 10 19
+f 24 11 6
+f 24 6 18
+f 24 18 21
+f 24 22 11
+f 24 21 15
+f 25 20 7
+f 25 7 12
+f 25 12 17
+f 25 17 20
+f 26 15 10
+f 26 10 22
+f 26 24 15
+f 26 22 24
+f 27 17 5
+f 27 5 23
+f 27 14 17
+f 28 27 23
+f 28 23 19
+f 28 19 14
+f 28 14 27
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49400634a46aa71159a90b143e34e30c734593c1
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07193436 -0.18886280 -0.44534115
+v 0.10747297 -0.11219993 -0.46582629
+v 0.11165181 -0.11617601 -0.35606062
+v -0.07016637 0.06564217 -0.35606062
+v -0.06919851 0.06445101 -0.49456809
+v -0.07016637 -0.11617601 -0.35606062
+v -0.06536680 -0.08005924 -0.49236408
+v 0.11165181 0.06564217 -0.35606062
+v -0.07738291 -0.18819852 -0.44396819
+v 0.10856424 0.06358903 -0.48975874
+v 0.01758805 -0.10680443 -0.48883775
+v 0.10422355 -0.05016175 -0.48859247
+v 0.06224020 -0.09269202 -0.48779803
+v -0.02157107 -0.10657706 -0.48838313
+v 0.01758750 -0.13710583 -0.47368298
+v 0.08952065 -0.10953501 -0.47330597
+v 0.06302395 -0.15494844 -0.46141223
+v -0.05141578 -0.09343060 -0.48962866
+v -0.07076351 -0.17804201 -0.44994740
+v 0.06695466 -0.17837694 -0.45075523
+v -0.02416556 -0.13723594 -0.47298945
+v -0.06645069 -0.12348760 -0.47389569
+f 1 2 3
+f 6 3 4
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 9 5 7
+f 9 6 4
+f 9 4 5
+f 10 5 8
+f 10 8 3
+f 10 3 2
+f 12 7 5
+f 12 5 10
+f 12 11 7
+f 12 10 2
+f 13 11 12
+f 14 7 11
+f 15 11 1
+f 15 14 11
+f 16 2 1
+f 16 1 13
+f 16 13 12
+f 16 12 2
+f 17 11 13
+f 18 7 14
+f 19 15 1
+f 19 1 9
+f 19 18 14
+f 19 9 7
+f 20 1 11
+f 20 11 17
+f 20 17 13
+f 20 13 1
+f 21 19 14
+f 21 14 15
+f 21 15 19
+f 22 19 7
+f 22 7 18
+f 22 18 19
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f406a97626ebb1d923905ca8934c6f3abbf33597
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.26060340 -0.18905699 0.12452510
+v -0.29011227 -0.21661389 -0.24922758
+v -0.26713607 -0.01011541 -0.23484850
+v -0.28709164 -0.00939955 0.14830599
+v -0.32738201 -0.16147070 0.00746759
+v -0.26319005 -0.01001778 0.16813461
+v -0.31693230 -0.18713518 0.00432918
+v -0.30959187 -0.10841800 0.10256880
+v -0.35925549 -0.01653810 -0.25171165
+v -0.25812415 -0.14285138 0.15098506
+v -0.27234527 -0.00929162 0.16175653
+v -0.31215736 -0.19173548 -0.23464866
+v -0.29249092 -0.18313067 0.07405674
+v -0.31248739 -0.00860754 0.11838256
+v -0.25895498 -0.17345793 0.13640984
+v -0.25960096 -0.09856007 0.16399581
+v -0.27830148 -0.18350652 0.10114847
+v -0.30970265 -0.18378180 0.03221243
+v -0.32633908 -0.00992528 0.09771050
+v -0.28248127 -0.09519357 0.14539993
+v -0.27959493 -0.13901610 0.12918926
+v -0.29223675 -0.16786784 0.08909095
+v -0.26962707 -0.09688375 0.15702602
+v -0.29620732 -0.08405804 0.13034482
+v -0.26441544 -0.16891224 0.13227725
+v -0.31045671 -0.03870985 0.11699743
+f 1 2 3
+f 7 2 1
+f 9 3 2
+f 11 6 3
+f 12 7 5
+f 12 2 7
+f 12 9 2
+f 12 5 9
+f 13 7 1
+f 14 3 9
+f 14 11 3
+f 14 4 11
+f 15 1 3
+f 15 3 10
+f 16 10 3
+f 16 3 6
+f 16 6 11
+f 17 13 1
+f 18 8 5
+f 18 5 7
+f 18 7 13
+f 19 14 9
+f 19 9 5
+f 19 5 8
+f 21 8 17
+f 21 20 8
+f 21 15 10
+f 21 10 20
+f 22 17 8
+f 22 13 17
+f 22 18 13
+f 22 8 18
+f 23 20 10
+f 23 10 16
+f 23 16 11
+f 23 11 4
+f 23 4 20
+f 24 19 8
+f 24 8 20
+f 24 20 4
+f 24 4 14
+f 25 1 15
+f 25 15 21
+f 25 21 17
+f 25 17 1
+f 26 24 14
+f 26 14 19
+f 26 19 24
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d490ae06a2aab4bce0c057c535c60d117408c0
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.35556636 0.07878007 0.00331070
+v 0.35657900 0.07868140 -0.23033935
+v 0.30838599 0.23384133 -0.13955526
+v 0.18200713 0.34185309 0.00325603
+v 0.20256090 0.08079369 -0.23484850
+v 0.30951133 0.22073563 0.00179311
+v 0.35121257 0.13428752 -0.04069273
+v 0.20256090 0.08079369 0.00757575
+v 0.18448237 0.31695228 -0.23174159
+v 0.23085291 0.32381120 -0.04040714
+v 0.22917936 0.27474416 0.08094759
+v 0.35100296 0.13289574 -0.18738243
+v 0.34922328 0.11870219 0.00087629
+v 0.32085129 0.20985905 -0.04043835
+v 0.18740939 0.18685429 -0.23484850
+v 0.30704704 0.23358379 -0.04086760
+v 0.18068485 0.33874880 -0.17067719
+v 0.18740939 0.18685429 0.00757575
+v 0.22502016 0.32243366 0.00225462
+v 0.30802484 0.20859176 -0.22771201
+v 0.33475178 0.16407366 -0.01059421
+v 0.32068573 0.17989239 0.01672349
+v 0.33453186 0.17836053 -0.15611361
+v 0.33958363 0.11140086 -0.26538984
+v 0.23162941 0.32436786 -0.08273596
+v 0.18204517 0.32688669 -0.21400311
+v 0.22324092 0.28502959 0.07710250
+v 0.20955720 0.33539953 -0.04018692
+v 0.26149499 0.27895814 0.00118218
+v 0.32005103 0.19480164 0.00136305
+v 0.23708377 0.26880573 0.07625514
+v 0.33535293 0.17929359 -0.05568190
+v 0.30818494 0.21741801 -0.21642445
+v 0.21026859 0.30728351 -0.22694720
+v 0.35028552 0.11750729 -0.22799938
+v 0.19475525 0.33666218 0.00133423
+v 0.20905609 0.33523520 -0.12808265
+v 0.23086757 0.30899206 0.01621042
+v 0.31911130 0.20854663 -0.17122414
+v 0.22414648 0.31921934 -0.16962058
+v 0.33438020 0.12415121 -0.26350837
+v 0.22054606 0.30958253 -0.21127643
+v 0.34150192 0.10928956 -0.26096526
+v 0.31975817 0.19309571 -0.21595940
+v 0.23114533 0.27909115 0.07241005
+v 0.20884519 0.31889031 -0.19984419
+v 0.19493828 0.32205230 -0.21160591
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 11 8 1
+f 12 7 2
+f 13 1 7
+f 15 5 8
+f 16 14 3
+f 16 6 14
+f 18 15 8
+f 18 17 15
+f 18 4 17
+f 19 16 10
+f 21 13 7
+f 21 14 6
+f 21 7 14
+f 22 1 13
+f 24 15 9
+f 24 2 5
+f 24 5 15
+f 25 16 3
+f 25 10 16
+f 26 9 15
+f 26 15 17
+f 27 4 18
+f 27 19 4
+f 27 18 8
+f 27 8 11
+f 28 19 10
+f 28 10 25
+f 29 6 16
+f 29 16 19
+f 30 21 6
+f 30 13 21
+f 30 22 13
+f 30 6 22
+f 31 11 1
+f 31 1 22
+f 31 22 6
+f 31 27 11
+f 32 23 3
+f 32 3 14
+f 32 14 7
+f 32 7 12
+f 32 12 23
+f 35 12 2
+f 36 28 4
+f 36 4 19
+f 36 19 28
+f 37 28 25
+f 37 17 4
+f 37 4 28
+f 38 29 19
+f 38 6 29
+f 38 19 27
+f 39 33 3
+f 39 3 23
+f 39 23 12
+f 40 25 3
+f 40 3 33
+f 40 37 25
+f 40 17 37
+f 41 20 33
+f 41 34 20
+f 41 24 9
+f 41 9 34
+f 41 35 24
+f 42 33 20
+f 42 20 34
+f 42 40 33
+f 43 35 2
+f 43 2 24
+f 43 24 35
+f 44 12 35
+f 44 39 12
+f 44 33 39
+f 44 41 33
+f 44 35 41
+f 45 31 6
+f 45 6 38
+f 45 38 27
+f 45 27 31
+f 46 17 40
+f 46 40 42
+f 47 42 34
+f 47 46 42
+f 47 26 17
+f 47 17 46
+f 47 34 9
+f 47 9 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c312418a09422c564c3462c7c787ae63c38dd8f9
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00455129 -0.37773124 0.00472141
+v 0.00421578 -0.37412671 0.01895201
+v -0.17320871 -0.33675491 0.00696553
+v -0.17677559 -0.01022824 0.20063482
+v 0.00559120 -0.01011541 0.00757575
+v -0.08208288 -0.25667929 0.18564325
+v -0.11090053 -0.35998131 0.00386861
+v 0.01201822 -0.04049715 0.16734886
+v -0.17622698 -0.01011541 0.00757575
+v -0.16437732 -0.21522828 0.19414684
+v -0.02240857 -0.37475228 0.00394147
+v -0.10905702 -0.29616881 0.14267892
+v 0.00497953 -0.27203661 0.18883849
+v 0.00999922 -0.00773647 0.09974400
+v -0.17730411 -0.05837731 0.20407269
+v -0.15623124 -0.34446854 0.00377136
+v -0.09744974 -0.35506813 0.03304814
+v -0.16929000 -0.27787027 0.13647507
+v -0.10915056 -0.28125921 0.15806431
+v 0.00460670 -0.34524809 0.09140278
+v 0.00798354 -0.13989101 0.20961811
+v -0.02253318 -0.24556367 0.20142545
+v -0.12983978 -0.00948389 0.18933658
+v -0.02182882 -0.37119034 0.01817820
+v -0.13912670 -0.33897296 0.04390410
+v -0.17351430 -0.14464079 0.20218675
+v -0.05138947 -0.28188590 0.17447623
+v -0.09708613 -0.32462318 0.10251481
+v 0.00522045 -0.24642304 0.20365945
+v -0.06739498 -0.35594370 0.04506788
+v -0.10972554 -0.35655357 0.01809734
+v -0.17063681 -0.32730694 0.04552477
+v -0.16891542 -0.25545005 0.15520693
+v -0.02202772 -0.27062055 0.18672257
+v 0.00451941 -0.31385202 0.14780708
+v -0.11354909 -0.21598734 0.20126859
+v -0.03707593 -0.34044823 0.09045071
+v -0.15505625 -0.34104080 0.01800009
+v -0.12195531 -0.32577810 0.08437872
+v -0.05125740 -0.29645057 0.15878124
+v -0.15823795 -0.17485922 0.20138096
+v -0.03712675 -0.32528680 0.11914762
+v -0.02176848 -0.31165136 0.14614533
+v -0.08193103 -0.30945171 0.13280605
+f 11 1 2
+f 11 5 1
+f 14 8 1
+f 14 1 5
+f 14 5 9
+f 15 9 3
+f 15 4 9
+f 16 3 9
+f 16 9 5
+f 16 11 7
+f 16 5 11
+f 17 7 11
+f 19 6 10
+f 19 18 12
+f 19 10 18
+f 20 2 1
+f 20 1 8
+f 21 13 8
+f 21 4 15
+f 22 10 6
+f 23 8 14
+f 23 21 8
+f 23 4 21
+f 23 14 9
+f 23 9 4
+f 24 17 11
+f 24 11 2
+f 26 15 3
+f 26 3 18
+f 26 21 15
+f 27 6 19
+f 27 19 12
+f 28 25 17
+f 28 12 18
+f 29 22 13
+f 29 13 21
+f 30 17 24
+f 30 28 17
+f 30 24 2
+f 30 2 20
+f 31 16 7
+f 31 7 17
+f 31 17 25
+f 32 3 16
+f 32 18 3
+f 33 26 18
+f 33 18 10
+f 33 10 26
+f 34 22 6
+f 34 6 27
+f 34 27 13
+f 34 13 22
+f 35 13 27
+f 35 20 8
+f 35 8 13
+f 36 29 21
+f 36 21 26
+f 36 10 22
+f 36 22 29
+f 37 30 20
+f 37 28 30
+f 38 31 25
+f 38 16 31
+f 38 32 16
+f 38 25 32
+f 39 28 18
+f 39 18 32
+f 39 32 25
+f 39 25 28
+f 40 35 27
+f 40 27 12
+f 41 36 26
+f 41 26 10
+f 41 10 36
+f 42 28 37
+f 42 37 20
+f 42 20 35
+f 43 42 35
+f 43 35 40
+f 44 43 40
+f 44 40 12
+f 44 12 28
+f 44 28 42
+f 44 42 43
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be55542cf7c1fd2694fdb77ba0b8038b57255620
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.30218585 -0.21879948 0.02079757
+v 0.35368338 -0.08307766 0.00226252
+v 0.26110939 -0.12560000 0.15929749
+v 0.19810361 0.17069640 0.19379590
+v 0.20256090 0.17170278 0.00757575
+v 0.29116486 0.12160474 0.12988294
+v 0.31968182 -0.12376556 0.07420595
+v 0.20256090 -0.20708511 0.00757575
+v 0.24974592 0.11030685 0.17248323
+v 0.32927463 0.16801933 0.00439923
+v 0.33613553 -0.11347961 0.04688439
+v 0.27702111 -0.19808139 0.10233023
+v 0.31975276 -0.03788231 0.10284050
+v 0.30829530 -0.21606701 0.00316821
+v 0.19373797 -0.17165641 0.19216901
+v 0.23445943 0.16693644 0.17058448
+v 0.34156774 0.13662522 0.00345832
+v 0.29183345 -0.11061053 0.12948476
+v 0.28992680 -0.19990721 0.07495624
+v 0.32056709 0.03292616 0.10195353
+v 0.32013846 -0.09853939 0.08790618
+v 0.35122537 0.00277396 0.04672459
+v 0.30558941 -0.22037532 0.00663966
+v 0.31888057 -0.16879230 0.03217092
+v 0.22105770 -0.12841556 0.18724578
+v 0.24597039 -0.17105871 0.15930835
+v 0.19637306 -0.20280689 0.17775087
+v 0.26273673 0.13498082 0.15830254
+v 0.22499021 0.13962200 0.18555658
+v 0.29106684 0.16522560 0.10155837
+v 0.30456900 -0.12423871 0.10190815
+v 0.25046725 -0.09804607 0.17198574
+v 0.28920592 -0.18447891 0.08978473
+v 0.30505575 -0.08339698 0.11824795
+v 0.34928019 -0.02236655 0.04724016
+v 0.35556636 0.07878007 0.00331070
+v 0.33503182 0.09349735 0.05882011
+v 0.30345845 -0.18395041 0.05854602
+v 0.23607699 -0.15868597 0.17190052
+v 0.27463833 -0.15465231 0.13234891
+v 0.20850542 -0.20071948 0.17207001
+v 0.20826051 0.16808269 0.18982904
+v 0.26167233 0.16542111 0.14373036
+v 0.33401495 0.11868076 0.04631181
+v 0.33528805 -0.08288570 0.05999885
+v 0.33576924 -0.03803654 0.07350032
+v 0.32013109 0.09355211 0.08930587
+v 0.35086998 0.04818385 0.03144859
+v 0.22272519 -0.18492376 0.17031684
+v 0.32131817 0.16506128 0.03198239
+v 0.30369313 0.14849663 0.08971882
+v 0.33530354 0.03292621 0.07410519
+v 0.35133982 0.07815709 0.01714268
+v 0.30498585 0.16497833 0.07351834
+f 10 5 4
+f 14 8 5
+f 14 5 2
+f 14 2 11
+f 15 4 5
+f 15 5 8
+f 17 2 5
+f 17 5 10
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+f 20 6 9
+f 21 7 11
+f 22 20 13
+f 23 8 14
+f 24 14 11
+f 24 23 14
+f 24 1 23
+f 25 4 15
+f 26 18 3
+f 27 15 8
+f 27 23 1
+f 27 8 23
+f 28 9 6
+f 29 28 16
+f 29 9 28
+f 29 4 25
+f 30 10 4
+f 31 21 18
+f 31 7 21
+f 32 29 25
+f 32 9 29
+f 33 19 11
+f 33 11 7
+f 33 12 19
+f 33 31 12
+f 33 7 31
+f 34 21 13
+f 34 18 21
+f 34 13 20
+f 34 20 9
+f 34 9 32
+f 34 32 3
+f 34 3 18
+f 35 11 2
+f 35 2 22
+f 36 22 2
+f 36 2 17
+f 38 19 1
+f 38 1 24
+f 38 24 11
+f 38 11 19
+f 39 25 15
+f 39 26 3
+f 39 32 25
+f 39 3 32
+f 40 26 12
+f 40 18 26
+f 40 31 18
+f 40 12 31
+f 41 27 1
+f 41 1 12
+f 41 12 26
+f 41 15 27
+f 42 29 16
+f 42 16 4
+f 42 4 29
+f 43 30 4
+f 43 4 16
+f 43 16 28
+f 43 28 6
+f 43 6 30
+f 44 36 17
+f 45 21 11
+f 45 11 35
+f 46 35 22
+f 46 22 13
+f 46 13 21
+f 46 45 35
+f 46 21 45
+f 47 6 20
+f 47 37 44
+f 48 37 22
+f 48 22 36
+f 49 41 26
+f 49 26 39
+f 49 39 15
+f 49 15 41
+f 50 44 17
+f 50 17 10
+f 51 30 6
+f 51 47 44
+f 51 6 47
+f 52 47 20
+f 52 20 22
+f 52 22 37
+f 52 37 47
+f 53 48 36
+f 53 37 48
+f 53 44 37
+f 53 36 44
+f 54 50 10
+f 54 10 30
+f 54 30 51
+f 54 51 44
+f 54 44 50
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc72f3c052ab695a79626fe08a9e5dbc2c20cb9
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.20308353 -0.21601889 0.15966045
+v -0.20315268 -0.20725130 -0.37075569
+v -0.17622698 -0.01011541 0.11363636
+v -0.29393570 -0.01196946 0.14156895
+v -0.29011227 -0.21661389 -0.24922758
+v -0.29809719 -0.01419981 -0.36696651
+v -0.17622698 -0.19193359 -0.23484850
+v -0.26670753 -0.19174489 0.11335672
+v -0.17622698 -0.01011541 -0.34090910
+v -0.26622478 -0.17633233 -0.34007396
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 9 6 4
+f 9 4 3
+f 10 6 2
+f 10 2 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab14d1a972b5b0f48b5d8fc870f686a9022a11e3
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17237383 -0.28681635 0.10949030
+v -0.17083192 -0.28234331 0.12298269
+v -0.25711295 -0.21232535 0.10491193
+v -0.25628509 -0.00984695 0.17259837
+v -0.17622698 -0.01011541 0.11363636
+v -0.16953811 -0.20374044 0.19553736
+v -0.19577153 -0.26880559 0.13630293
+v -0.18609237 -0.28265932 0.10794838
+v -0.29393570 -0.01196946 0.14156895
+v -0.17677559 -0.01022824 0.20063482
+v -0.24953654 -0.19443927 0.13560527
+v -0.17074836 -0.26981864 0.14526291
+v -0.22864616 -0.08409904 0.18559173
+v -0.22355661 -0.19701375 0.15765950
+v -0.17089323 -0.22668205 0.17900219
+v -0.22950279 -0.01001159 0.18744892
+v -0.25375029 -0.06961237 0.17258362
+v -0.25121004 -0.14006818 0.15991762
+v -0.22724157 -0.16800525 0.16992250
+v -0.21045039 -0.14254763 0.18753101
+v -0.23933867 -0.12716474 0.17201644
+f 5 2 1
+f 6 2 5
+f 8 5 1
+f 8 3 5
+f 8 7 3
+f 8 1 2
+f 8 2 7
+f 9 5 3
+f 9 4 5
+f 10 6 5
+f 10 5 4
+f 11 3 7
+f 11 9 3
+f 12 7 2
+f 12 2 6
+f 13 6 10
+f 14 11 7
+f 14 7 6
+f 15 12 6
+f 15 6 7
+f 15 7 12
+f 16 13 10
+f 16 10 4
+f 17 4 9
+f 17 16 4
+f 17 13 16
+f 18 17 9
+f 18 9 11
+f 19 18 11
+f 19 11 14
+f 19 14 6
+f 20 19 6
+f 20 6 13
+f 20 13 17
+f 21 20 17
+f 21 17 18
+f 21 18 19
+f 21 19 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ae140393a45abb28ea1a93b53806f77d4bcb4e
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.27885221 0.16630923 0.11873052
+v 0.32620510 0.17263112 0.00837633
+v 0.22502016 0.32243366 0.00225462
+v -0.08281787 0.36854751 0.00291426
+v -0.32493580 0.17052545 0.00658290
+v 0.10662770 0.26451970 0.18710969
+v 0.28975308 0.20783699 0.07331252
+v -0.31281836 0.16526875 0.04799168
+v 0.30951133 0.22073563 0.00179311
+v 0.11813658 0.34995391 0.06125175
+v 0.31063563 0.16700054 0.06131845
+v 0.17347768 0.26522262 0.15986940
+v -0.15632990 0.16696202 0.20312288
+v -0.21468235 0.30769262 0.06164591
+v 0.24506231 0.27822317 0.04568947
+v -0.31516547 0.19672960 0.00312624
+v -0.16886797 0.33738751 0.00167699
+v 0.12043004 0.36977320 0.00485029
+v -0.00658824 0.30661059 0.16023976
+v 0.27465904 0.20591419 0.10352188
+v 0.30562709 0.18002163 0.06198445
+v 0.20826051 0.16808269 0.18982904
+v 0.10508365 0.30712734 0.14610918
+v 0.20918808 0.30411721 0.07406822
+v -0.25378241 0.16516774 0.14602488
+v 0.27560639 0.23296423 0.06093872
+v -0.29516848 0.22087984 0.03101106
+v -0.22339038 0.31048862 0.00488633
+v -0.00657318 0.36549760 0.04652645
+v -0.14257586 0.24826666 0.18844501
+v 0.30614122 0.21800082 0.01557816
+v 0.14935466 0.24863826 0.18642489
+v 0.22250176 0.19276391 0.17237897
+v 0.16783351 0.16835013 0.20492901
+v 0.01928864 0.30500732 0.16213436
+v 0.19195113 0.28935702 0.11646241
+v 0.22260394 0.31898962 0.01613058
+v -0.24987446 0.21859825 0.11495122
+v -0.28233583 0.24831006 0.00455410
+v 0.01893405 0.36482066 0.04631086
+v -0.08250246 0.33534829 0.08995490
+v -0.00632943 0.25214464 0.20135108
+v -0.19608317 0.18066436 0.18662229
+v 0.12056030 0.27814242 0.17183802
+v 0.23267201 0.21849729 0.14326143
+v 0.20545276 0.18254376 0.18753474
+v 0.25969078 0.19513272 0.13112313
+v 0.09373959 0.24020714 0.20169660
+v 0.06498054 0.32011139 0.13408600
+v 0.17785589 0.27697378 0.14537249
+v 0.20109931 0.29367500 0.10048748
+v 0.17898774 0.30353146 0.10193953
+v -0.26707969 0.23535653 0.06625291
+v -0.17234089 0.28000701 0.14069593
+v -0.28076171 0.17968327 0.10109735
+v -0.27986812 0.24851395 0.01592355
+v 0.11926152 0.36610234 0.01622690
+v -0.10685915 0.34946370 0.04600713
+v -0.03692371 0.34969813 0.07442710
+v -0.12584361 0.21437711 0.19909779
