Add files using upload-large-folder tool

objects/objaverse/apple/apple_0/collision/model_normalized_collision_4.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_0/model.xml

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+<mujoco model="apple_41">
+  <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="defaultMat.011" 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="defaultMat.011"/>
+        <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="-0.00028711012500000084 -0.0001968427499999995 -0.0368284545" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00028711012500000084 -0.0001968427499999995 0.036928177500000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0368138235 0.036646608000000004 4.986150000000079e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/apple/apple_17/collision/model_normalized_collision_0.obj

@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.11043803 -0.39119150 0.26642137
+v 0.37750844 -0.15442482 0.26697427
+v 0.18669891 -0.24675505 0.34644156
+v -0.16003777 -0.00767473 0.33116235
+v -0.15442448 -0.37750805 0.26697427
+v 0.16003270 -0.00766285 0.33118701
+v 0.28082488 -0.25328975 0.30232672
+v 0.32984007 -0.24102514 0.26403663
+v -0.14382166 -0.00598072 0.32648597
+v -0.02234729 -0.30650239 0.34686635
+v 0.30378902 -0.14034729 0.33701984
+v -0.23523974 -0.12900021 0.35151359
+v 0.16527661 -0.32437128 0.31749850
+v 0.21436293 -0.34622135 0.26615520
+v 0.29732377 -0.20892753 0.31904724
+v 0.14379729 -0.00616085 0.32651107
+v -0.06665469 -0.38500879 0.28921723
+v 0.37296689 -0.13996217 0.27