+v 0.01925782 0.29237644 0.17393058
+v -0.00596031 0.29262608 0.17414092
+v -0.20002945 0.16834406 0.18754754
+v -0.16515812 0.22467164 0.18725795
+f 8 5 2
+f 9 2 5
+f 11 8 2
+f 11 1 8
+f 16 9 5
+f 16 5 8
+f 17 4 3
+f 17 3 9
+f 17 9 16
+f 17 14 4
+f 18 3 4
+f 20 1 11
+f 21 20 11
+f 21 7 20
+f 21 11 2
+f 24 20 7
+f 25 8 1
+f 25 1 13
+f 26 9 15
+f 26 24 7
+f 26 15 24
+f 27 16 8
+f 28 14 17
+f 29 18 4
+f 31 7 21
+f 31 26 7
+f 31 9 26
+f 31 21 2
+f 31 2 9
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+f 33 22 1
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+f 34 1 22
+f 37 3 18
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+f 47 1 20
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+f 49 29 19
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+f 49 40 29
+f 49 35 23
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+f 50 12 45
+f 50 44 12
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+f 51 20 24
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+f 52 23 36
+f 52 51 24
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+f 53 38 14
+f 53 14 27
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+f 54 41 14
+f 54 30 19
+f 54 19 41
+f 55 27 8
+f 55 8 25
+f 55 25 38
+f 55 53 27
+f 55 38 53
+f 56 39 27
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+f 56 14 28
+f 56 28 39
+f 57 40 10
+f 57 18 40
+f 57 24 18
+f 57 10 24
+f 58 29 4
+f 58 4 14
+f 58 14 41
+f 59 41 19
+f 59 19 29
+f 59 58 41
+f 59 29 58
+f 60 42 30
+f 60 30 13
+f 60 13 42
+f 61 42 6
+f 61 6 35
+f 62 19 30
+f 62 30 42
+f 62 42 61
+f 62 61 35
+f 62 35 19
+f 63 43 25
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+f 63 13 43
+f 64 43 13
+f 64 13 30
+f 64 38 25
+f 64 25 43
+f 64 54 38
+f 64 30 54
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62034cf9a4b9da18d6b95adfd08268ca328f631
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.25566227 -0.29170678 -0.03842798
+v 0.31384393 -0.21404319 -0.18718030
+v 0.27669439 -0.26839751 -0.05488089
+v 0.30829530 -0.21606701 0.00316821
+v 0.27504041 -0.23368154 -0.24266118
+v 0.30587221 -0.22203333 0.00156334
+v 0.25508971 -0.29089912 -0.14313738
+v 0.26247374 -0.25194869 0.05261592
+v 0.30125151 -0.21513261 -0.22999906
+v 0.26193905 -0.28427152 -0.03907742
+v 0.27711417 -0.26889979 -0.11265625
+v 0.27035498 -0.24575090 0.04827011
+v 0.25627595 -0.26181669 0.04891119
+v 0.25496891 -0.27498902 -0.20159817
+v 0.26173607 -0.28342817 -0.14229287
+v 0.25432545 -0.27558851 0.02023186
+v 0.25649149 -0.26125662 -0.23045605
+v 0.27753286 -0.25245900 -0.19887121
+v 0.26373975 -0.25539205 0.04558721
+v 0.26518304 -0.25503295 -0.22636406
+v 0.29469804 -0.22399281 -0.22697936
+v 0.30680180 -0.22253616 -0.18548555
+v 0.26271860 -0.26789813 -0.19893713
+f 6 3 2
+f 6 2 4
+f 9 5 4
+f 9 4 2
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 2 3
+f 11 3 1
+f 11 1 7
+f 12 4 5
+f 12 5 8
+f 12 6 4
+f 15 11 7
+f 15 2 11
+f 16 7 1
+f 16 1 6
+f 16 14 7
+f 17 13 8
+f 17 8 5
+f 17 16 13
+f 17 14 16
+f 19 16 6
+f 19 6 12
+f 19 13 16
+f 19 12 8
+f 19 8 13
+f 20 14 17
+f 20 18 14
+f 20 17 5
+f 21 9 2
+f 21 2 18
+f 21 18 20
+f 21 20 5
+f 21 5 9
+f 22 18 2
+f 22 7 18
+f 22 15 7
+f 22 2 15
+f 23 18 7
+f 23 7 14
+f 23 14 18
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ae8ebd235d5e911a81a3a6621abc91fbf1167e
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.12111602 -0.34646055 -0.23075342
+v 0.19753874 -0.20155954 -0.38089204
+v 0.20256090 -0.20708511 -0.23484850
+v -0.17622698 -0.20708511 -0.23484850
+v -0.09200664 -0.23527260 -0.41778208
+v -0.16888268 -0.20008498 -0.40826279
+v 0.18246464 -0.31810456 -0.22903650
+v 0.08859256 -0.23681529 -0.41895097
+v -0.15486550 -0.32964915 -0.22947328
+v 0.20004137 -0.30795217 -0.23188707
+v -0.02251798 -0.31013831 -0.32915602
+v 0.09311056 -0.20193162 -0.43449183
+v -0.16773284 -0.27801936 -0.31553963
+v -0.02319804 -0.36152325 -0.22874219
+v 0.19505275 -0.26569680 -0.31692611
+v 0.07872947 -0.30969680 -0.31618590
+v -0.02194701 -0.25089761 -0.41899481
+v 0.14961773 -0.20803204 -0.41662160
+v -0.09685899 -0.20137350 -0.43331086
+v -0.16771773 -0.23517775 -0.37225044
+v -0.08291339 -0.30984739 -0.31639419
+v -0.17275772 -0.32075654 -0.23066436
+v 0.03406976 -0.35996894 -0.22876050
+v 0.11756957 -0.30926359 -0.29975284
+v 0.01796965 -0.25164931 -0.41856704
+v 0.15213607 -0.20235597 -0.41820384
+v 0.09174444 -0.21500619 -0.42946302
+v 0.16339382 -0.25006520 -0.35678882
+v 0.19263213 -0.21131264 -0.37554634
+v -0.15313144 -0.20653835 -0.41627676
+v -0.05449990 -0.22867483 -0.42864888
+v -0.13733744 -0.25017162 -0.37212229
+v -0.12191455 -0.33934701 -0.23931688
+v -0.02245746 -0.35554076 -0.24090635
+v -0.06796017 -0.29488453 -0.34424135
+v 0.11889248 -0.34229355 -0.24070171
+v 0.01836546 -0.31034164 -0.32928763
+v 0.09325071 -0.28011528 -0.35863776
+v 0.05033604 -0.22853019 -0.42831185
+v 0.17952558 -0.26545964 -0.32762772
+v -0.09551354 -0.21439653 -0.42822076
+v -0.15629552 -0.20171626 -0.41707805
+v -0.16456549 -0.20904043 -0.40374015
+v -0.10819629 -0.29623935 -0.32816223
+v -0.08295991 -0.34050731 -0.25596925
+v -0.12391207 -0.34315758 -0.23029601
+v -0.06704228 -0.26443883 -0.38865691
+v 0.03317038 -0.32410593 -0.30065235
+v 0.03337308 -0.35430289 -0.24028822
+v 0.06286998 -0.26453625 -0.38864012
+v 0.06375796 -0.29472154 -0.34413586
+v 0.14886568 -0.27982430 -0.32702653
+v -0.12261820 -0.27942646 -0.34206112
+v -0.09278495 -0.28049620 -0.35801919
+v 0.03341349 -0.27925701 -0.37423630
+v 0.10367409 -0.26525258 -0.37292406
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 7 4
+f 10 2 3
+f 10 3 7
+f 12 6 2
+f 14 7 9
+f 15 2 10
+f 15 10 7
+f 19 6 12
+f 22 13 9
+f 22 9 4
+f 22 4 6
+f 22 20 13
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf626016cb7873d3a87a3b63b8747151d2d7bd8
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.20256090 -0.22223662 0.00757575
+v 0.24009227 -0.25841343 -0.25954401
+v 0.21695926 0.18884470 -0.37329611
+v -0.17622698 0.18685429 0.00757575
+v -0.18859512 -0.22108094 -0.36977045
+v 0.20256090 0.18685429 0.00757575
+v -0.17622698 -0.22223662 0.00757575
+v 0.20725612 -0.21225095 -0.36117602
+v -0.20096042 0.19677972 -0.38030026
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+f 8 3 2
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+f 9 6 3
+f 9 4 6
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690ddbd371411fca75376927cdc84aebf86e7d6d
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01149165 -0.07682333 0.33952165
+v 0.01645485 -0.08035149 0.25740538
+v 0.01149165 0.21866703 0.49712400
+v 0.01149165 0.31930534 0.36321117
+v 0.01149165 0.00363501 0.19992890
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+v 0.01149165 0.20852718 0.49565743
+v 0.01149165 0.02757458 0.20358427
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+f 8 2 5
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+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fdb02dad36d3a33c12e65c4fc2d1b868d591ef
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.11874648 -0.35581827 0.04474599
+v 0.31023360 -0.20772771 0.00803482
+v 0.17784431 -0.20152830 0.19112796
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace322f3dcee397e5442f9de90f64f4a5f38e658
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.07016637 -0.11617601 -0.35606062
+v -0.06667702 -0.11065592 -0.47922339
+v -0.06594797 0.16370075 -0.46278214
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/visual/material.mtl b/objects/objaverse/apple/apple_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/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
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d480a91f7b3cca3e848b5d09051cb9fdbb0b4
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/visual/model_normalized_0.obj
@@ -0,0 +1,2670 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01149165 -0.09548963 0.32930797
+v 0.01149165 0.00873312 0.19327475
+v 0.01149165 0.32068631 0.36396678
+v 0.01149165 0.21646356 0.50000000
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/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
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+f 21 12 18
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/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
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/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
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+v 0.20337217 -0.25899218 0.33250027
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+f 9 3 4
+f 9 4 5
+f 9 1 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36942246 -0.24690344 -0.23156638
+v 0.42147470 -0.09595162 -0.22940612
+v 0.23982867 -0.25000000 -0.23397717
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+v 0.42246547 0.12596812 -0.22832004
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.22952008 -0.28076690 -0.38688661
+v -0.19216618 -0.22670632 -0.44775927
+v -0.21471679 0.09848485 -0.37034080
+v -0.35668908 0.09550828 -0.36286702
+v -0.34923540 -0.10680956 -0.37099580
+v -0.20933947 0.09660349 -0.47823457
+v -0.19956528 -0.00757576 -0.35518929
+v -0.27748811 -0.18071199 -0.41248534
+v -0.29358924 -0.00756992 -0.44634537
+v -0.19414481 -0.24403518 -0.43621536
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+v -0.19956528 -0.00757576 -0.41579535
+v -0.37988145 -0.00761718 -0.35439709
+v -0.27761345 0.09514196 -0.44560568
+v -0.29082616 -0.10746027 -0.42795565
+v -0.22858002 -0.00635385 -0.47541092
+v -0.23393479 -0.24218827 -0.41406435
+v -0.31889310 -0.18222256 -0.37040278
+v -0.19451462 -0.17090744 -0.46217262
+v -0.33410188 -0.06414700 -0.40221745
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+v -0.26723635 0.08088857 -0.45707216
+v -0.31821598 -0.12133145 -0.40010605
+v -0.23303287 -0.18094662 -0.44299376
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+v -0.27430358 -0.20844604 -0.40004201
+v -0.29219433 -0.24110617 -0.35796425
+v -0.21352386 -0.00644430 -0.47660570
+v -0.25154570 -0.08008372 -0.45709809
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+v -0.29162659 -0.03445025 -0.44450211
+v -0.37127151 0.04987622 -0.36242133
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+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
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+f 49 31 13
+f 49 13 33
+f 49 33 34
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+f 50 11 7
+f 50 7 35
+f 50 48 11
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.22919375 -0.28622379 0.29754871
+v 0.36449210 -0.03672659 0.25878227
+v 0.26024547 -0.14146669 0.33837138
+v 0.25366421 0.09809972 0.33898761
+v 0.20952564 -0.00757576 0.26602284
+v 0.31723676 -0.00782360 0.31209896
+v 0.20255252 -0.20132856 0.35810633
+v 0.31902052 -0.21486401 0.25710643
+v 0.29562984 0.09691038 0.32003562
+v 0.33044953 -0.12502685 0.28235410
+v 0.27507720 -0.02201215 0.33897049
+v 0.20337217 -0.25899218 0.33250027
+v 0.20922610 -0.00765779 0.35440549
+v 0.30413329 -0.24298859 0.25675755
+v 0.25941694 0.09978332 0.33604475
+v 0.36663485 -0.00663457 0.26010829
+v 0.28575034 -0.10985949 0.32545252
+v 0.34582580 -0.05081449 0.28045115
+v 0.33448200 -0.17062132 0.25838732
+v 0.27212005 -0.21229138 0.30872146
+v 0.23054761 -0.14148618 0.35417458
+v 0.26153033 0.08048798 0.33793194
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+v 0.34911976 -0.11111591 0.25874998
+v 0.24106003 -0.19671398 0.33799467
+v 0.21435789 -0.19861194 0.35266333
+v 0.23758573 -0.05415335 0.35350231
+v 0.24430758 -0.25396053 0.30968476
+v 0.27253006 -0.24159778 0.29455440
+v 0.33036289 -0.05076914 0.29527777
+v 0.32793388 -0.16854269 0.26915582
+v 0.30089184 -0.18443114 0.29388561
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+v 0.29809291 -0.23929071 0.26702249
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+v 0.31611764 -0.12538901 0.29498227
+v 0.27036182 -0.16904663 0.32359589
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26182520 0.22833261 0.29709894
+v 0.40654905 0.22886332 -0.16847338
+v 0.40416311 0.24321009 0.07877287
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+v 0.36187274 0.22747107 -0.28553940
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+v 0.34455077 0.34140276 0.02096456
+v 0.32769690 0.26785406 0.21009216
+v 0.36091209 0.22876839 0.19731061
+v 0.34316163 0.31282829 -0.19768861
+v 0.23807763 0.23341615 0.30839842
+v 0.23056050 0.40389290 -0.22756851
+v 0.23158166 0.35954339 0.21283685
+v 0.40276011 0.25266545 -0.13973262
+v 0.42262247 0.23055111 -0.00806014
+v 0.27343284 0.41366435 -0.09549523
+v 0.36010807 0.32661195 0.00587787
+v 0.28553318 0.38477690 0.07706347
+v 0.27082249 0.25080558 0.28064821
+v 0.38718834 0.23907823 0.13857594
+v 0.38765262 0.25150934 -0.19739193
+v 0.34313927 0.28014498 -0.25491801
+v 0.34379856 0.23360429 -0.30827008
+v 0.23231364 0.28680040 0.28251515
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+v 0.38793744 0.28304225 -0.10972368
+v 0.37262933 0.29823387 -0.13976304
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+v 0.40853551 0.23006283 0.08015243
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+f 64 63 47
+f 64 28 63
+f 64 49 28
+f 64 48 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.32809183 -0.26070308 0.18583387
+v -0.34210250 -0.26901306 -0.23648429
+v -0.33592892 -0.00757576 -0.23397717
+v -0.41777543 -0.00814996 0.18601400
+v -0.42267495 -0.16775286 0.02142292
+v -0.33592892 -0.00757576 0.19026526
+v -0.37720751 -0.25521985 0.05164352
+v -0.39335942 -0.16583899 0.15038582
+v -0.41505718 -0.00644460 -0.28520842
+v -0.40919078 -0.19429656 -0.15558663
+v -0.37774766 -0.16562796 0.18044836
+v -0.43791687 -0.09469071 0.07933003
+v -0.36303005 -0.24143127 0.13960209
+v -0.40822333 -0.08514914 -0.28332255
+v -0.42321603 -0.16797155 -0.12534017
+v -0.37705021 -0.25416143 -0.13969099
+v -0.40684660 -0.07900486 0.18149675
+v -0.40851588 -0.18083981 0.07900491
+v -0.45662773 -0.00856539 0.06547622
+v -0.35037457 -0.25615066 0.15099587
+v -0.39236351 -0.19325334 -0.22894261
+v -0.45448059 -0.03476396 -0.12555421
+v -0.42332867 -0.09267931 0.13624174
+v -0.42274931 -0.15264073 0.06385515
+v -0.39178699 -0.18010338 0.13916332
+v -0.40749303 -0.19487167 0.05140064
+v -0.36409747 -0.25517802 0.10973341
+v -0.33401533 -0.25546514 0.18061601
+v -0.43872981 -0.09540892 -0.16909217
+v -0.37751815 -0.23888681 -0.18356784
+v -0.45451019 -0.00891550 -0.12506370
+v -0.45478362 -0.06485684 -0.00812743
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+v -0.45386992 -0.04980869 -0.11032171
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+f 50 21 2
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+f 52 38 46
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+f 54 22 29
+f 54 29 49
+f 55 53 47
+f 55 47 9
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20879970 -0.26185807 0.31749628
+v -0.21471679 -0.26515152 0.19026526
+v -0.21471679 -0.00757576 0.19026526
+v -0.34014843 -0.00570773 0.28128726
+v -0.33925328 -0.24328675 0.18357774
+v -0.21270349 -0.00771711 0.32830436
+v -0.20703408 -0.23057229 0.32992267
+v -0.32809183 -0.26070308 0.18583387
+v -0.30691042 -0.17190337 0.27934993
+v -0.41777543 -0.00814996 0.18601400
+v -0.24847142 -0.15486635 0.32464503
+v -0.27758847 -0.19876249 0.29283424
+v -0.33388095 -0.21288423 0.22293122
+v -0.38197086 -0.00620526 0.23734274
+v -0.41214097 -0.04984815 0.18381893
+v -0.28254915 -0.00745367 0.31017357
+v -0.27696576 -0.12526143 0.31027450
+v -0.21984732 -0.25957384 0.31116220
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+v -0.33403541 -0.24032502 0.19577888
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+v -0.22752424 -0.00774033 0.32609040
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+v -0.31776041 -0.19737057 0.25221197
+v -0.31770731 -0.23906670 0.22453479
+v -0.33837610 -0.03570791 0.27884915
+v -0.39303669 -0.07760194 0.20794967
+v -0.41220112 -0.00804165 0.19788232
+v -0.39651717 -0.10862729 0.18335354
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+v -0.21797982 -0.22861307 0.32353682
+v -0.36240377 -0.16582528 0.20963991
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+v -0.36286663 -0.10709617 0.23632283
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+f 44 42 23
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07177282 -0.10425216 0.47532376
+v 0.12138266 -0.08458280 0.46047776
+v 0.08518965 -0.03766552 0.45399937
+v 0.00747019 0.01664753 0.30613888
+v 0.03102762 -0.05632458 0.33739471
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+v 0.06474128 -0.03878729 0.44859339
+v 0.10836627 -0.06606456 0.47975477
+v 0.08222642 -0.10587438 0.44881315
+v 0.05862044 -0.10272042 0.45690573
+v 0.04196030 0.00817094 0.35324731
+v 0.00717263 -0.00463690 0.30854376
+v 0.06797102 -0.04615849 0.35140368
+v 0.10770611 -0.07879563 0.47955423
+v 0.07456494 -0.07607315 0.48088709
+v 0.12198015 -0.06942144 0.47103790
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+v 0.02400881 0.00685859 0.34847063
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+f 20 11 6
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+f 31 21 6
+f 31 6 11
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+f 31 11 28
+f 32 27 18
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+f 32 18 28
+f 32 28 11
+f 32 11 4
+f 33 28 18
+f 33 18 7
+f 33 7 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21471679 0.09848485 -0.26428020
+v -0.21446305 0.09836604 -0.47579583
+v -0.23855064 0.26166094 -0.38592117
+v -0.35148774 0.22697956 -0.25859383
+v -0.40528108 0.09662831 -0.26224344
+v -0.21471679 0.23484849 -0.26428020
+v -0.36653121 0.09377331 -0.34736182
+v -0.39781102 0.12369867 -0.25982689
+v -0.20908415 0.16904549 -0.46273445
+v -0.25334427 0.09528826 -0.46010806
+v -0.39712768 0.09441984 -0.28746427
+v -0.31679908 0.20961180 -0.34372162
+v -0.38116055 0.16817575 -0.25888412
+v -0.20957885 0.22853828 -0.43431188
+v -0.23381657 0.15084041 -0.45755792
+v -0.39391561 0.10867451 -0.28589363
+v -0.31853018 0.22191820 -0.32856725
+v -0.26212421 0.18107967 -0.42748779
+v -0.39388155 0.12225743 -0.27371724
+v -0.37701245 0.13655625 -0.29924508
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16212758 -0.29064604 0.33514002
+v 0.20337217 -0.25899218 0.33250027
+v 0.11795859 -0.18793644 0.38630624
+v 0.19414372 0.09860902 0.35401859
+v 0.01477951 -0.06195485 0.33278650
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+v 0.18821728 -0.27414031 0.33249517
+v 0.21038989 0.09801908 0.35270862
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+v 0.14497211 -0.24023247 0.36927872
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+v 0.20920123 0.09865968 0.35282993
+v 0.20052803 -0.21452340 0.35515060
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11380307 -0.47330030 0.06385911
+v 0.38009170 -0.26001025 -0.17072998
+v 0.23247875 -0.25727686 0.31484777
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+v -0.36963561 -0.25828622 -0.17031024
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+v -0.35388229 -0.25713096 0.14092052
+v 0.14282370 -0.41206639 0.21119162
+v -0.07581233 -0.26064219 0.37153259
+v -0.17643778 -0.45851300 -0.03803848
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+v -0.32318275 -0.25750357 0.19759276
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+v -0.03062523 -0.48911480 -0.12533840
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 0.23484849 0.17511375
+v 0.01253732 0.23469643 -0.47591587
+v 0.01347209 0.49226780 0.06742689
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+v -0.38499608 0.22894507 0.08158542
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+v -0.14840020 0.22732275 -0.46170352
+v -0.07293763 0.48887179 -0.09505247
+v -0.00100639 0.47432268 0.14040062
+v -0.35758007 0.23011910 0.17122929
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+v -0.36716708 0.22707737 0.15357946
+v -0.33875299 0.22826938 -0.28982893
+v -0.10353572 0.31087182 -0.43163334
+v -0.07277785 0.49022431 0.02169424
+v 0.01153572 0.45887615 -0.24197083
+v 0.01093171 0.47448735 0.14000243
+v -0.01628429 0.49004706 0.06677236
+v -0.08555630 0.45700674 0.15082786
+v -0.04643745 0.24482316 -0.47352670
+v -0.00297937 0.24423065 -0.47331694
+v -0.27474183 0.37089159 -0.12562072
+v -0.36808751 0.22780733 -0.21440674
+v -0.20118647 0.32360912 -0.35868990
+v 0.01197648 0.49142883 -0.12552661
+v -0.06167567 0.47372646 -0.18359805
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+v -0.06175103 0.49019323 0.03648835
+v -0.04553782 0.47324039 0.12412534
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+v -0.21852925 0.41409551 0.06652497
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+f 63 40 6
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+f 63 42 29
+f 63 29 40
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23248174 0.22883874 0.31371025
+v 0.23982867 0.23484849 0.17511375
+v 0.20204201 0.40603553 0.16889624
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+v -0.35758007 0.23011910 0.17122929
+v 0.05509743 0.38712360 0.27927097
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+v -0.35338588 0.22707634 0.18427565
+v -0.35215206 0.24038357 0.16822382
+v 0.09980230 0.45056916 0.16933893
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+v -0.16006190 0.41712714 0.16816421
+v -0.03014520 0.42894228 0.22415179
+v 0.10088891 0.28897965 0.33755912
+v 0.22677615 0.32527075 0.24982858
+v 0.12639371 0.41474842 0.22087221
+v 0.10148994 0.22988423 0.35723045
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+v 0.22973857 0.27019761 0.29378298
+v 0.18368521 0.38616600 0.22080919
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+v -0.30389992 0.29446149 0.18138252
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+v -0.26061906 0.33818615 0.18188156
+v -0.02960146 0.39961761 0.26658186
+v -0.04402225 0.38446765 0.28091670
+v -0.17395692 0.35434936 0.25160171
+v -0.08598788 0.44295562 0.18162687
+v -0.10091850 0.41249603 0.22304134
+v 0.04246405 0.30467263 0.33854613
+v -0.03045072 0.23542279 0.35525321
+v 0.20034446 0.24248985 0.32563647
+v 0.17057281 0.29824082 0.30764473
+v 0.21212285 0.38368069 0.19498649
+v -0.23367403 0.25855216 0.29250670
+v -0.29012193 0.26539787 0.23876311
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 9 5 8
+f 10 3 4
+f 13 4 3
+f 18 8 1
+f 20 10 4
+f 21 20 14
+f 22 14 20
+f 25 1 7
+f 27 17 6
+f 28 3 10
+f 28 17 26
+f 29 18 12
+f 30 18 1
+f 33 21 14
+f 33 6 21
+f 34 10 20
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+f 40 16 11
+f 41 25 7
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+f 41 26 11
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+f 42 7 3
+f 42 41 7
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+f 43 26 17
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+f 43 11 26
+f 44 27 23
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+f 46 18 29
+f 47 29 12
+f 47 38 24
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+f 48 18 30
+f 48 23 15
+f 49 30 1
+f 49 1 25
+f 50 31 13
+f 50 9 32
+f 50 13 3
+f 50 3 9
+f 51 32 9
+f 51 9 8
+f 51 46 32
+f 51 8 46
+f 52 32 19
+f 52 50 32
+f 52 31 50
+f 52 36 13
+f 52 13 31
+f 53 33 14
+f 53 14 22
+f 54 24 6
+f 54 6 33
+f 54 33 53
+f 54 53 22
+f 55 22 36
+f 55 54 22
+f 55 24 54
+f 55 52 19
+f 55 36 52
+f 56 37 20
+f 56 20 4
+f 56 4 36
+f 56 36 37
+f 57 37 36
+f 57 36 22
+f 57 22 37
+f 58 38 18
+f 58 18 15
+f 58 15 39
+f 58 39 24
+f 58 24 38
+f 59 12 18
+f 59 18 38
+f 59 47 12
+f 59 38 47
+f 60 25 40
+f 60 49 25
+f 60 30 49
+f 60 48 30
+f 60 23 48
+f 61 40 11
+f 61 11 44
+f 61 44 23
+f 61 60 40
+f 61 23 60
+f 62 45 26
+f 62 26 42
+f 62 42 3
+f 62 3 45
+f 63 46 29
+f 63 55 19
+f 63 29 47
+f 63 47 24
+f 63 24 55
+f 64 19 32
+f 64 32 46
+f 64 63 19
+f 64 46 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12885102 -0.44950018 -0.23034917
+v 0.36942246 -0.24690344 -0.23156638
+v 0.34605304 -0.28524327 -0.22824216
+v -0.35902274 -0.24549068 -0.23104948
+v -0.13508931 -0.24567290 -0.46119569
+v 0.36461583 -0.25726437 -0.22954748
+v -0.23548183 -0.38602680 -0.22733937
+v 0.33304687 -0.24108532 -0.31793264
+v -0.35270608 -0.25670851 -0.22932570
+v 0.22896814 -0.40095991 -0.22825100
+v -0.05862522 -0.41404207 -0.32872623
+v -0.33794490 -0.24171508 -0.28688088
+v 0.35741644 -0.25235936 -0.25709569
+v -0.33523839 -0.28501379 -0.22874178
+v -0.01665838 -0.46401104 -0.22895172
+v 0.28423730 -0.30956818 -0.31494926
+v -0.20146079 -0.34129579 -0.35447341
+v 0.17390821 -0.24320313 -0.44784251
+v 0.36134547 -0.24320898 -0.25899314
+v -0.33245789 -0.25340579 -0.28366343
+v 0.05612576 -0.46305063 -0.22940645
+v -0.14842007 -0.43019178 -0.24192521
+v 0.31487868 -0.31331828 -0.25767691
+v 0.15627553 -0.38245267 -0.34135184
+v -0.11793978 -0.32740078 -0.41274175
+v -0.22329339 -0.24425943 -0.42009312
+v -0.24592065 -0.36860108 -0.25564019
+v 0.28900847 -0.24140104 -0.37510273
+v -0.35506873 -0.24301746 -0.24459525
+v 0.17336500 -0.43217726 -0.22953451
+v 0.01436893 -0.44381886 -0.28661066
+v -0.14950494 -0.43384180 -0.22983584
+v -0.08803122 -0.44444795 -0.25604760
+v -0.14509217 -0.39824799 -0.31320286
+v 0.25831737 -0.36938018 -0.25576270
+v 0.29734467 -0.28270344 -0.33005467
+v 0.31201152 -0.29751616 -0.28433489
+v 0.08457897 -0.30075353 -0.44353332
+v -0.17467273 -0.29988677 -0.41318624
+v -0.28663497 -0.26787818 -0.34341896
+v -0.17376813 -0.41242607 -0.25507251
+v 0.25975961 -0.24192439 -0.40203243
+v 0.18229923 -0.39835653 -0.30008099
+v 0.10066192 -0.42737695 -0.30119565
+v -0.10433150 -0.44928479 -0.22960088
+v -0.06131397 -0.44306499 -0.27113075
+v -0.14728092 -0.41168170 -0.28593778
+v -0.07278482 -0.42894683 -0.29937240
+v -0.10405347 -0.38417575 -0.35580309
+v -0.20381203 -0.38165101 -0.28515141
+v 0.29833239 -0.26852481 -0.34112671
+v -0.08838983 -0.29756213 -0.44322457
+v 0.13005754 -0.24493561 -0.46093353
+v 0.18485431 -0.29557419 -0.41292216
+v -0.14581329 -0.36963680 -0.35543514
+v -0.23082995 -0.26552071 -0.40044742
+v -0.13579130 -0.25845063 -0.45738086
+v -0.30954787 -0.24265305 -0.33307785
+v -0.21401337 -0.33972763 -0.34287959
+v -0.30568312 -0.28060704 -0.29917617
+v 0.21342502 -0.32430080 -0.37143750
+v 0.19649248 -0.41298923 -0.25423555
+v 0.24127898 -0.34074328 -0.32777893
+v 0.11515848 -0.44472572 -0.25663053
+f 6 2 4
+f 9 6 4
+f 9 3 6
+f 10 3 7
+f 13 6 3
+f 13 2 6
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 15 10 7
+f 19 13 8
+f 19 2 13
+f 21 10 15
+f 23 3 10
+f 23 13 3
+f 26 18 5
+f 26 12 18
+f 27 7 14
+f 28 12 8
+f 29 4 2
+f 29 2 19
+f 29 12 20
+f 29 20 14
+f 29 14 4
+f 29 19 8
+f 29 8 12
+f 30 21 1
+f 30 10 21
+f 31 21 15
+f 35 23 10
+f 35 16 23
+f 36 23 16
+f 37 8 13
+f 37 13 23
+f 37 36 8
+f 37 23 36
+f 41 7 27
+f 41 32 7
+f 41 22 32
+f 42 18 12
+f 42 12 28
+f 44 24 43
+f 44 38 24
+f 44 31 11
+f 44 11 38
+f 45 15 7
+f 45 7 32
+f 45 33 15
+f 45 32 22
+f 45 22 33
+f 46 31 15
+f 46 15 33
+f 47 33 22
+f 47 22 41
+f 48 47 34
+f 48 33 47
+f 48 46 33
+f 48 11 31
+f 48 31 46
+f 49 25 11
+f 49 48 34
+f 49 11 48
+f 50 17 34
+f 50 41 27
+f 50 47 41
+f 50 34 47
+f 51 36 28
+f 51 28 8
+f 51 8 36
+f 52 38 11
+f 52 11 25
+f 53 5 18
+f 53 18 38
+f 54 38 18
+f 54 24 38
+f 54 18 42
+f 55 39 25
+f 55 17 39
+f 55 25 49
+f 55 49 34
+f 55 34 17
+f 56 39 17
+f 56 26 39
+f 56 40 26
+f 56 17 40
+f 57 39 26
+f 57 26 5
+f 57 38 52
+f 57 53 38
+f 57 5 53
+f 57 52 25
+f 57 25 39
+f 58 20 12
+f 58 12 26
+f 58 26 40
+f 59 40 17
+f 59 50 27
+f 59 17 50
+f 60 27 14
+f 60 14 20
+f 60 58 40
+f 60 20 58
+f 60 59 27
+f 60 40 59
+f 61 54 42
+f 61 24 54
+f 61 43 24
+f 61 42 28
+f 61 28 36
+f 62 10 30
+f 62 43 35
+f 62 35 10
+f 63 16 35
+f 63 35 43
+f 63 43 61
+f 63 61 36
+f 63 36 16
+f 64 1 21
+f 64 21 31
+f 64 31 44
+f 64 44 43
+f 64 43 62
+f 64 62 30
+f 64 30 1
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.00757576 -0.26428020
+v 0.02298665 -0.00917011 -0.41267579
+v 0.01255594 0.09848485 -0.26428020
+v -0.09350467 0.09848485 -0.26428020
+v -0.09884115 -0.00532069 -0.43827878
+v -0.09350467 -0.00757576 -0.26428020
+v -0.01858108 0.10573230 -0.44892421
+v -0.03208565 -0.00852111 -0.43007705
+v 0.01232709 0.09996707 -0.44331429
+v -0.09549683 0.10069910 -0.47131820
+v -0.09871365 0.07205789 -0.46378319
+v -0.06865854 0.10455011 -0.46247753
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 9 8
+f 10 7 9
+f 11 5 4
+f 11 4 10
+f 11 10 8
+f 11 8 5
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33592892 -0.00757576 0.15996223
+v -0.33592892 -0.00757576 0.06905314
+v -0.33592892 0.15909091 0.06905314
+v -0.37916060 0.18112552 0.18019429
+v -0.45582246 -0.00765906 0.06875205
+v -0.44271912 -0.00848687 0.12636608
+v -0.44448552 0.09519965 0.06629219
+v -0.43145782 -0.00807336 0.15527874
+v -0.41295414 0.17345131 0.07659019
+v -0.43912935 0.05190548 0.12556103
+v -0.42449247 0.12234038 0.12564126
+v -0.42243965 0.09382771 0.15145029
+v -0.40955437 0.15214909 0.13755158
+v -0.43846214 0.07902268 0.11005255
+v -0.40930309 0.13690066 0.15247487
+v -0.43855630 0.09366050 0.09530169
+v -0.40090244 0.15476206 0.15535747
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 12 10 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 14 7 10
+f 14 12 11
+f 14 10 12
+f 15 12 4
+f 15 13 11
+f 15 11 12
+f 16 14 11
+f 16 11 7
+f 16 7 14
+f 17 15 4
+f 17 4 13
+f 17 13 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 -0.25000000 -0.23397717
+v 0.26524116 -0.26912447 -0.37829619
+v 0.23982867 -0.00757576 -0.35518929
+v -0.42798603 -0.00538136 -0.24339485
+v -0.35902274 -0.24549068 -0.23104948
+v -0.38318598 -0.00794390 -0.34814873
+v 0.23982867 -0.00757576 -0.23397717
+v -0.40810324 -0.10739103 -0.27330328
+v -0.30436587 -0.23926272 -0.34501763
+v -0.38160954 -0.21038911 -0.22926993
+v -0.40807194 -0.03443032 -0.29973433
+v -0.33400122 -0.19377315 -0.34517446
+v -0.42505962 -0.08306782 -0.23339948
+v -0.40801305 -0.00890209 -0.30064909
+v -0.37887866 -0.10660848 -0.33002672
+v -0.39300418 -0.13650326 -0.28412729
+v -0.33284373 -0.23849763 -0.29904119
+v -0.41149079 -0.13860631 -0.22981508
+v -0.40828110 -0.08031369 -0.28540566
+v -0.41783700 -0.00812545 -0.27662447
+v -0.37815733 -0.06480472 -0.34539586
+v -0.39244789 -0.18173922 -0.24129437
+v -0.34681414 -0.16639719 -0.34402271
+v -0.34716053 -0.23804383 -0.27164120
+v -0.36411645 -0.12181161 -0.34525957
+v -0.39579830 -0.18387275 -0.22967574
+v -0.37807907 -0.20815289 -0.24163366
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 12 6 2
+f 12 2 9
+f 13 7 4
+f 14 4 6
+f 14 6 11
+f 16 8 15
+f 17 12 9
+f 17 9 5
+f 18 10 7
+f 18 7 13
+f 18 13 8
+f 19 13 11
+f 19 8 13
+f 19 15 8
+f 20 13 4
+f 20 11 13
+f 20 14 11
+f 20 4 14
+f 21 11 6
+f 21 19 11
+f 21 15 19
+f 22 16 12
+f 22 8 16
+f 23 12 16
+f 24 17 5
+f 24 22 12
+f 24 12 17
+f 25 21 6
+f 25 6 12
+f 25 12 23
+f 25 15 21
+f 25 23 16
+f 25 16 15
+f 26 10 18
+f 26 18 8
+f 26 8 22
+f 27 24 5
+f 27 5 10
+f 27 22 24
+f 27 26 22
+f 27 10 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.42223643 -0.05042252 0.13975704
+v 0.36663485 -0.00663457 0.26010829
+v 0.25498018 -0.00757576 0.26602284
+v 0.25498018 -0.26515152 0.14481072
+v 0.25498018 -0.00757576 0.14481072
+v 0.34412045 -0.23908922 0.21027964
+v 0.42666915 -0.00659745 0.14130461
+v 0.37763954 -0.00622621 0.24239055
+v 0.37602704 -0.22899328 0.13895531
+v 0.32908281 -0.19761337 0.25323372
+v 0.42201519 -0.00648782 0.15455224
+v 0.40267338 -0.04883642 0.19356622
+v 0.40705281 -0.12546376 0.13913004
+v 0.36384986 -0.25743626 0.13939962
+v 0.34193240 -0.15419980 0.25348135
+v 0.29956229 -0.25534177 0.25305968
+v 0.41767397 -0.04960547 0.15332516
+v 0.40580784 -0.00633558 0.19586011
+v 0.37154455 -0.19697671 0.18269626
+v 0.34187834 -0.25237839 0.19632901
+v 0.35796259 -0.07960371 0.25492628
+v 0.35865310 -0.19897784 0.20882834
+v 0.32852873 -0.22768786 0.23766057
+v 0.38692155 -0.13948102 0.18264624
+v 0.37154486 -0.22727986 0.15239335
+v 0.39216685 -0.18578894 0.13946648
+v 0.31328758 -0.25446865 0.23675437
+v 0.35765808 -0.16949828 0.22355516
+v 0.37369962 -0.04913024 0.23985101
+v 0.38746697 -0.18460646 0.15286503
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 12 8 6
+f 13 9 3
+f 14 10 6
+f 14 6 2
+f 15 5 6
+f 15 6 10
+f 15 1 5
+f 16 3 1
+f 16 1 11
+f 17 11 1
+f 18 2 8
+f 18 8 12
+f 18 12 13
+f 18 14 2
+f 18 13 14
+f 19 13 12
+f 19 9 13
+f 19 12 6
+f 19 6 9
+f 21 15 7
+f 21 1 15
+f 22 3 16
+f 23 11 7
+f 23 7 20
+f 24 17 7
+f 24 7 11
+f 24 11 17
+f 25 14 13
+f 25 23 20
+f 25 13 23
+f 26 20 7
+f 26 10 20
+f 26 15 10
+f 26 7 15
+f 27 20 10
+f 27 10 14
+f 28 17 1
+f 28 1 21
+f 28 21 7
+f 28 7 17
+f 29 22 16
+f 29 13 22
+f 29 23 13
+f 29 16 11
+f 29 11 23
+f 30 22 13
+f 30 13 3
+f 30 3 22
+f 31 25 20
+f 31 20 27
+f 31 27 14
+f 31 14 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36648992 0.24476096 -0.25810376
+v 0.33229192 0.22675661 -0.33051208
+v 0.26827376 0.31092689 -0.32718131
+v 0.20663944 0.41023248 -0.24610131
+v 0.20952564 0.23484849 -0.24912868
+v 0.26015369 0.37370531 -0.24216365
+v 0.32885450 0.26588711 -0.29736888
+v 0.20492451 0.22981720 -0.43556640
+v 0.21314694 0.38689144 -0.28412829
+v 0.33303428 0.29961234 -0.24240574
+v 0.21679298 0.40580038 -0.24367701
+v 0.32740459 0.23899964 -0.32708824
+v 0.21683144 0.22750292 -0.43074954
+v 0.20133492 0.35972644 -0.33135533
+v 0.25655488 0.35399272 -0.28227256
+v 0.32908196 0.29623228 -0.25549026
+v 0.21369120 0.40152538 -0.25668374
+v 0.28519147 0.26711869 -0.35533404
+v 0.20269621 0.24253208 -0.43046579
+v 0.20439153 0.40522124 -0.25889496
+v 0.24397941 0.31032323 -0.35647967
+v 0.22659838 0.38473092 -0.27019647
+v 0.31392852 0.29638101 -0.28238109
+v 0.28887436 0.24007570 -0.37166737
+v 0.21434439 0.24032594 -0.42588405
+v 0.20470440 0.39024104 -0.28731113
+v 0.20321514 0.27113305 -0.41620193
+v 0.25673829 0.36937246 -0.25493109
+v 0.29177301 0.22899744 -0.37575734
+v 0.22635558 0.25235042 -0.41310170
+v 0.25581849 0.28316698 -0.36837526
+v 0.24224866 0.29802881 -0.36833538
+v 0.21141071 0.26769827 -0.41337539
+f 5 2 1
+f 10 6 5
+f 10 5 1
+f 11 4 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 16 10 1
+f 16 1 7
+f 16 6 10
+f 17 4 11
+f 17 11 6
+f 18 7 12
+f 19 8 5
+f 19 5 14
+f 20 14 5
+f 20 5 4
+f 20 4 17
+f 21 14 9
+f 21 3 18
+f 21 15 3
+f 21 9 15
+f 22 15 9
+f 22 17 6
+f 22 9 17
+f 23 16 7
+f 23 3 15
+f 23 15 6
+f 23 6 16
+f 23 18 3
+f 23 7 18
+f 24 18 12
+f 24 12 2
+f 25 13 8
+f 25 8 19
+f 26 9 14
+f 26 14 20
+f 26 20 17
+f 26 17 9
+f 27 19 14
+f 27 14 21
+f 27 25 19
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 24 2
+f 29 2 13
+f 30 25 27
+f 30 24 29
+f 30 29 13
+f 30 13 25
+f 31 18 24
+f 31 24 30
+f 32 21 18
+f 32 18 31
+f 32 27 21
+f 32 31 30
+f 33 32 30
+f 33 30 27
+f 33 27 32
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09350467 -0.00757576 -0.26428020
+v -0.07838148 0.00743485 -0.42044732
+v -0.09350467 0.09848485 -0.26428020
+v -0.40528108 0.09662831 -0.26224344
+v -0.41392038 -0.00848588 -0.28834868
+v -0.09350467 0.09848485 -0.37034080
+v -0.41127230 0.07896157 -0.25917997
+v -0.37323582 -0.00780934 -0.36407721
+v -0.42212897 -0.00786334 -0.26281154
+v -0.35668908 0.09550828 -0.36286702
+v -0.40719931 0.06269844 -0.28498031
+v -0.40708722 0.07778616 -0.27296020
+v -0.39150244 0.09284921 -0.29986516
+v -0.37766459 0.06219561 -0.34524416
+v -0.36571356 0.07844415 -0.35814026
+v -0.38318598 -0.00794390 -0.34814873
+v -0.37648367 0.09212402 -0.32947027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 2
+f 10 2 8
+f 10 4 6
+f 11 9 7
+f 11 5 9
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 11 4
+f 13 4 10
+f 14 5 11
+f 14 11 13
+f 15 10 8
+f 15 8 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 15 14
+f 17 14 13
+f 17 13 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 -0.24912868
+v 0.24925800 -0.00706829 -0.46316204
+v 0.25498018 0.23484849 -0.24912868
+v 0.14891957 0.23484849 -0.24912868
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14749365 0.23275805 -0.45735484
+v 0.24701847 0.22739433 -0.41537111
+v 0.14624315 0.21615109 -0.46180218
+v 0.15105938 -0.00522456 -0.46156500
+v 0.22957588 0.14015828 -0.45853433
+v 0.24511361 0.09484617 -0.45920737
+v 0.17296567 0.21412881 -0.45658835
+v 0.24507275 0.16733265 -0.44176977
+v 0.18714628 0.22694490 -0.44470534
+v 0.18797607 0.19885171 -0.45614149
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 2 8
+f 11 2 10
+f 12 10 8
+f 12 8 6
+f 13 11 10
+f 13 7 2
+f 13 2 11
+f 14 12 6
+f 14 6 7
+f 14 7 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26524116 -0.26912447 -0.37829619
+v 0.22651848 -0.23991091 -0.42821420
+v 0.23751738 -0.00752452 -0.46569422
+v -0.03689487 0.03896380 -0.40802783
+v -0.22952008 -0.28076690 -0.38688661
+v 0.23982867 -0.00757576 -0.35518929
+v 0.23046046 -0.13976014 -0.45670270
+v 0.01277710 -0.24349767 -0.47380691
+v 0.01657022 0.04163065 -0.40548364
+v -0.19956528 -0.00757576 -0.35518929
+v 0.23163863 -0.19871600 -0.44237650
+v 0.14454661 -0.24385824 -0.45782845
+v 0.16195520 -0.15852371 -0.47518645
+v -0.22858002 -0.00635385 -0.47541092
+v 0.18614806 -0.21384188 -0.45744501
+v 0.07218376 -0.22925403 -0.47317592
+v -0.13459697 -0.19966784 -0.47441268
+v 0.16589177 -0.11620088 -0.47614427
+v -0.17443333 -0.00458061 -0.47549814
+v -0.25294507 -0.00992749 -0.46729231
+v 0.11691942 -0.20220085 -0.47365943
+v 0.20065896 -0.19823439 -0.45596877
+v -0.14839444 -0.24450551 -0.45769891
+v -0.02441846 0.03557638 -0.41527788
+v -0.22126838 -0.14032141 -0.45890924
+v -0.10578817 -0.22813110 -0.47297860
+v -0.01698120 -0.24338772 -0.47319690
+v -0.22845647 -0.02108071 -0.47415352
+v -0.19237978 -0.19980081 -0.45615829
+v -0.24446554 -0.15008043 -0.44548598
+v -0.20412639 -0.25501917 -0.42411153
+v -0.18915403 -0.23854318 -0.44226728
+f 6 1 3
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 13 3 7
+f 15 11 2
+f 15 2 12
+f 16 12 8
+f 16 8 13
+f 18 3 13
+f 18 17 14
+f 18 13 8
+f 18 8 17
+f 19 18 14
+f 19 3 18
+f 20 10 4
+f 20 4 14
+f 20 5 10
+f 21 15 12
+f 21 13 15
+f 21 16 13
+f 21 12 16
+f 22 15 13
+f 22 13 7
+f 22 7 11
+f 22 11 15
+f 24 19 14
+f 24 14 4
+f 24 4 9
+f 24 9 3
+f 24 3 19
+f 26 23 17
+f 26 17 8
+f 27 8 5
+f 27 5 23
+f 27 26 8
+f 27 23 26
+f 28 25 20
+f 28 20 14
+f 28 14 17
+f 28 17 25
+f 29 25 17
+f 29 17 23
+f 30 5 20
+f 30 20 25
+f 30 25 29
+f 31 23 5
+f 31 5 30
+f 32 29 23
+f 32 23 31
+f 32 31 30
+f 32 30 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 0.19026526
+v 0.25498018 -0.00757576 -0.24912868
+v 0.25498018 0.23484849 0.19026526
+v 0.01255594 0.23484849 0.19026526
+v -0.01220938 -0.00581289 0.22035646
+v 0.25498018 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14891957 -0.00757576 -0.35518929
+v 0.14891957 0.23484849 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.35518929
+v 0.14891957 0.23484849 -0.35518929
+v 0.04034365 -0.00514319 -0.40098420
+v 0.03769154 0.02037405 -0.39899530
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 7 2
+f 9 8 5
+f 9 5 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01229981 -0.00848648 0.31133540
+v 0.01255594 -0.00757576 -0.26428020
+v 0.01242542 0.23517771 0.35977365
+v -0.26998960 0.25703465 0.26233510
+v -0.45679790 -0.00898169 -0.11057621
+v 0.01255594 0.23484849 -0.26428020
+v -0.28254915 -0.00745367 0.31017357
+v 0.01412653 0.17953980 0.35562186
+v -0.35148774 0.22697956 -0.25859383
+v -0.20548855 0.19913815 0.32164523
+v -0.42584284 -0.00833866 0.16793325
+v -0.21270349 -0.00771711 0.32830436
+v 0.01255594 0.23484849 0.17511375
+v -0.42212897 -0.00786334 -0.26281154
+v -0.12062769 0.23488323 0.33997069
+v -0.32544877 0.12649216 0.27801303
+v -0.39328624 0.22539928 0.02251988
+v -0.22752424 -0.00774033 0.32609040
+v -0.01679131 0.19057711 0.35543847
+v -0.42776671 -0.00856811 -0.24486981
+v -0.03045072 0.23542279 0.35525321
+v -0.25154006 0.24381581 0.28624801
+v -0.27978490 0.09614328 0.30795029
+v -0.34014843 -0.00570773 0.28128726
+v -0.42297366 0.15117973 -0.11038728
+v -0.45578954 0.06711198 0.00757850
+v -0.39334435 0.22566209 -0.06664865
+v -0.39184818 0.18143059 0.15149133
+v -0.22747919 0.06733223 0.32447143
+v -0.17764411 0.22919350 0.32403682
+v -0.26522671 0.13980996 0.30728393
+v -0.29408556 0.19870636 0.27707002
+v -0.39508059 0.04890234 0.22190546
+v -0.33952829 0.06641381 0.27778460
+v -0.43913655 0.05161761 -0.18425973
+v -0.45662773 -0.00856539 0.06547622
+v -0.43877497 0.12316471 0.05346346
+v -0.37697766 0.22480181 -0.18372880
+v -0.36263315 0.22459898 0.16669537
+v -0.22066491 0.22945573 0.30654790
+v -0.29526693 0.13970247 0.29162887
+v -0.29111698 0.22445305 0.26423379
+v -0.39419316 -0.00552984 0.22294604
+v -0.37834574 0.15336363 0.20644708
+v -0.34967239 0.07949070 0.26749384
+v -0.44007400 -0.00874042 -0.19936015
+v -0.45591748 0.06670528 -0.03583452
+v -0.42390333 0.05176840 -0.24371296
+v -0.40813087 0.19650681 -0.05148203
+v -0.39236539 0.20896963 0.09542571
+v -0.45481507 0.02162313 0.06506231
+v -0.40885892 0.09420190 0.18243724
+v -0.39352611 0.21051064 -0.14073475
+v -0.37763969 0.22435757 0.12581537
+v -0.24992765 0.22956357 0.29183003
+v -0.31017863 0.16903184 0.27627479
+v -0.34952575 0.22343831 0.19724167
+v -0.33475611 0.13879933 0.26850097
+v -0.43758304 0.10782361 -0.10983804
+v -0.43872518 0.12288159 -0.03593940
+v -0.45512361 0.05148218 -0.06608069
+v -0.43910638 0.00634506 -0.19911557
+v -0.40764774 0.09292276 -0.25817818
+v -0.40818214 0.19595852 0.02254828
+f 5 2 1
+f 6 4 3
+f 8 1 2
+f 8 2 6
+f 9 4 6
+f 12 1 8
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 6 2
+f 18 7 11
+f 18 11 1
+f 18 1 12
+f 19 12 8
+f 19 8 3
+f 20 14 2
+f 21 3 4
+f 21 4 15
+f 21 19 3
+f 21 12 19
+f 21 18 12
+f 21 15 18
+f 22 15 4
+f 24 11 7
+f 24 7 23
+f 27 17 4
+f 27 4 9
+f 29 18 15
+f 29 15 10
+f 29 10 23
+f 29 23 7
+f 29 7 18
+f 30 10 15
+f 30 15 22
+f 31 23 10
+f 34 24 23
+f 34 23 16
+f 36 5 1
+f 36 1 11
+f 38 27 9
+f 40 30 22
+f 40 10 30
+f 40 31 10
+f 41 16 23
+f 41 23 31
+f 41 31 32
+f 42 32 22
+f 42 22 4
+f 43 33 11
+f 43 11 24
+f 43 24 33
+f 45 33 24
+f 45 24 34
+f 45 34 16
+f 46 5 35
+f 46 20 2
+f 46 2 5
+f 47 26 37
+f 47 36 26
+f 47 5 36
+f 48 14 20
+f 49 17 27
+f 50 37 28
+f 51 37 26
+f 51 26 36
+f 51 36 11
+f 52 28 37
+f 52 44 28
+f 52 33 44
+f 52 11 33
+f 52 51 11
+f 52 37 51
+f 53 27 38
+f 53 49 27
+f 53 25 49
+f 54 39 4
+f 54 4 17
+f 54 17 50
+f 54 50 28
+f 54 28 39
+f 55 40 22
+f 55 22 32
+f 55 32 31
+f 55 31 40
+f 56 41 32
+f 56 16 41
+f 57 42 4
+f 57 4 39
+f 57 39 28
+f 57 28 44
+f 58 44 33
+f 58 33 45
+f 58 45 16
+f 58 16 56
+f 58 56 32
+f 58 57 44
+f 58 32 42
+f 58 42 57
+f 59 25 35
+f 60 47 37
+f 60 59 47
+f 60 25 59
+f 60 49 25
+f 60 37 49
+f 61 35 5
+f 61 5 47
+f 61 59 35
+f 61 47 59
+f 62 46 35
+f 62 35 48
+f 62 48 20
+f 62 20 46
+f 63 9 14
+f 63 14 48
+f 63 38 9
+f 63 53 38
+f 63 25 53
+f 63 48 35
+f 63 35 25
+f 64 49 37
+f 64 17 49
+f 64 50 17
+f 64 37 50
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01215429 -0.26125886 0.37627269
+v 0.01255594 -0.26515152 0.22056829
+v 0.01334021 -0.00737982 0.32639003
+v -0.21745402 0.03860492 0.32660850
+v -0.21471679 -0.26515152 0.22056829
+v -0.00001485 -0.00305932 0.23022139
+v 0.01396304 -0.15175720 0.38547556
+v -0.10819592 -0.27935737 0.35531433
+v -0.17036035 0.03817523 0.32195040
+v -0.21471679 -0.00757576 0.22056829
+v -0.18808155 0.03886892 0.32615375
+v 0.01439838 -0.08884582 0.35894334
+v -0.20351547 -0.25742982 0.32251690
+v -0.13494910 -0.18947513 0.36969215
+v -0.21215770 0.03719991 0.32763403
+v -0.20993213 -0.10287315 0.33752379
+v -0.13630787 -0.27560643 0.34925364
+v -0.03077085 -0.23047949 0.38641010
+v -0.09071440 -0.13271994 0.37000329
+v -0.18023522 -0.14780399 0.35500397
+v -0.20278628 -0.21343952 0.33862385
+v -0.08907546 -0.26033660 0.36910249
+v 0.01184050 -0.21898358 0.38629115
+v -0.03113844 -0.19037415 0.38511723
+v -0.00110253 -0.15223467 0.38444273
+v -0.14458593 -0.25791451 0.35481190
+v -0.17735244 -0.18799173 0.35389259
+v -0.10516568 -0.27313153 0.35981622
+v -0.13200225 -0.21763499 0.36830148
+v -0.00288954 -0.23132729 0.38639880
+v -0.18871116 -0.24175297 0.33724990
+v -0.13374428 -0.26958854 0.35375575
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 15 11 4
+f 15 7 11
+f 16 4 5
+f 16 5 13
+f 17 13 5
+f 17 5 8
+f 19 15 4
+f 19 4 14
+f 20 14 4
+f 20 4 16
+f 21 20 16
+f 21 16 13
+f 22 1 18
+f 23 1 7
+f 23 7 18
+f 24 18 7
+f 24 14 18
+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
+f 25 19 24
+f 26 13 17
+f 27 14 20
+f 27 20 21
+f 28 8 1
+f 28 1 22
+f 29 22 18
+f 29 18 14
+f 29 26 22
+f 29 14 27
+f 29 27 21
+f 29 21 26
+f 30 23 18
+f 30 18 1
+f 30 1 23
+f 31 26 21
+f 31 21 13
+f 31 13 26
+f 32 17 8
+f 32 8 28
+f 32 26 17
+f 32 28 22
+f 32 22 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.31723676 -0.00782360 0.31209896
+v 0.41529551 -0.00710834 0.17278943
+v 0.34549366 0.22605021 0.22141198
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.38851329 -0.25684779 -0.14073652
+v 0.43412334 -0.04999003 -0.21334645
+v 0.25498018 -0.00757576 0.17511375
+v 0.44932209 0.05191624 0.06500466
+v 0.41892739 0.22807752 -0.10927865
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+v 0.44944586 0.03635285 -0.17015825
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.26515152 0.22056829
+v 0.01255594 -0.26515152 -0.23397717
+v 0.01255594 -0.00757576 -0.23397717
+v -0.33592892 -0.00757576 0.19026526
+v -0.34210250 -0.26901306 -0.23648429
+v -0.00001485 -0.00305932 0.23022139
+v -0.32809183 -0.26070308 0.18583387
+v -0.33592892 -0.00757576 -0.23397717
+v -0.21471679 -0.26515152 0.22056829
+v -0.21471679 -0.00757576 0.22056829
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 0.23484849 0.17511375
+v 0.23964943 0.26346984 -0.39508842
+v 0.22718303 0.44358177 0.00476466
+v 0.01347209 0.49226780 0.06742689
+v 0.01255594 0.23484849 -0.35518929
+v 0.06942815 0.44418614 -0.27058608
+v 0.17611755 0.39523173 0.21519190
+v 0.22845750 0.44456699 -0.08050216
+v 0.23982867 0.23484849 -0.24912868
+v 0.01255594 0.23484849 0.17511375
+v 0.01162540 0.41416398 -0.32988539
+v 0.22977830 0.38744778 0.16695410
+v 0.09802323 0.46010958 0.15138246
+v 0.22745872 0.39961790 -0.24057523
+v 0.09971704 0.49069815 -0.06688579
+v 0.13627946 0.40659727 0.22491678
+v 0.01197648 0.49142883 -0.12552661
+v 0.14057465 0.38200113 -0.34260224
+v 0.01187989 0.40384069 -0.34781347
+v 0.17024377 0.45841918 0.07789694
+v 0.22795696 0.42850707 -0.16820027
+v 0.15642829 0.47496400 0.02053323
+v 0.12885039 0.41904873 0.21396904
+v 0.01168645 0.44676909 -0.27306602
+v 0.09943498 0.47314918 -0.16829293
+v 0.01127224 0.47824789 0.12585899
+v 0.19740805 0.35421987 -0.34234422
+v 0.14055477 0.42832207 -0.27065774
+v 0.08427547 0.39739599 -0.34367610
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+v 0.09903645 0.49082134 0.00608901
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+v 0.05643691 0.48986887 -0.11011714
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+v 0.05638170 0.47443699 0.12483742
+v 0.17104298 0.39986611 0.21146107
+v 0.22731683 0.39915401 0.14980418
+f 8 1 2
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/model.xml b/objects/objaverse/apple/apple_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ce022c48288d59b2c4f2be01f2da2c23b79c10f
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_78">
+  <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="Material_35.008" texture="image0" specular="0.5" shininess="0.46528898900000004"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 -0.033476419900000005" name="bottom_site"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.031477288500000006 0.034458746 9.283819999999971e-05" name="horizontal_radius_site"/>
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+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_4/visual/material.mtl b/objects/objaverse/apple/apple_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2fba56ccb14ccb555d22a9ce4b49dbce596c814
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/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 465.28898900
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_4/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/objects/objaverse/apple/apple_4/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863cce9e71798ed5832397c7dd8290947c882bbc
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47947437023312bba9e0a04f1f249a7597e927f4
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.00766092 -0.26120631 -0.33841901
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+v 0.02525121 -0.49255240 0.05160630
+v -0.02045535 -0.31638639 -0.32448559
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+v 0.16981184 -0.42757723 0.21088314
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4586cbce47ad6b2ca4d99f4af691ee79db0c51b
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30744620 -0.30501093 0.26930237
+v 0.28679706 -0.28145510 -0.20431131
+v 0.26994449 -0.00757576 0.24879567
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+v -0.23005551 -0.26515151 -0.19059826
+v -0.40665071 -0.24746213 0.24672993
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+f 11 1 9
+f 12 10 5
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+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e0169a7fc11f7880c3c3fb12220c90ac1e031e
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.07952942 -0.01013737 0.36529761
+v -0.09369187 -0.00757576 0.23364416
+v -0.09021980 0.43178723 0.25525941
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+v -0.22897293 0.09751346 0.42636527
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef6fd4ffa2223fc3511974532000b1f5d0ab8d1
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.44642009 -0.14224077 0.18660827
+v 0.47957513 -0.06310573 -0.03488277
+v 0.48197528 0.09447397 0.15532319
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+f 50 33 21
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+f 52 6 32
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+f 54 53 42
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+f 54 50 41
+f 54 32 50
+f 55 45 5
+f 55 38 45
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+f 55 5 46
+f 56 45 38
+f 56 27 45
+f 56 37 27
+f 57 48 18
+f 57 46 48
+f 58 51 42
+f 58 28 51
+f 58 42 53
+f 58 53 39
+f 58 39 28
+f 59 51 28
+f 59 28 48
+f 59 48 46
+f 59 46 51
+f 60 52 51
+f 60 51 6
+f 60 6 52
+f 61 53 11
+f 61 11 39
+f 61 39 53
+f 62 53 41
+f 62 41 11
+f 62 11 53
+f 63 56 38
+f 63 38 46
+f 63 57 56
+f 63 46 57
+f 64 57 18
+f 64 18 37
+f 64 37 56
+f 64 56 57
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd60f9260c33894a083d9c3a0d3be8647e90582
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.16388388 -0.14393939 0.35485628
+v 0.16388388 -0.14393939 0.24879567
+v 0.16388388 -0.00757576 0.24879567
+v -0.36075108 -0.00714489 0.38490750
+v -0.43855751 -0.15110010 0.25883443
+v 0.16388388 -0.00757576 0.35485628
+v -0.08537246 -0.14960924 0.37185121
+v -0.44958804 -0.00326994 0.26921065
+v -0.34678197 -0.14963192 0.36854330
+v -0.09466431 -0.00742856 0.38405475
+v -0.40835272 -0.09541864 0.32745785
+v -0.44939601 -0.08741337 0.26228149
+v -0.09776058 -0.14731594 0.37723397
+v -0.08819613 -0.00594767 0.37811732
+v -0.41279966 -0.00836673 0.33002340
+v -0.39755351 -0.13901026 0.32937277
+v -0.41597396 -0.14059369 0.30187139
+v -0.43033887 -0.06653637 0.30125604
+v -0.40933866 -0.13858489 0.31250159
+v -0.42334099 -0.06508881 0.31219926
+v -0.43175120 -0.00818463 0.30226968
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 9 5 7
+f 10 1 6
+f 12 8 3
+f 12 3 5
+f 13 9 7
+f 13 4 9
+f 13 10 4
+f 13 7 1
+f 13 1 10
+f 14 8 4
+f 14 4 10
+f 14 10 6
+f 14 6 8
+f 15 11 4
+f 15 4 8
+f 16 9 4
+f 16 4 11
+f 16 5 9
+f 17 12 5
+f 17 5 16
+f 18 17 11
+f 18 12 17
+f 18 8 12
+f 19 17 16
+f 19 16 11
+f 19 11 17
+f 20 18 11
+f 20 11 15
+f 21 15 8
+f 21 8 18
+f 21 20 15
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e03ae20e902aa2c10f818cb4e834d366b829a42
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.42636757 -0.26224390 -0.07869919
+v -0.38906350 -0.24673600 -0.18690647
+v -0.39672218 -0.14393939 -0.06938614
+v -0.44521401 0.13547894 -0.14027386
+v -0.45353508 -0.09663905 -0.13937090
+v -0.41592656 0.12949775 -0.20760816
+v -0.46736109 -0.14298376 -0.06785344
+v -0.45533338 0.06467513 -0.15178338
+v -0.42669182 -0.00776874 -0.21250865
+v -0.44384640 -0.22939886 -0.06527354
+v -0.45063383 0.12744438 -0.12792775
+v -0.44229065 0.12570187 -0.15282827
+v -0.45320403 -0.05095113 -0.15128044
+v -0.42246098 -0.15442887 -0.18161579
+v -0.43785285 0.07933660 -0.18092769
+v -0.43587941 -0.24745450 -0.06746516
+v -0.45668787 -0.19816207 -0.06456887
+v -0.45779680 0.09553813 -0.12546420
+v -0.43932464 -0.11111685 -0.16708114
+v -0.43206886 -0.00765474 -0.20085575
+v -0.40276366 -0.20712023 -0.19351050
+v -0.43808659 -0.18531581 -0.13575396
+v -0.42476034 -0.24280682 -0.10936937
+v -0.45368143 0.09471222 -0.13934660
+v -0.43884777 -0.05103887 -0.18195276
+v -0.45300929 -0.19667512 -0.07859824
+v -0.45381311 -0.12511857 -0.12422157
+v -0.42236577 -0.22634699 -0.13566564
+v -0.40820548 -0.24192387 -0.15129138
+v -0.45269100 -0.15520103 -0.10872316
+v -0.44635268 -0.15369527 -0.13018356
+v -0.42183580 -0.21102801 -0.15049009
+f 1 2 3
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+f 6 4 3
+f 9 6 2
+f 11 7 3
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+f 12 4 6
+f 12 6 8
+f 13 5 7
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+f 17 10 3
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+f 18 7 11
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+f 20 13 8
+f 20 8 9
+f 20 9 13
+f 21 14 9
+f 21 9 2
+f 22 5 19
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+f 22 14 21
+f 23 1 16
+f 24 18 4
+f 24 4 8
+f 24 8 18
+f 25 19 13
+f 25 13 9
+f 25 9 19
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+f 26 16 17
+f 27 7 5
+f 28 26 22
+f 28 23 26
+f 29 2 1
+f 29 1 23
+f 29 23 28
+f 30 26 7
+f 30 22 26
+f 30 7 27
+f 31 27 5
+f 31 5 22
+f 31 30 27
+f 31 22 30
+f 32 28 22
+f 32 22 21
+f 32 21 2
+f 32 29 28
+f 32 2 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a2cd7fd837f32566eabe06241397a47c1bd5a0
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.09776058 -0.14731594 0.37723397
+v -0.08699507 -0.13838182 0.36790085
+v -0.09525237 0.10095039 0.40862009
+v -0.27692422 0.13047866 0.40644777
+v -0.40023759 -0.12526511 0.33177589
+v -0.25478210 -0.07961086 0.42971824
+v -0.07699744 0.07240653 0.39135822
+v -0.39164613 -0.14219217 0.33604240
+v -0.17761800 -0.05052803 0.42807904
+v -0.33797208 0.03389890 0.39828877
+v -0.23005551 0.09848485 0.35485628
+v -0.25479673 -0.13749647 0.41256333
+v -0.13197288 -0.01954052 0.41231117
+v -0.20194219 0.09636279 0.42852088
+v -0.26966631 0.05054289 0.42641273
+v -0.40122780 0.06544712 0.33165914
+v -0.33775300 -0.07916164 0.39831555
+v -0.35297769 -0.15154866 0.36328933
+v -0.21818170 -0.13900959 0.41298754
+v -0.16254053 -0.00604487 0.42737400
+v -0.11498528 0.10216118 0.41504275
+v -0.15772648 0.05155545 0.42900491
+v -0.31492561 0.05097917 0.41217278
+v -0.22551720 0.09441268 0.42795478
+v -0.39295377 0.08236531 0.33685679
+v -0.32547411 -0.12198577 0.39664607
+v -0.39690425 -0.06467572 0.35260994
+v -0.21639936 -0.07988733 0.42732863
+v -0.14837735 -0.14221181 0.39637275
+v -0.30111785 0.07912036 0.41218742
+v -0.31467970 -0.06398642 0.41252801
+v -0.30238535 0.12659914 0.39469101
+v -0.37896507 0.07877192 0.35658786
+v -0.33686820 -0.13625420 0.38183267
+v -0.38284075 -0.12137915 0.35219437
+v -0.39553360 -0.02347616 0.35662814
+v -0.18718858 -0.06334053 0.42760562
+v -0.27383173 0.12678126 0.40817905
+v -0.26941572 -0.06411363 0.42822791
+v -0.29632023 0.12272632 0.39989870
+v -0.35733981 0.09447261 0.37056181
+v -0.38769858 -0.13986724 0.34223482
+v -0.39423346 0.06365043 0.34152467
+v -0.18811218 -0.12350687 0.41173182
+v -0.32472353 0.07770690 0.39904788
+v -0.39393217 -0.12282245 0.34211476
+v -0.31013457 0.10672097 0.39770639
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+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 11 7 2
+f 11 4 3
+f 11 3 7
+f 13 9 1
+f 13 1 3
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+f 16 2 5
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+f 34 26 18
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+f 37 6 28
+f 37 29 9
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+f 38 4 30
+f 39 6 15
+f 39 15 23
+f 39 23 31
+f 39 31 26
+f 39 26 6
+f 40 30 4
+f 40 4 32
+f 41 32 25
+f 41 25 33
+f 41 33 10
+f 42 8 18
+f 42 18 26
+f 42 26 35
+f 43 36 33
+f 43 33 16
+f 43 16 36
+f 44 37 19
+f 44 19 29
+f 44 29 37
+f 45 23 30
+f 45 41 10
+f 45 10 23
+f 46 5 8
+f 46 8 42
+f 46 27 5
+f 46 42 35
+f 46 35 27
+f 47 40 32
+f 47 32 41
+f 47 41 45
+f 47 45 30
+f 47 30 40
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54bef9f1fa7f36717d032e09615271f123b2e3c0
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22908416 0.20353685 0.39769189
+v -0.22813045 0.20241688 -0.38367769
+v -0.22121449 0.30102284 -0.31552394
+v -0.22516879 0.43438309 0.13836222
+v -0.44323156 0.19858481 0.13897863
+v -0.22206934 0.37429194 0.27143034
+v -0.22284111 0.22717386 -0.37305451
+v -0.33903555 0.19587662 -0.28711189
+v -0.22246767 0.43388782 -0.06517876
+v -0.35068326 0.23966773 0.29384728
+v -0.22419469 0.22900712 0.38790780
+v -0.25452933 0.19867970 0.38797643
+v -0.24777971 0.21204028 -0.36866532
+v -0.22194370 0.40262626 -0.15360883
+v -0.37877567 0.31297034 -0.04854871
+v -0.30440229 0.35491003 0.21142798
+v -0.26238343 0.28285432 0.33928162
+v -0.25032129 0.19843581 -0.37248463
+v -0.38424351 0.19643506 0.28672954
+v -0.30268772 0.23806121 -0.29882634
+v -0.23554042 0.22456522 -0.36812133
+v -0.44272352 0.19802290 -0.06522684
+v -0.29423627 0.39851146 -0.00708217
+v -0.23310587 0.39837485 0.22202457
+v -0.38059260 0.30983824 0.12471465
+v -0.22505894 0.28738030 0.35602299
+v -0.30980099 0.21169764 0.35421955
+v -0.29332718 0.33795014 0.25281331
+v -0.27422518 0.24003604 -0.32577532
+v -0.39391772 0.25216112 -0.13960290
+v -0.27538991 0.33969017 -0.21157327
+v -0.42430768 0.25318703 -0.00721469
+v -0.24882644 0.42908527 0.00817383
+v -0.29041162 0.37018558 -0.13558501
+v -0.22407064 0.40204564 0.22509165
+v -0.23448522 0.43115240 0.13686655
+v -0.39453631 0.23887059 0.22337567
+v -0.39357729 0.29862948 0.07985108
+v -0.25009300 0.34016391 0.29309649
+v -0.25218006 0.21146721 0.38300545
+v -0.23888661 0.28524101 0.35231770
+v -0.30685624 0.23687323 0.33875574
+v -0.31356941 0.19912111 0.35742689
+v -0.34925587 0.26750428 0.26814075
+v -0.27771901 0.36759080 0.22210307
+v -0.23361923 0.36884781 0.26797204
+v -0.23135546 0.31070490 -0.29951500
+v -0.34865620 0.25262023 -0.22326120
+v -0.41519117 0.19926502 -0.15454670
+v -0.43911709 0.22664127 0.00802591
+v -0.42346906 0.24191652 -0.06433101
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+v -0.27937142 0.38205028 -0.12373192
+v -0.24971119 0.35289947 -0.22304219
+v -0.30561180 0.38551341 -0.04877283
+v -0.35224565 0.31086942 -0.13634713
+v -0.32012755 0.37132244 0.13611854
+v -0.29322634 0.39818860 0.09457344
+v -0.24890819 0.42918692 0.08014443
+v -0.42482912 0.23867209 0.13704050
+v -0.42704291 0.19802827 0.19916643
+v -0.36529871 0.28415390 0.22356658
+v -0.39387879 0.29807223 -0.00682588
+v -0.24982622 0.30958515 0.32297577
+f 7 1 2
+f 9 4 6
+f 11 1 7
+f 11 7 3
+f 11 3 6
+f 12 2 1
+f 12 1 11
+f 14 9 6
+f 14 6 3
+f 18 12 8
+f 18 2 12
+f 18 13 2
+f 18 8 13
+f 19 8 12
+f 20 13 8
+f 21 3 7
+f 21 7 2
+f 21 2 13
+f 22 8 19
+f 26 11 6
+f 27 10 19
+f 29 13 20
+f 29 21 13
+f 29 3 21
+f 33 4 9
+f 35 24 6
+f 35 6 4
+f 36 16 24
+f 36 35 4
+f 36 24 35
+f 39 28 17
+f 40 27 12
+f 40 12 11
+f 41 17 27
+f 41 26 6
+f 41 6 39
+f 41 11 26
+f 41 40 11
+f 41 27 40
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+f 42 10 27
+f 43 27 19
+f 43 19 12
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+f 44 10 17
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+f 44 19 10
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+f 46 39 6
+f 46 28 39
+f 47 29 20
+f 47 3 29
+f 47 20 31
+f 47 14 3
+f 48 20 8
+f 48 31 20
+f 49 8 22
+f 49 48 8
+f 49 30 48
+f 50 22 5
+f 50 38 32
+f 51 50 32
+f 51 22 50
+f 51 49 22
+f 51 30 49
+f 51 32 15
+f 51 15 30
+f 52 33 9
+f 52 23 33
+f 53 9 14
+f 53 14 34
+f 53 52 9
+f 54 34 14
+f 54 31 34
+f 54 47 31
+f 54 14 47
+f 55 15 23
+f 55 53 34
+f 55 23 52
+f 55 52 53
+f 56 30 15
+f 56 55 34
+f 56 15 55
+f 56 48 30
+f 56 34 31
+f 56 31 48
+f 57 16 36
+f 57 38 25
+f 57 23 38
+f 58 57 36
+f 58 23 57
+f 59 36 4
+f 59 4 33
+f 59 58 36
+f 59 33 23
+f 59 23 58
+f 60 25 38
+f 60 50 5
+f 60 38 50
+f 61 19 37
+f 61 22 19
+f 61 5 22
+f 61 60 5
+f 61 37 60
+f 62 60 37
+f 62 25 60
+f 62 57 25
+f 62 16 57
+f 62 37 19
+f 62 19 44
+f 62 44 28
+f 62 28 16
+f 63 38 23
+f 63 23 15
+f 63 15 32
+f 63 32 38
+f 64 41 39
+f 64 39 17
+f 64 17 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93abb8b4d38e3cf370dcbfb3a28f36e7efbcc56a
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23005551 -0.00757576 0.35485628
+v -0.23005551 -0.00757576 -0.31181038
+v -0.22683206 0.20075519 0.39875763
+v -0.38486141 0.22611035 0.25354090
+v -0.36075108 -0.00714489 0.38490750
+v -0.25607335 0.23290824 -0.34570927
+v -0.34276574 -0.00846402 -0.33091944
+v -0.22981316 0.08309526 0.42968770
+v -0.32095568 0.19407731 0.35525983
+v -0.35126763 -0.00757576 0.23364416
+v -0.35126763 -0.00757576 -0.20574978
+v -0.37337095 0.22090878 -0.21809589
+v -0.22778392 0.13909946 0.41496457
+v -0.33134171 0.08082748 0.39336933
+v -0.31729408 0.20212276 -0.30784246
+v -0.32450168 0.16572328 0.36540050
+v -0.27252435 0.08040040 0.41920392
+v -0.29411943 0.13608469 0.39603838
+v -0.27099571 0.10958570 0.41289730
+v -0.32528968 0.12187479 0.38256077
+v -0.23677245 0.19605799 0.39761508
+v -0.24100944 0.13892072 0.41239790
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 5 1
+f 9 3 4
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 7 5
+f 11 5 4
+f 12 4 6
+f 12 11 4
+f 12 7 11
+f 13 8 1
+f 13 3 8
+f 13 1 2
+f 13 2 3
+f 14 4 5
+f 15 12 6
+f 15 6 7
+f 15 7 12
+f 16 9 4
+f 16 4 14
+f 17 14 5
+f 17 5 8
+f 18 9 16
+f 19 17 8
+f 19 18 14
+f 19 14 17
+f 20 18 16
+f 20 16 14
+f 20 14 18
+f 21 3 9
+f 21 9 18
+f 21 18 19
+f 22 19 8
+f 22 8 3
+f 22 21 19
+f 22 3 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f49ad08a18a39f2885a1bbadecd865285dba85
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.40810977 -0.13754677 -0.16836578
+v 0.43787028 -0.04920279 -0.16884422
+v 0.26994449 -0.00757576 -0.17544675
+v 0.26994449 0.23484848 -0.19059826
+v 0.26295084 0.02478822 -0.39265465
+v 0.39413451 0.21245773 -0.18324428
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+v 0.26084056 0.22766877 -0.34578052
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e31e92057a5a73fe69073c9d9eca8e0e0f1673b
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09410036 -0.22528973 0.40251057
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+v 0.16494308 -0.00697861 0.43661048
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29299577213c7b1b256d24c5ac3244fbe0837d01
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
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+v -0.40452894 -0.17171430 0.30410251
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0d7ccfdcf3562c6c0e55b79756fb9a7d481bd7
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.02473252 -0.48929989 0.12415023
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+v 0.02752025 -0.26515151 0.21849264
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc07a01d5e2b9f11d4b2c9731305cda59215a14
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05599364 -0.46333159 0.21360471
+v 0.37215545 -0.26206610 0.21651298
+v 0.21957951 -0.25696644 0.38931764
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+v 0.36398311 -0.25551613 0.24261343
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2fcd55e058a909ba61e23d8d71ea2057708bb0
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.03615807 0.00286563 0.34960336
+v 0.02752025 -0.00757576 0.23364416
+v 0.02752025 0.23484848 0.23364416
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3b0a42b3491b6a0972abf9ad662fb59a1c4caa
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22394848 -0.46492156 0.14022670
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa2fd352fa6e627e1075c902309071bd2c90de4f
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.28982303 0.22666445 0.38809502
+v 0.41293150 0.23055167 0.23005988
+v 0.21754312 0.41954970 0.22889731
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+v 0.10158882 0.44919235 0.22778977
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+v -0.06220203 0.23028422 0.41690415
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+v 0.11387375 0.41281820 0.29988978
+v 0.37403905 0.26693639 0.26609200
+v 0.21678976 0.29948039 0.38075964
+v 0.18772421 0.38621919 0.30992755
+v -0.09309390 0.44435492 0.23214792
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+v 0.30166033 0.35417868 0.25224411
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+v 0.05976386 0.22994257 0.43068790
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a076c0e1062e4910e6c0e3c5180bceb0982ef5ab
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.24333250 0.37612977 0.24639279
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+v -0.20629304 0.44180518 -0.06346016
+v -0.16137060 0.44306057 -0.12443241
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+f 27 24 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aed32da77f96b2db613a944433e96d97617bb8
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26994449 -0.14393939 -0.19059826
+v 0.28529573 -0.15551740 -0.31559270
+v 0.26994449 -0.00757576 -0.29665887
+v -0.43801144 -0.00760831 -0.18858152
+v -0.42213694 -0.14278350 -0.18837117
+v -0.38051915 -0.00718015 -0.28593544
+v 0.26994449 -0.00757576 -0.19059826
+v -0.42316189 -0.06613281 -0.21200580
+v -0.36652307 -0.13880285 -0.28224217
+v -0.42813224 -0.12546688 -0.18419961
+v -0.41060208 -0.00714565 -0.24038004
+v -0.37925773 -0.05091048 -0.28548106
+v -0.40839852 -0.12321696 -0.22416730
+v -0.42619411 -0.00736761 -0.21361128
+v -0.40871081 -0.05080732 -0.23948252
+v -0.41165949 -0.14017302 -0.21272312
+v -0.37896339 -0.12347653 -0.27017564
+v -0.42266876 -0.12417497 -0.19686197
+v -0.39348008 -0.09589335 -0.25425696
+f 5 2 1
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 8
+f 11 7 3
+f 11 3 6
+f 12 6 2
+f 12 2 9
+f 12 11 6
+f 14 8 4
+f 14 4 7
+f 14 7 11
+f 15 11 12
+f 15 14 11
+f 15 8 14
+f 15 13 8
+f 16 9 5
+f 16 5 10
+f 17 12 9
+f 17 16 13
+f 17 9 16
+f 18 16 10
+f 18 10 8
+f 18 8 13
+f 18 13 16
+f 19 15 12
+f 19 12 17
+f 19 17 13
+f 19 13 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad391d5b7d5d972181e7c3fad7cc37d862bca7d1
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.39811991 -0.25871621 0.02287142
+v 0.45549604 -0.13827336 -0.05075921
+v 0.46453075 -0.14323627 0.02170162
+v 0.26994449 -0.14393939 0.02152295
+v 0.26366118 -0.15360963 -0.33339058
+v 0.45364316 -0.16752106 0.02293290
+v 0.31443197 -0.25012683 -0.20751875
+v 0.27740094 -0.13813573 -0.33262253
+v 0.42325627 -0.22682833 0.02332654
+v 0.44767857 -0.16462694 -0.03327048
+v 0.26994449 -0.26515151 0.02152295
+v 0.26724485 -0.14158435 -0.33836563
+v 0.43788309 -0.13705193 -0.11061606
+v 0.30124773 -0.19387245 -0.27920502
+v 0.37477987 -0.23732072 -0.12017829
+v 0.43252979 -0.19493134 -0.03327131
+v 0.26276468 -0.25845896 -0.26039476
+v 0.31882993 -0.13734754 -0.29837764
+v 0.27370281 -0.15049809 -0.32806135
+v 0.37315298 -0.16596105 -0.20847710
+v 0.37372482 -0.25190368 -0.09347731
+v 0.40334867 -0.20593297 -0.10838680
+v 0.27199347 -0.25293819 -0.25547738
+v 0.26119628 -0.21063846 -0.29884215
+v 0.32839892 -0.15107968 -0.28325011
+v 0.27177597 -0.20807716 -0.29331879
+v 0.35810153 -0.19161088 -0.20736667
+v 0.41992774 -0.22173661 -0.02118409
+v 0.43226752 -0.14941682 -0.10890681
+v 0.38771473 -0.15039361 -0.19614144
+v 0.31271662 -0.20681270 -0.25287386
+v 0.31654264 -0.14852606 -0.29453339
+v 0.34374988 -0.16223693 -0.25321696
+v 0.37285103 -0.20552433 -0.16447696
+v 0.38929351 -0.25185936 -0.04839583
+v 0.39248462 -0.13747328 -0.19860633
+v 0.40292844 -0.22076512 -0.07793402
+v 0.33339063 -0.13821994 -0.28422272
+f 3 2 4
+f 6 3 4
+f 9 6 4
+f 10 2 3
+f 10 3 6
+f 11 9 4
+f 11 1 9
+f 12 5 4
+f 12 4 8
+f 13 4 2
+f 16 10 6
+f 16 6 9
+f 17 1 11
+f 18 8 4
+f 18 4 13
+f 19 12 8
+f 19 8 14
+f 21 7 15
+f 21 17 7
+f 21 1 17
+f 22 21 15
+f 23 17 14
+f 23 7 17
+f 24 4 5
+f 24 17 11
+f 24 11 4
+f 26 5 12
+f 26 12 19
+f 26 24 5
+f 26 19 14
+f 26 14 17
+f 26 17 24
+f 27 20 22
+f 28 16 9
+f 28 9 1
+f 28 22 16
+f 29 22 13
+f 29 16 22
+f 29 10 16
+f 29 13 2
+f 29 2 10
+f 30 22 20
+f 30 13 22
+f 31 23 14
+f 31 7 23
+f 31 27 7
+f 31 14 25
+f 32 25 14
+f 32 14 8
+f 32 8 18
+f 32 18 25
+f 33 25 20
+f 33 20 27
+f 33 31 25
+f 33 27 31
+f 34 15 7
+f 34 7 27
+f 34 27 22
+f 34 22 15
+f 35 28 1
+f 35 1 21
+f 36 30 20
+f 36 20 25
+f 36 18 13
+f 36 13 30
+f 37 35 21
+f 37 21 22
+f 37 22 28
+f 37 28 35
+f 38 36 25
+f 38 25 18
+f 38 18 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bf70e1da535bf925c1647b00776a9c06cf7e60
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02752025 -0.00757576 0.23364416
+v 0.02752025 -0.00757576 -0.22090129
+v 0.02752025 0.23484848 0.23364416
+v -0.23005551 0.23484848 0.23364416
+v -0.23005551 -0.00757576 -0.22090129
+v -0.23005551 0.23484848 -0.22090129
+v -0.23005551 -0.00757576 0.23364416
+v 0.02752025 0.23484848 -0.22090129
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357c7ac7c398eb327c4f3be44f2c60cee2e25133
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26994449 -0.00757576 -0.22090129
+v 0.29510107 -0.01169053 -0.36566069
+v 0.26994449 0.23484848 -0.22090129
+v -0.23005551 0.23484848 -0.22090129
+v -0.23005551 -0.00757576 -0.32696190
+v -0.24249232 0.24840620 -0.34316593
+v -0.23005551 -0.00757576 -0.22090129
+v 0.27273701 0.23705078 -0.33048461
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d3f58221e24404770391210885a2002ba93a0f
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36817874 -0.00701498 0.37881670
+v -0.32010666 -0.00743662 -0.35591081
+v -0.33134171 0.08082748 0.39336933
+v -0.32701158 0.19826078 0.34603206
+v -0.48581085 0.07924247 -0.00695512
+v -0.31364964 0.11149964 -0.35092506
+v -0.42271854 0.10897875 0.28581247
+v -0.32096460 -0.00757576 -0.20574978
+v -0.48677000 -0.00859042 -0.03692248
+v -0.32899540 0.09474754 0.38995805
+v -0.35668928 0.22986340 -0.23363243
+v -0.39474253 0.10615398 0.32587242
+v -0.45379872 0.19641194 0.05024180
+v -0.48602502 -0.00877328 0.15484392
+v -0.40989116 0.06521159 -0.23892463
+v -0.31729408 0.20212276 -0.30784246
+v -0.41279966 -0.00836673 0.33002340
+v -0.36429082 0.12022813 0.35466541
+v -0.38079638 0.19408849 0.29365956
+v -0.42280991 0.19617716 -0.13991047
+v -0.48357053 0.07898884 0.12339522
+v -0.45473517 -0.00902102 0.25709484
+v -0.36378392 0.09619735 -0.30005438
+v -0.42619411 -0.00736761 -0.21361128
+v -0.46783415 0.09451177 -0.09358404
+v -0.40866113 0.04892015 0.32663062
+v -0.34087695 0.08073026 0.38640856
+v -0.33913711 0.13757268 0.36752279
+v -0.39365548 0.16628525 0.29469167
+v -0.42372984 0.19660154 0.21340403
+v -0.34920844 0.15056541 0.35472679
+v -0.43935389 0.19651800 -0.07941872
+v -0.46949157 0.15499860 0.06595296
+v -0.48486386 0.09444234 0.03566240
+v -0.46912717 0.05084584 0.21087934
+v -0.32144325 0.10859818 -0.34325567
+v -0.38051915 -0.00718015 -0.28593544
+v -0.36252432 0.19658083 -0.25356303
+v -0.48583079 0.00650158 -0.03679575
+v -0.42297103 0.15116432 -0.18076019
+v -0.46967915 -0.00782182 -0.10937968
+v -0.42358156 0.07917146 0.29616307
+v -0.32899263 0.13939077 0.37348027
+v -0.33967650 0.09240123 0.38345852
+v -0.44000104 0.19721881 0.15326929
+v -0.40702751 0.15035617 0.28394559
+v -0.33589140 0.19393156 0.33995346
+v -0.45417091 0.19629421 0.02318630
+v -0.45324190 0.16565068 -0.07905888
+v -0.48443942 0.05158055 0.13924536
+v -0.47214340 -0.00850972 0.21228399
+v -0.45356522 0.12473040 0.21180560
+v -0.34825093 0.15281031 -0.29867679
+v -0.37925201 0.05077476 -0.28529293
+v -0.41060208 -0.00714565 -0.24038004
+v -0.33267424 0.19239991 -0.29860149
+v -0.40756046 0.15105740 -0.21093052
+v -0.42262717 0.07990917 -0.21193715
+v -0.46948910 0.00732709 -0.10932186
+v -0.44364973 -0.00837462 0.28489281
+v -0.43735250 0.04824881 0.28558804
+v -0.45394007 0.18132308 0.12601060
+v -0.46920241 0.15462443 0.00832754
+v -0.46831149 0.10879025 -0.07949856
+f 8 3 1
+f 8 2 6
+f 10 6 4
+f 10 8 6
+f 10 3 8
+f 14 5 9
+f 16 11 4
+f 16 4 6
+f 17 8 1
+f 22 14 9
+f 22 9 2
+f 22 2 8
+f 22 8 17
+f 24 2 9
+f 26 17 1
+f 26 18 12
+f 26 1 18
+f 27 18 1
+f 27 1 3
+f 29 7 12
+f 29 12 18
+f 29 18 19
+f 30 19 4
+f 30 4 11
+f 30 29 19
+f 31 19 18
+f 31 18 28
+f 32 11 20
+f 34 5 14
+f 34 21 33
+f 36 6 2
+f 36 2 23
+f 37 2 24
+f 39 25 9
+f 39 9 5
+f 39 5 25
+f 41 24 9
+f 42 26 12
+f 42 12 7
+f 43 28 10
+f 43 10 4
+f 43 31 28
+f 43 4 31
+f 44 27 3
+f 44 3 10
+f 44 10 28
+f 44 28 18
+f 44 18 27
+f 45 30 11
+f 45 11 13
+f 46 7 29
+f 46 29 30
+f 47 31 4
+f 47 4 19
+f 47 19 31
+f 48 13 11
+f 48 11 32
+f 48 33 13
+f 49 32 20
+f 49 48 32
+f 49 40 25
+f 49 20 40
+f 50 34 14
+f 50 21 34
+f 50 35 21
+f 50 14 35
+f 51 35 14
+f 51 14 22
+f 51 22 35
+f 52 30 45
+f 52 21 35
+f 52 46 30
+f 52 7 46
+f 53 36 23
+f 53 6 36
+f 54 23 2
+f 54 2 37
+f 54 37 15
+f 54 15 23
+f 55 37 24
+f 55 24 15
+f 55 15 37
+f 56 38 11
+f 56 11 16
+f 56 53 38
+f 56 16 6
+f 56 6 53
+f 57 20 11
+f 57 11 38
+f 57 40 20
+f 57 38 53
+f 57 53 23
+f 57 23 15
+f 58 25 40
+f 58 15 24
+f 58 57 15
+f 58 40 57
+f 59 41 9
+f 59 9 25
+f 59 25 58
+f 59 58 24
+f 59 24 41
+f 60 22 17
+f 60 35 22
+f 61 42 7
+f 61 35 60
+f 61 26 42
+f 61 60 17
+f 61 17 26
+f 61 52 35
+f 61 7 52
+f 62 45 13
+f 62 13 33
+f 62 52 45
+f 62 33 21
+f 62 21 52
+f 63 34 33
+f 63 33 48
+f 63 5 34
+f 63 48 49
+f 64 49 25
+f 64 25 5
+f 64 63 49
+f 64 5 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d7d598cbb78428f36cf991b74abde5e9b3f93c
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26578385 -0.14046122 0.41599298
+v 0.26994449 -0.14393939 0.24879567
+v 0.26994449 -0.00757576 0.24879567
+v 0.16494308 -0.00697861 0.43661048
+v 0.16388388 -0.14393939 0.24879567
+v 0.26609712 -0.00673949 0.43155909
+v 0.16404480 -0.14362015 0.42743496
+v 0.16388388 -0.00757576 0.24879567
+v 0.21977481 -0.13999768 0.42919597
+v 0.16472612 -0.12711693 0.42912680
+v 0.26445323 -0.06612302 0.42704013
+v 0.17991536 -0.14219361 0.42838158
+v 0.23431244 -0.12620237 0.42823847
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 7 1
+f 10 9 4
+f 10 4 7
+f 11 1 6
+f 12 10 7
+f 12 7 9
+f 12 9 10
+f 13 9 1
+f 13 1 11
+f 13 11 6
+f 13 6 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93b43593b4f3ad11db97ab1e4bf06910deec115
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39115661 -0.14393939 0.02152295
+v 0.43110315 -0.00838919 -0.19734444
+v 0.39115661 -0.00757576 0.02152295
+v 0.26994449 -0.00757576 0.02152295
+v 0.26994449 -0.14393939 -0.17544675
+v 0.26994449 -0.00757576 -0.17544675
+v 0.39806943 -0.14717295 -0.17901903
+v 0.26994449 -0.14393939 0.02152295
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b2cb5dcdfba572ea3578128b698e8a49660d88
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.26484713 -0.26001244 0.36166040
+v 0.46453075 -0.14323627 0.02170162
+v 0.43956873 -0.08144811 0.25771816
+v 0.26990778 -0.00756778 0.43047833
+v 0.26994449 -0.00757576 0.02152295
+v 0.36083278 -0.09309989 0.36837945
+v 0.38962041 -0.25201284 0.18354667
+v 0.26281729 -0.24281447 0.37348786
+v 0.39115661 -0.00757576 0.02152295
+v 0.38219070 -0.00743329 0.36233384
+v 0.44873680 -0.16485761 0.15256790
+v 0.35905890 -0.22524677 0.29563261
+v 0.26994449 -0.26515151 0.02152295
+v 0.26578385 -0.14046122 0.41599298
+v 0.45082554 -0.08319365 0.23335501
+v 0.40901314 -0.08096751 0.31431604
+v 0.30728281 -0.00701846 0.41860236
+v 0.41947571 -0.23646543 0.06592915
+v 0.34451172 -0.25216421 0.28594572
+v 0.32785764 -0.19444433 0.35549945
+v 0.41950457 -0.18006088 0.22500626
+v 0.46774995 -0.14000049 0.05252994
+v 0.37457424 -0.08018137 0.35636884
+v 0.33535452 -0.00698747 0.39988598
+v 0.30282524 -0.08002897 0.41292589
+v 0.41700713 -0.22437367 0.15252088
+v 0.40405963 -0.25147645 0.02438846
+v 0.27617728 -0.25688181 0.35642959
+v 0.37527483 -0.25242258 0.22547704
+v 0.26652878 -0.18634217 0.40387001
+v 0.34401950 -0.16471323 0.35632091
+v 0.44854545 -0.15325075 0.16760117
+v 0.41750421 -0.15280252 0.25448834
+v 0.46380375 -0.15370357 0.05319498
+v 0.33358756 -0.03489220 0.39764317
+v 0.44790758 -0.17920828 0.09535692
+v 0.40457184 -0.25181255 0.11139885
+v 0.41686135 -0.20914427 0.18278401
+v 0.41875615 -0.23596735 0.03961491
+v 0.38884892 -0.23600678 0.22466586
+v 0.30291198 -0.21050346 0.36711553
+v 0.27985679 -0.13955956 0.41220276
+v 0.37393139 -0.12312255 0.34060754
+v 0.46666544 -0.13909649 0.07994969
+v 0.43301158 -0.10718078 0.25439285
+v 0.40246358 -0.15283901 0.28484626
+v 0.46247870 -0.15347323 0.07976632
+v 0.43244807 -0.17942199 0.18253818
+v 0.45364316 -0.16752106 0.02293290
+v 0.35801748 -0.23570476 0.28510939
+v 0.33233620 -0.16577086 0.36628896
+v 0.27401854 -0.23972864 0.36829454
+v 0.30262827 -0.13985081 0.39850688
+v 0.40349258 -0.10711810 0.31043241
+v 0.37334839 -0.17930380 0.31008371
+v 0.44886004 -0.18025007 0.03859259
+v 0.28761195 -0.16633993 0.39777176
+f 13 9 2
+f 13 5 9
+f 13 7 1
+f 13 8 5
+f 13 1 8
+f 14 4 5
+f 14 5 8
+f 15 10 3
+f 15 9 10
+f 16 3 10
+f 17 5 4
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184bc1a8287971c626a7ff86cab37979e7580962
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.28679706 -0.28145510 -0.20431131
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a371671d3a1386b88ecb8839e1da9331064d6434
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.42040426 -0.15356524 0.24812314
+v 0.48806921 -0.00645453 0.12615814
+v 0.41756878 0.09403774 0.31310312
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+v 0.39115661 -0.00757576 0.12758355
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a157079e6fc160c2862480aa3c08abd75455abf2
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.42194284 0.22745800 0.21232772
+v 0.42660872 0.22831645 -0.08122211
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+v -0.23881524 0.41661743 -0.08939485
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8cdd3fb18f63c34f5af861cd060b63faa33b131
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.30744620 -0.30501093 0.26930237
+v 0.26994449 -0.14393939 0.24879567
+v 0.26578385 -0.14046122 0.41599298
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+v -0.23005551 -0.26515151 0.24879567
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+v -0.40661830 -0.24008420 0.25587604
+v 0.09107320 -0.26215734 0.39760076
+v 0.25956590 -0.25468798 0.36816340
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+v -0.37938212 -0.19520844 0.32692431
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+v -0.22646961 -0.19674302 0.39648499
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+f 32 31 23
+f 32 19 31
+f 33 24 17
+f 33 17 4
+f 33 4 24
+f 34 25 9
+f 34 9 14
+f 35 20 12
+f 35 30 26
+f 35 12 30
+f 35 26 3
+f 35 3 20
+f 36 32 23
+f 36 23 18
+f 36 18 32
+f 37 32 18
+f 37 18 13
+f 37 13 32
+f 38 25 19
+f 38 19 32
+f 38 24 25
+f 38 32 17
+f 38 17 24
+f 39 34 14
+f 39 14 19
+f 39 19 25
+f 39 25 34
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8558c865048dbf8bd6dbf0cf61a445d00001bc8
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.38219070 -0.00743329 0.36233384
+v 0.42471864 -0.00825918 -0.20899613
+v 0.40381204 0.24122480 0.23896309
+v 0.02981524 0.22886613 0.42724973
+v 0.02752025 -0.00757576 -0.22090129
+v 0.24504680 0.22672191 0.41121205
+v 0.03856060 0.00663824 0.36132535
+v 0.26994449 0.23484848 -0.22090129
+v 0.37429000 0.14042876 0.35429476
+v 0.22078145 0.02326798 0.44542798
+v 0.14152122 -0.00541112 0.42971153
+v 0.03351645 0.08903423 0.42593909
+v 0.38255658 0.22973434 -0.18540306
+v 0.26994449 -0.00757576 -0.22090129
+v 0.02752025 0.23484848 -0.22090129
+v 0.35856202 0.22614606 0.32810766
+v 0.19234083 0.18429224 0.44274472
+v 0.28873833 0.09685296 0.42775885
+v 0.28046041 -0.00603647 0.42780295
+v 0.09660932 0.00010664 0.41059685
+v 0.12386419 0.05887249 0.44414025
+v 0.27532495 0.22670117 0.39601101
+v 0.20260305 0.22511683 0.42866390
+v 0.36123043 0.06540330 0.38449391
+v 0.23499559 0.12767823 0.44235467
+v 0.33535452 -0.00698747 0.39988598
+v 0.29573823 0.03889409 0.42771049
+v 0.03625991 0.06435903 0.41403949
+v 0.04822674 0.14081562 0.44301779
+v 0.31580025 0.19754684 0.38543457
+v 0.08932075 0.19959278 0.44352376
+v 0.26083526 0.16702070 0.42753652
+v 0.36415537 0.03855248 0.38247321
+v 0.23526283 0.05363707 0.44292752
+v 0.31908536 0.05135238 0.41255239
+v 0.04785688 0.13368656 0.44247693
+v 0.31592881 0.22336928 0.36802500
+v 0.34554950 0.13640200 0.38427522
+v 0.14685501 0.19991021 0.44317317
+v 0.07513769 0.18737341 0.44284358
+v 0.22947517 0.21122010 0.42552724
+v 0.22103331 0.15594467 0.44170025
+v 0.27441876 0.13989733 0.42729473
+v 0.29003147 0.21117861 0.39512516
+v 0.31866885 0.03869464 0.41302971
+v 0.33413729 0.11199659 0.39736886
+v 0.28888421 0.16916058 0.41139477
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 9 1 3
+f 12 4 5
+f 12 5 7
+f 13 8 3
+f 13 3 2
+f 13 2 8
+f 14 8 2
+f 14 2 5
+f 14 5 8
+f 15 8 5
+f 15 5 4
+f 15 4 3
+f 15 3 8
+f 16 9 3
+f 19 10 11
+f 20 11 12
+f 20 7 5
+f 20 5 11
+f 21 12 11
+f 21 11 10
+f 22 16 3
+f 22 3 6
+f 23 6 4
+f 24 1 9
+f 25 17 10
+f 26 19 11
+f 26 11 5
+f 26 5 1
+f 27 10 19
+f 27 18 25
+f 27 19 26
+f 28 20 12
+f 28 12 7
+f 28 7 20
+f 30 9 16
+f 31 29 21
+f 31 21 10
+f 33 26 1
+f 33 1 24
+f 34 27 25
+f 34 25 10
+f 34 10 27
+f 35 24 18
+f 35 18 27
+f 36 12 21
+f 36 21 29
+f 36 29 4
+f 36 4 12
+f 37 30 16
+f 37 16 22
+f 37 22 30
+f 38 24 9
+f 38 9 30
+f 39 17 23
+f 39 23 4
+f 39 4 31
+f 39 31 10
+f 39 10 17
+f 40 31 4
+f 40 4 29
+f 40 29 31
+f 41 23 17
+f 41 6 23
+f 41 22 6
+f 42 17 25
+f 42 25 32
+f 42 41 17
+f 42 32 41
+f 43 32 25
+f 43 25 18
+f 44 30 22
+f 44 41 32
+f 44 22 41
+f 45 27 26
+f 45 26 33
+f 45 35 27
+f 45 33 24
+f 45 24 35
+f 46 18 24
+f 46 24 38
+f 46 43 18
+f 47 38 30
+f 47 32 43
+f 47 44 32
+f 47 30 44
+f 47 46 38
+f 47 43 46
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/model.xml b/objects/objaverse/apple/apple_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f1bf360ab6c422e8df0179dc7da9deb2294bc06
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_66">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.006" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </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="material0.006"/>
+        <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="4.8720374999999824e-05 -6.84749999999998e-05 -0.03353675700000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="4.8720374999999824e-05 -6.84749999999998e-05 0.0334070985" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03660519075 0.03680448000000001 -6.482924999999946e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_5/visual/material.mtl b/objects/objaverse/apple/apple_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/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 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_5/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9ed1154af536d3ad21a54f28ef73da98725dae
--- /dev/null
+++ b/objects/objaverse/apple/apple_5/visual/model_normalized_0.obj
@@ -0,0 +1,3432 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.04010402 -0.08407591 0.33177300
+v -0.04100727 -0.07022749 0.33465444
+v -0.06739670 -0.07964284 0.33304949
+v -0.05792269 -0.10372882 0.33293858
+v -0.04075346 -0.11192312 0.33159490
+v -0.02909758 -0.08598586 0.33613889
+v -0.02712259 -0.06876757 0.34006435
+v 0.05543262 -0.10842849 -0.30362932
+v 0.08766279 -0.13460570 -0.32729726
+v 0.06407376 -0.16588570 -0.31410788
+v 0.02811222 -0.12699366 -0.29826740
+v 0.05080866 -0.07586774 -0.31419426
+v 0.09821067 -0.08371546 -0.35276851
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+f 710/710/710 712/712/712 685/685/685
+f 712/712/712 711/711/711 713/713/713
+f 712/712/712 713/713/713 714/714/714
+f 712/712/712 714/714/714 715/715/715
+f 712/712/712 715/715/715 716/716/716
+f 712/712/712 716/716/716 686/686/686
+f 712/712/712 686/686/686 685/685/685
+f 714/714/714 713/713/713 589/589/589
+f 714/714/714 589/589/589 717/717/717
+f 714/714/714 717/717/717 718/718/718
+f 714/714/714 718/718/718 715/715/715
+f 717/717/717 589/589/589 587/587/587
+f 717/717/717 587/587/587 586/586/586
+f 717/717/717 586/586/586 673/673/673
+f 717/717/717 673/673/673 718/718/718
+f 713/713/713 592/592/592 590/590/590
+f 713/713/713 590/590/590 589/589/589
+f 713/713/713 711/711/711 596/596/596
+f 713/713/713 596/596/596 592/592/592
+f 680/680/680 676/676/676 652/652/652
+f 680/680/680 652/652/652 650/650/650
+f 679/679/679 72/72/72 69/69/69
+f 679/679/679 69/69/69 675/675/675
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+f 644/644/644 626/626/626 623/623/623
+f 621/621/621 620/620/620 719/719/719
+f 621/621/621 719/719/719 705/705/705
+f 611/611/611 609/609/609 93/93/93
+f 611/611/611 93/93/93 95/95/95
+f 609/609/609 607/607/607 94/94/94
+f 609/609/609 94/94/94 93/93/93
+f 497/497/497 408/408/408 406/406/406
+f 497/497/497 406/406/406 88/88/88
+f 497/497/497 88/88/88 85/85/85
+f 497/497/497 85/85/85 492/492/492
+f 497/497/497 496/496/496 410/410/410
+f 497/497/497 410/410/410 408/408/408
+f 406/406/406 405/405/405 86/86/86
+f 406/406/406 86/86/86 88/88/88
+f 405/405/405 404/404/404 87/87/87
+f 405/405/405 87/87/87 86/86/86
+f 302/302/302 301/301/301 294/294/294
+f 302/302/302 294/294/294 293/293/293
+f 269/269/269 266/266/266 264/264/264
+f 269/269/269 264/264/264 263/263/263
+f 197/197/197 189/189/189 186/186/186
+f 197/197/197 186/186/186 185/185/185
+f 162/162/162 159/159/159 157/157/157
+f 162/162/162 157/157/157 156/156/156
+f 127/127/127 25/25/25 24/24/24
+f 127/127/127 24/24/24 48/48/48
+f 62/62/62 18/18/18 50/50/50
+f 62/62/62 50/50/50 52/52/52
+f 62/62/62 3/3/3 2/2/2
+f 62/62/62 2/2/2 18/18/18
+f 51/51/51 50/50/50 18/18/18
+f 51/51/51 18/18/18 17/17/17
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe59b973d22d8714540e1611eea180ffc756785
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.14116047 -0.02832954 0.26269586
+v -0.09303472 0.13549628 0.26857218
+v -0.22964980 0.19568159 0.31951813
+v -0.09729172 0.35009183 0.25709904
+v -0.13385956 -0.02630827 0.25506283
+v -0.09607420 0.28568821 0.31100718
+v -0.09952055 0.21936752 0.31424738
+v -0.24879856 0.23356734 0.28831293
+v -0.09507236 0.34303848 0.26632307
+v -0.14316267 0.21456375 0.32069109
+v -0.23532617 -0.02488725 0.31948414
+v -0.21459441 0.30002863 0.25238669
+v -0.16743639 0.26466706 0.30220813
+v -0.09486991 0.31221075 0.29093548
+v -0.18870532 0.21424048 0.31856391
+v -0.23962302 0.02157489 0.32193576
+v -0.17188605 -0.02844652 0.29256375
+v -0.12594015 0.34481329 0.25265857
+v -0.21309154 0.23599153 0.30363887
+v -0.12459798 0.32555385 0.27342923
+v -0.19453775 -0.02473591 0.30567215
+v -0.22692020 0.22353134 0.30492800
+v -0.21288587 0.28107767 0.27279863
+v -0.13716073 0.27987269 0.30228325
+v -0.12371345 0.33775668 0.26188435
+v -0.21688484 -0.02554033 0.31321784
+v -0.23169948 0.22904122 0.29939964
+v -0.21075362 0.29370540 0.26159251
+f 5 4 2
+f 7 5 2
+f 7 1 5
+f 7 2 6
+f 9 2 4
+f 10 7 6
+f 11 5 1
+f 11 7 10
+f 12 11 8
+f 12 5 11
+f 13 3 6
+f 14 6 2
+f 14 2 9
+f 15 10 6
+f 15 6 3
+f 15 3 10
+f 16 3 8
+f 16 8 11
+f 16 11 10
+f 16 10 3
+f 17 11 1
+f 17 1 7
+f 18 4 5
+f 18 5 12
+f 18 9 4
+f 19 3 13
+f 20 6 14
+f 20 14 9
+f 21 17 7
+f 22 3 19
+f 23 19 13
+f 23 12 8
+f 23 8 19
+f 23 13 20
+f 24 20 13
+f 24 13 6
+f 24 6 20
+f 25 20 9
+f 25 9 18
+f 25 18 12
+f 26 21 7
+f 26 7 11
+f 26 11 17
+f 26 17 21
+f 27 22 19
+f 27 19 8
+f 27 8 3
+f 27 3 22
+f 28 23 20
+f 28 20 25
+f 28 25 12
+f 28 12 23
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/model.xml b/objects/objaverse/apple/apple_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..346fa6ce028b6582b32b37d3b010ef91d5356b86
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_45">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="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="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="-4.941712499999946e-05 -9.589312500000031e-05 -0.03505636275000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.941712499999946e-05 -9.589312500000031e-05 0.03543268275000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03684147975000001 0.036766213500000006 0.00018815999999999836" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4bc1a24397c8878dc0d1a81b58c534541eec19
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.46724660 -0.32160647 0.01988636
+v -0.41666668 -0.31818182 -0.01988636
+v -0.41666668 -0.27272728 -0.01420455
+v -0.50000001 -0.27272728 0.01988636
+v -0.49159106 -0.31500230 0.01420455
+v -0.45597592 -0.27150483 -0.01575481
+v -0.47317653 -0.27492635 0.01515864
+v -0.41666668 -0.31818182 -0.01420455
+v -0.49159106 -0.31500230 0.01988636
+v -0.41666668 -0.27272728 -0.01988636
+v -0.50000001 -0.27272728 0.01420455
+v -0.44640878 -0.30768345 -0.01486412
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 6 2
+f 12 2 5
+f 12 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef3c4cf52c649af1f11eacd7480e367b7047c45
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.44151104 0.31453458 -0.01519601
+v 0.45377241 0.32272720 0.01253796
+v 0.40151516 0.31818183 -0.01420455
+v 0.40289345 0.35541432 0.01328230
+v 0.44696971 0.34848486 0.01988636
+v 0.39993348 0.34053303 -0.01515864
+v 0.45347091 0.33767728 0.01853462
+v 0.40151516 0.31818183 -0.01988636
+v 0.42131970 0.33277271 -0.01486423
+v 0.43524284 0.35361024 0.01988636
+v 0.43621819 0.32258183 -0.01515864
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 7 4 2
+f 8 1 3
+f 8 3 6
+f 9 8 6
+f 10 6 4
+f 10 9 6
+f 10 5 9
+f 10 7 5
+f 10 4 7
+f 11 7 1
+f 11 5 7
+f 11 9 5
+f 11 1 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749c423283d4e39a896a1491d2dc791a1bb20d0b
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 -0.21212121 -0.01420455
+v -0.35606061 0.18181819 -0.01420455
+v -0.35606061 -0.21212121 -0.01988636
+v -0.35606061 0.18181819 -0.01988636
+v 0.40151516 0.18181819 -0.01988636
+v -0.35606061 -0.21212121 -0.01420455
+v 0.40151516 0.18181819 -0.01420455
+v 0.40151516 -0.21212121 -0.01988636
+f 3 2 4
+f 5 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 8 5 1
+f 8 1 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542590dbf8e8371cf6461f2fbf08d326622ee70c
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.47105768 -0.27450488 0.01191809
+v -0.45991238 -0.27228791 -0.01080920
+v -0.47105766 0.27450487 0.01191807
+v -0.50000001 0.27272728 0.01988636
+v -0.50000001 -0.27272728 0.01420455
+v -0.45991236 0.27228789 -0.01080918
+v -0.48241711 0.27375055 0.01988636
+v -0.50000001 0.27272728 0.01420455
+v -0.48241711 -0.27375054 0.01988636
+v -0.50000001 -0.27272728 0.01988636
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 1 7
+f 9 7 4
+f 10 9 4
+f 10 4 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee49427cc82a62748d86a159f9c55d0f37cc10d
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 -0.31818182 -0.01420455
+v -0.41666668 -0.21212121 -0.01420455
+v -0.41666668 -0.31818182 -0.01988636
+v -0.41666668 -0.21212121 -0.01988636
+v 0.40151516 -0.21212121 -0.01988636
+v -0.41666668 -0.31818182 -0.01420455
+v 0.40151516 -0.21212121 -0.01420455
+v 0.40151516 -0.31818182 -0.01988636
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346e2812db06adab871d251e6ec2f6ed5e75597b
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.38592429 0.34627600 -0.01080919
+v -0.37121213 0.35810024 0.01158217
+v -0.37121213 0.38636365 0.01988636
+v 0.38636364 0.38636365 0.01420455
+v -0.37121213 0.34673660 -0.01114510
+v 0.38814113 0.35742131 0.01191809
+v -0.37121213 0.38636365 0.01420455
+v 0.38738688 0.36878067 0.01988636
+v 0.38636364 0.38636365 0.01988636
+v -0.37121213 0.36931818 0.01988636
+f 5 2 3
+f 5 4 1
+f 6 5 1
+f 6 2 5
+f 6 1 4
+f 7 5 3
+f 7 3 4
+f 7 4 5
+f 9 4 3
+f 9 3 8
+f 9 8 6
+f 9 6 4
+f 10 8 3
+f 10 3 2
+f 10 2 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a7c642c0569bf7100462a944d206f47dde6fc8
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000001 -0.27272728 0.01988636
+v 0.50000001 -0.27272728 0.01420455
+v 0.50000001 0.27272728 0.01988636
+v 0.47105768 0.27450488 0.01191809
+v 0.45991236 -0.27228788 -0.01080918
+v 0.48241711 0.27375055 0.01988636
+v 0.47105766 -0.27450487 0.01191807
+v 0.50000001 0.27272728 0.01420455
+v 0.48241711 -0.27375054 0.01988636
+v 0.45991238 0.27228792 -0.01080920
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 3 2
+f 8 4 3
+f 9 7 1
+f 9 1 6
+f 9 6 4
+f 9 4 7
+f 10 5 4
+f 10 4 8
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5047b5d1b282dd223dabc99a274fcabb768d3283
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.40146088 -0.36336350 0.01851225
+v 0.40289344 -0.35541428 0.01328226
+v -0.37121213 -0.36411353 0.01710085
+v -0.37121213 -0.31818182 -0.01420455
+v 0.39993348 -0.34053303 -0.01515864
+v 0.40151516 -0.31818182 -0.01420455
+v -0.37121213 -0.35139860 -0.00415209
+v 0.37121213 -0.31818182 -0.01988636
+v 0.40151516 -0.31818182 -0.01988636
+v 0.39866951 -0.34933015 -0.00258630
+v -0.37121213 -0.34238120 -0.01605761
+v -0.37121213 -0.31818182 -0.01988636
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 7 1 3
+f 8 4 6
+f 9 6 2
+f 9 2 5
+f 9 8 6
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 5 7
+f 11 9 5
+f 11 7 3
+f 12 4 8
+f 12 8 9
+f 12 9 11
+f 12 11 3
+f 12 3 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b27da773ab64244d754f7a5689287a204890b33
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37121213 0.34673660 -0.01114510
+v -0.37121213 0.35139861 -0.00415209
+v -0.44696971 0.34848486 0.01988636
+v -0.42863865 0.37795467 0.01988636
+v -0.37121213 0.38636365 0.01420455
+v -0.42520482 0.33858719 -0.00437473
+v -0.37121213 0.35810024 0.01158217
+v -0.42863865 0.37795467 0.01420455
+v -0.37121213 0.36931818 0.01988636
+v -0.44118952 0.37013717 0.01420455
+v -0.37121213 0.38636365 0.01988636
+v -0.44696971 0.34848486 0.01420455
+v -0.44118952 0.37013717 0.01988636
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 2 5
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 9 4 3
+f 9 7 5
+f 9 3 7
+f 10 8 6
+f 10 4 8
+f 11 9 5
+f 11 5 4
+f 11 4 9
+f 12 10 6
+f 12 6 3
+f 12 3 10
+f 13 10 3
+f 13 3 4
+f 13 4 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa586ea49d9202aea359a0f3b85e1badeb6b405
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.45913778 -0.27514764 -0.00543008
+v -0.44696971 -0.27272728 -0.01988636
+v -0.46419903 -0.27314058 0.00142856
+v -0.46419902 0.27314059 0.00142857
+v -0.45597592 0.27150489 -0.01575482
+v -0.45597592 -0.27150483 -0.01575481
+v -0.44696971 0.27272728 -0.01988636
+v -0.45913776 0.27514769 -0.00543007
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 6 3 5
+f 7 4 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8936e1074ee74941ca8c49e54ebea99c7767d5be
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.18181819 -0.01420455
+v -0.09848485 0.18181819 -0.01988636
+v -0.09848485 0.27272728 -0.01988636
+v -0.35606061 0.27272728 -0.01420455
+v -0.35606061 0.18181819 -0.01420455
+v -0.09848485 0.27272728 -0.01420455
+v -0.35606061 0.18181819 -0.01988636
+v -0.35606061 0.27272728 -0.01988636
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 3 7
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfbcc5c6f1af0d99cd82c32ec82f08ac028c798
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.46497363 0.27028070 -0.00395056
+v -0.45991236 0.27228789 -0.01080918
+v -0.47317653 0.27492635 0.01515864
+v -0.46724659 0.32160647 0.01988636
+v -0.49159106 0.31500230 0.01420455
+v -0.45222348 0.31156859 -0.00437456
+v -0.50000001 0.27272728 0.01420455
+v -0.50000001 0.27272728 0.01988636
+v -0.49159106 0.31500230 0.01988636
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 7 1
+f 8 1 3
+f 8 3 4
+f 8 5 7
+f 9 8 4
+f 9 4 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b403098f092210b91b803eceb5dd0b0e18b91e2e
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.50000001 0.27272728 0.01988636
+v 0.50000001 0.27272728 0.01420455
+v 0.49159106 0.31500230 0.01988636
+v 0.45866350 0.35846150 0.01988636
+v 0.45991238 0.27228792 -0.01080920
+v 0.46497361 0.27028085 -0.00395056
+v 0.49159106 0.31500230 0.01420455
+v 0.47317653 0.27492635 0.01515864
+v 0.46671683 0.35308047 0.01420455
+v 0.45222348 0.31156840 -0.00437451
+v 0.46671683 0.35308047 0.01988636
+v 0.47677447 0.33802806 0.01988636
+v 0.45866350 0.35846150 0.01420455
+v 0.47677447 0.33802806 0.01420455
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 8 5 6
+f 10 8 4
+f 10 5 8
+f 10 7 5
+f 11 9 4
+f 11 4 3
+f 12 3 7
+f 12 11 3
+f 12 9 11
+f 13 10 4
+f 13 4 9
+f 13 9 10
+f 14 10 9
+f 14 7 10
+f 14 12 7
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab3a83543cdf3f6d454be2827d9b78c5ecf89bb
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.21212121 -0.01420455
+v -0.35606061 -0.21212121 -0.01988636
+v -0.35606061 0.27272728 -0.01420455
+v -0.41666668 0.27272728 -0.01420455
+v -0.41666668 -0.21212121 -0.01420455
+v -0.35606061 0.27272728 -0.01988636
+v -0.41666668 0.27272728 -0.01988636
+v -0.41666668 -0.21212121 -0.01988636
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 6 2
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27758b10dd7ae82514a24c34a83ca719591b0ccb
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.46419903 0.27314058 0.00142856
+v 0.46905057 0.28925715 0.01328237
+v 0.45522513 0.32369786 0.01515864
+v 0.44118952 0.37013717 0.01988636
+v 0.45166443 0.36313810 0.01420455
+v 0.44696971 0.27272728 -0.01988636
+v 0.45597592 0.27150484 -0.01575481
+v 0.46724659 0.32160647 0.01988636
+v 0.44151104 0.31453458 -0.01519601
+v 0.45166443 0.36313810 0.01988636
+v 0.44118952 0.37013717 0.01420455
+v 0.44640878 0.30768345 -0.01486412
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 6 4
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 9 4
+f 11 4 5
+f 11 5 9
+f 12 7 6
+f 12 6 9
+f 12 9 5
+f 12 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/visual/material.mtl b/objects/objaverse/tray/tray_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/tray/tray_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.png
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04e0df8766bacb6c5f633c3eac30419a1888ee2
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/visual/model_normalized_0.obj
@@ -0,0 +1,1279 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.45454545 -0.26825045 -0.01420455
+v -0.38188682 -0.34090909 -0.01420455
+v -0.44853273 -0.29847864 -0.01420455
+v -0.43394591 -0.32030955 -0.01420455
+v -0.41211500 -0.33489636 -0.01420455
+v -0.38188682 0.34090909 -0.01420455
+v -0.45454545 0.26825045 -0.01420455
+v -0.41211500 0.33489636 -0.01420455
+v -0.43394591 0.32030955 -0.01420455
+v -0.44853273 0.29847864 -0.01420455
+v 0.38188682 -0.34090909 -0.01420455
+v 0.45454545 -0.26825045 -0.01420455
+v 0.41211500 -0.33489636 -0.01420455
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diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79575788cc7f103fdfd10fe65ca06f3a15054622
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.19976953 -0.01355535
+v 0.26515152 -0.19976945 -0.02717391
+v 0.26515152 0.16386692 -0.02717391
+v 0.00757576 0.16386684 -0.01355847
+v 0.00757576 -0.19976945 -0.02717391
+v 0.26515152 0.16386684 -0.01355847
+v 0.00757576 -0.19976953 -0.01355535
+v 0.00757576 0.16386692 -0.02717391
+f 5 2 1
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634314fe2720936cac7cce7d6509376bd5f53ffc
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.29067862 -0.01355457
+v 0.26515152 -0.29067854 -0.02717391
+v 0.26515152 -0.19976945 -0.02717391
+v -0.23484848 -0.19976953 -0.01355535
+v -0.23484848 -0.29067854 -0.02717391
+v 0.26515152 -0.19976953 -0.01355535
+v -0.23484848 -0.29067862 -0.01355457
+v -0.23484848 -0.19976945 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7569b00b6225d44b3c04335062370e1ba445d63
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46535194 0.25477593 -0.01239843
+v 0.46212121 0.25477601 -0.02717391
+v 0.46535208 0.30023048 -0.01239878
+v -0.44696970 0.30023047 -0.01355965
+v -0.44696970 0.25477593 -0.01355926
+v 0.46212121 0.30023055 -0.02717391
+v -0.44696970 0.25477601 -0.02717391
+v -0.44696970 0.30023055 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 6 7
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6adc9a8b1c18a1231ab28a4c2adc1059734d2a
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46107888 -0.34353955 0.01306862
+v 0.45962088 -0.33519390 -0.00599241
+v 0.46167565 -0.33507846 0.01124502
+v -0.47318183 -0.33083818 -0.00097372
+v -0.45962088 -0.33519390 -0.00599241
+v 0.45909624 -0.32896932 -0.01311736
+v -0.47423728 -0.34410322 0.02090295
+v -0.45909624 -0.32896932 -0.01311736
+v -0.47633351 -0.33491823 0.01116890
+v -0.46996545 -0.33665349 0.00409873
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7475b06ae08b0ca3af374a46e84b5e86d6b3674d
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44696970 0.33576595 0.00823340
+v 0.44696970 0.34116882 0.02187772
+v -0.44696970 0.33576595 0.00823340
+v -0.44696970 0.35326086 0.02717391
+v 0.44696970 0.35205745 0.02217689
+v -0.44696970 0.34116882 0.02187772
+v 0.44696970 0.34792393 0.02717391
+v -0.44696970 0.35205745 0.02217689
+v 0.44696970 0.35326086 0.02717391
+v -0.44696970 0.34792393 0.02717391
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 7 5
+f 9 5 4
+f 9 4 7
+f 10 7 4
+f 10 4 6
+f 10 6 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3dd61372db1903aeb6f1584c68dbf5f02be1e8b
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.48662900 -0.33165466 0.02028357
+v 0.47654620 -0.32386556 -0.00558152
+v 0.47897193 0.32064254 -0.00564266
+v 0.46175028 0.34298076 0.01153116
+v 0.46167565 -0.33507846 0.01124502
+v 0.45785996 0.32041809 -0.02717391
+v 0.48566306 0.33892391 0.02309783
+v 0.45909624 -0.32896932 -0.01311736
+v 0.46627175 -0.31322283 -0.02717391
+v 0.46738167 0.33223280 -0.00564266
+v 0.45903109 0.33303579 -0.00865306
+v 0.46352176 0.31678261 -0.02717391
+v 0.46061321 -0.31902950 -0.02717391
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 4 7
+f 10 7 3
+f 11 8 5
+f 11 5 4
+f 11 6 8
+f 11 10 6
+f 11 4 10
+f 12 9 6
+f 12 3 9
+f 12 10 3
+f 12 6 10
+f 13 8 6
+f 13 6 9
+f 13 9 2
+f 13 2 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb15c0f8579e3c751c32a2d60193633d89b82b00
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.29067854 0.02717391
+v 0.48790796 0.30023055 0.02187772
+v 0.48250509 0.30023055 0.00823340
+v 0.49466304 0.30023055 0.02717391
+v 0.48790796 -0.29067854 0.02187772
+v 0.49879660 0.30023066 0.02217694
+v 0.49466304 -0.29067854 0.02717391
+v 0.48250509 -0.29067854 0.00823340
+v 0.50000000 0.30023055 0.02717391
+v 0.49880190 -0.29067854 0.02218191
+f 5 4 2
+f 5 2 3
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 3
+f 8 1 5
+f 8 3 6
+f 9 6 4
+f 9 4 1
+f 10 8 6
+f 10 1 8
+f 10 9 1
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf29ac582b90cd73e73f2adbde3fd2141e47516
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.48790796 -0.29067854 0.02187772
+v -0.48250509 -0.29067854 0.00823340
+v -0.48250509 0.30023055 0.00823340
+v -0.50000000 0.30023055 0.02717391
+v -0.49880196 -0.29067843 0.02218184
+v -0.48790796 0.30023055 0.02187772
+v -0.49466304 -0.29067854 0.02717391
+v -0.49879662 0.30023055 0.02217692
+v -0.50000000 -0.29067854 0.02717391
+v -0.49466304 0.30023055 0.02717391
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 9 7 4
+f 9 4 5
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 7 6
+f 10 6 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06741b9f410fc9a58efc221f278f2fb2cdaeceb
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.29067862 -0.01355457
+v 0.40151515 -0.29067854 -0.02717391
+v 0.40151515 0.25477601 -0.02717391
+v 0.26515152 0.25477593 -0.01355926
+v 0.26515152 -0.29067854 -0.02717391
+v 0.40151515 0.25477593 -0.01355926
+v 0.26515152 -0.29067862 -0.01355457
+v 0.26515152 0.25477601 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef666f516f4c03f84f59014e030c64671d60c04
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.49867542 0.31418345 0.02717391
+v -0.46088008 0.35162055 0.02285398
+v -0.47293074 0.32372433 0.00425743
+v -0.46092259 0.35193628 0.02717391
+v -0.47193109 0.34819427 0.02309783
+v -0.46653877 0.34098152 0.02479003
+v -0.47193109 0.34819427 0.02717391
+v -0.49493341 0.32519190 0.02309783
+v -0.48772067 0.31979962 0.02479002
+v -0.49835970 0.31414093 0.02285397
+v -0.49493341 0.32519190 0.02717391
+v -0.49867542 0.31418345 0.02585639
+f 3 2 4
+f 5 4 2
+f 5 2 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 8 5 3
+f 8 7 5
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 8 3
+f 10 3 1
+f 11 8 1
+f 11 1 7
+f 11 7 8
+f 12 10 1
+f 12 1 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088674c06ede41cc79a51e213ff6a32724ad03d3
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46167565 -0.33507846 0.01124502
+v 0.46824989 -0.32892082 0.00596830
+v 0.46534645 -0.29067854 -0.01239748
+v -0.44696970 -0.29067862 -0.01355457
+v -0.44696970 -0.32219566 -0.02717391
+v 0.45585662 -0.32126202 -0.02717391
+v -0.44696970 -0.33678736 0.01039583
+v 0.46212121 -0.29067854 -0.02717391
+v 0.44696970 -0.33402355 0.00454457
+v -0.44696970 -0.29067854 -0.02717391
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 6 5
+f 9 6 1
+f 9 1 7
+f 9 7 5
+f 9 5 6
+f 10 8 5
+f 10 5 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e852957c7b565ee2b8bbe99b28bcc24e3fea041
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 -0.34145651 0.02264674
+v -0.44696970 -0.33402355 0.00454457
+v -0.47176720 -0.33347157 0.01995231
+v -0.46824989 -0.32892082 0.00596830
+v -0.46167565 -0.33507846 0.01124502
+v -0.44696970 -0.33678736 0.01039583
+v -0.46333614 -0.33900990 0.02264674
+v -0.44696970 -0.33999611 0.01874301
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 5 2
+f 6 2 1
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 6 1
+f 8 1 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e35643d6a96c2bcbd42ca0cfd8f7b531714f3d9
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 0.33576595 0.00823340
+v -0.44696970 0.34275170 0.02355336
+v -0.46653877 0.34098152 0.02479003
+v -0.46092259 0.35193628 0.02717391
+v -0.44696970 0.35205745 0.02217689
+v -0.44696970 0.35326086 0.02717391
+v -0.46331757 0.33336531 0.00925455
+v -0.46088008 0.35162055 0.02285398
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 6 5
+f 8 4 6
+f 8 5 1
+f 8 1 7
+f 8 7 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fdd0f7211081efa48bc5d6a968ee097def82bc
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.30023055 0.02717391
+v 0.49879660 0.30023066 0.02217694
+v 0.49835970 0.31414093 0.02285397
+v 0.48772067 0.31979962 0.02479002
+v 0.48250509 0.30023055 0.00823340
+v 0.49867542 0.31418345 0.02717391
+v 0.48949089 0.30023055 0.02355340
+v 0.48971989 0.31501115 0.01153117
+v 0.49867542 0.31418345 0.02585639
+v 0.48010444 0.31657843 0.00925455
+f 1 2 3
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e77b0c5535de21c65659ac2f93289a4797ca99
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49867542 0.31418345 0.02717391
+v 0.49835970 0.31414093 0.02285397
+v 0.48566306 0.33892391 0.02717391
+v 0.46092259 0.35193628 0.02717391
+v 0.47293074 0.32372433 0.00425743
+v 0.49493341 0.32519190 0.02309783
+v 0.46653877 0.34098152 0.02479003
+v 0.47193109 0.34819427 0.02309783
+v 0.49493341 0.32519190 0.02717391
+v 0.48772067 0.31979962 0.02479002
+v 0.46088008 0.35162055 0.02285398
+v 0.47193109 0.34819427 0.02717391
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 2 5
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 3 6
+f 9 6 3
+f 9 3 1
+f 9 1 6
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 8 4
+f 12 4 3
+f 12 3 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecdd8b72994e41a550eafd2ae59730685bda998
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46331757 0.33336531 0.00925455
+v 0.46653877 0.34098152 0.02479003
+v 0.44696970 0.34275170 0.02355336
+v 0.44696970 0.35326086 0.02717391
+v 0.46088008 0.35162055 0.02285398
+v 0.44696970 0.33576595 0.00823340
+v 0.46092259 0.35193628 0.02717391
+v 0.44696970 0.35205745 0.02217689
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 6 4
+f 8 4 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28727696c63ad43c083ea85d33b9434faaf85b9b
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 -0.33678736 0.01039583
+v -0.44696970 -0.32219566 -0.02717391
+v -0.44696970 -0.29067862 -0.01355457
+v -0.49110361 -0.29067853 0.01110436
+v -0.48662738 -0.33165341 0.02028024
+v -0.46893477 -0.29067854 -0.02717391
+v -0.45585662 -0.32126202 -0.02717391
+v -0.44696970 -0.29067854 -0.02717391
+v -0.47654620 -0.32386556 -0.00558152
+v -0.48028787 -0.32675030 0.00351932
+v -0.48031113 -0.29067854 -0.00949668
+v -0.46627175 -0.31322283 -0.02717391
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 10 5 4
+f 10 4 9
+f 10 9 7
+f 10 7 5
+f 11 9 4
+f 11 4 6
+f 12 6 7
+f 12 7 9
+f 12 11 6
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b747f133f9827e2ba1a5e662e635920ee4e168
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 0.30023047 -0.01355965
+v -0.44696970 0.30023055 -0.02717391
+v -0.44696970 0.34436518 0.01110432
+v -0.48566306 0.33892391 0.02309783
+v -0.49110429 0.30023055 0.01110433
+v -0.45785996 0.32041809 -0.02717391
+v -0.44696970 0.32219566 -0.02717391
+v -0.46738167 0.33223280 -0.00564266
+v -0.47897193 0.32064254 -0.00564266
+v -0.46893477 0.30023055 -0.02717391
+v -0.44696970 0.33357199 -0.00949669
+v -0.46352176 0.31678261 -0.02717391
+v -0.47819564 0.33145653 0.00587500
+v -0.48591754 0.30023055 -0.00106983
+f 5 1 3
+f 5 3 4
+f 7 2 6
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 9 5 4
+f 10 6 2
+f 10 2 1
+f 11 7 6
+f 11 6 8
+f 11 8 3
+f 11 3 7
+f 12 9 8
+f 12 8 6
+f 12 10 9
+f 12 6 10
+f 13 9 4
+f 13 4 8
+f 13 8 9
+f 14 5 9
+f 14 9 10
+f 14 10 1
+f 14 1 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a438bf5c1238bef4e799f61f2333805d968cd4a
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46018193 -0.35203602 0.02717391
+v 0.48954135 -0.33390526 0.02717391
+v 0.46167565 -0.33507846 0.01124502
+v 0.48662900 -0.33165466 0.02028357
+v 0.46992358 -0.34904248 0.02309783
+v 0.46585758 -0.34496994 0.02717391
+v 0.46992358 -0.34904248 0.02717391
+v 0.48391568 -0.34027424 0.02309783
+v 0.46018193 -0.35203602 0.02309783
+v 0.48391568 -0.34027424 0.02717391
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 7 5
+f 8 5 3
+f 8 3 4
+f 9 5 1
+f 9 1 3
+f 9 3 5
+f 10 8 2
+f 10 2 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843fe95ceb49dd2436b53dd118a97c48cecca778
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.47849756 -0.33771764 0.02717391
+v 0.49331521 -0.32902175 0.02309783
+v 0.50000000 -0.29067854 0.02717391
+v 0.48790796 -0.29067854 0.02187772
+v 0.46824989 -0.32892082 0.00596830
+v 0.49466304 -0.29067854 0.02717391
+v 0.49331521 -0.32902175 0.02717391
+v 0.46167565 -0.33507846 0.01124502
+v 0.48250509 -0.29067854 0.00823340
+v 0.46333614 -0.33900990 0.02264674
+v 0.49880190 -0.29067854 0.02218191
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 9 4 6
+f 9 5 8
+f 10 6 4
+f 10 1 6
+f 10 8 1
+f 10 9 8
+f 10 4 9
+f 11 3 2
+f 11 2 9
+f 11 9 6
+f 11 6 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87656a1e019198512c671f1b04d331ba55a587f4
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.47423939 -0.34409891 0.02089895
+v 0.47633351 -0.33491823 0.01116890
+v 0.46167565 -0.33507846 0.01124502
+v 0.46107888 -0.34353955 0.01306862
+v 0.46184354 -0.33547559 -0.00407602
+v 0.47318183 -0.33083818 -0.00097372
+v 0.46050918 -0.33930189 0.00182978
+v 0.46996545 -0.33665349 0.00409873
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 5 3
+f 6 3 2
+f 7 1 4
+f 7 4 3
+f 7 3 5
+f 8 6 1
+f 8 5 6
+f 8 7 5
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1aace942371b91ab88b3a7235347b40c568cbec
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46018193 -0.35203602 0.02717391
+v 0.47176720 -0.33347157 0.01995231
+v 0.44696970 -0.33999611 0.01874301
+v 0.46824989 -0.32892082 0.00596830
+v 0.46018193 -0.35203602 0.02309783
+v 0.44696970 -0.33402355 0.00454457
+v 0.44696970 -0.34650976 0.02618400
+v 0.46585758 -0.34496994 0.02717391
+v 0.44696970 -0.35326086 0.02309783
+v 0.44696970 -0.35326086 0.02717391
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 5
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 1 5
+f 8 2 7
+f 9 5 1
+f 9 7 6
+f 9 6 5
+f 10 8 7
+f 10 1 8
+f 10 9 1
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940c3755751af685799e6f14e5195385651f0aaa
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46534645 -0.29067854 -0.01239748
+v 0.46212121 -0.29067854 -0.02717391
+v 0.46535194 0.25477593 -0.01239843
+v 0.40151515 0.25477593 -0.01355926
+v 0.40151515 -0.29067862 -0.01355457
+v 0.46212121 0.25477601 -0.02717391
+v 0.40151515 -0.29067854 -0.02717391
+v 0.40151515 0.25477601 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 6 7
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b5b6c0ac0654a4cd95bd3dad7ef1f4c13c952f9
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.29067862 -0.01355457
+v -0.23484848 -0.29067854 -0.02717391
+v -0.23484848 0.16386692 -0.02717391
+v -0.35606061 0.16386684 -0.01355847
+v -0.35606061 -0.29067862 -0.01355457
+v -0.35606061 0.16386692 -0.02717391
+v -0.23484848 0.16386684 -0.01355847
+v -0.35606061 -0.29067854 -0.02717391
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b13d6b38959ab6d2895aa4477ed56808e2b0620
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.29067862 -0.01355457
+v -0.35606061 -0.29067854 -0.02717391
+v -0.35606061 0.25477601 -0.02717391
+v -0.44696970 0.25477593 -0.01355926
+v -0.44696970 -0.29067854 -0.02717391
+v -0.35606061 0.25477593 -0.01355926
+v -0.44696970 -0.29067862 -0.01355457
+v -0.44696970 0.25477601 -0.02717391
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671d0cb1a6cbd4c261000bade025fe4c1cd1c1ce
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 -0.29067862 -0.01355457
+v -0.44696970 -0.29067854 -0.02717391
+v -0.44696970 0.30023055 -0.02717391
+v -0.49110429 0.30023055 0.01110433
+v -0.49110361 -0.29067853 0.01110436
+v -0.46893477 0.30023055 -0.02717391
+v -0.44696970 0.30023047 -0.01355965
+v -0.48031113 -0.29067854 -0.00949668
+v -0.48031113 0.30023055 -0.00949668
+v -0.46893477 -0.29067854 -0.02717391
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 4
+f 8 1 5
+f 9 8 4
+f 9 4 6
+f 9 6 8
+f 10 8 6
+f 10 6 2
+f 10 2 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d01f6769b88a2610c4b33dbe1c3a08e4214512
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.46535208 0.30023048 -0.01239878
+v 0.46212121 0.30023055 -0.02717391
+v 0.46175028 0.34298076 0.01153116
+v -0.44696970 0.34436518 0.01110432
+v -0.44696970 0.30023047 -0.01355965
+v 0.44696970 0.32219566 -0.02717391
+v 0.47293074 0.32372433 0.00425743
+v 0.45903109 0.33303579 -0.00865306
+v -0.44696970 0.32219566 -0.02717391
+v 0.45785996 0.32041809 -0.02717391
+v -0.44696970 0.33357199 -0.00949669
+v -0.44696970 0.30023055 -0.02717391
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 7
+f 9 6 2
+f 10 8 7
+f 10 7 2
+f 10 2 6
+f 10 6 8
+f 11 8 6
+f 11 6 9
+f 11 4 8
+f 11 5 4
+f 12 9 2
+f 12 2 5
+f 12 11 9
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdf4e22a1de4a50c88467458d2e5eb3a572362f
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44696970 -0.35326086 0.02717391
+v -0.48662738 -0.33165341 0.02028024
+v 0.44696970 -0.33678736 0.01039583
+v -0.48954135 -0.33390526 0.02717391
+v -0.46992358 -0.34904248 0.02309783
+v 0.44696970 -0.34650976 0.02618400
+v -0.46992358 -0.34904248 0.02717391
+v -0.48391568 -0.34027424 0.02309783
+v 0.44696970 -0.35326086 0.02309783
+v -0.48391568 -0.34027424 0.02717391
+f 3 2 4
+f 5 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 2 5
+f 8 5 7
+f 9 5 3
+f 9 3 1
+f 9 1 5
+f 10 8 7
+f 10 7 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/model.xml b/objects/objaverse/tray/tray_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74e24a09dd88651dcd8e4a2e597bb6d1a201068a
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_26">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865469 0.0 0.0 0.707106781186547"/>
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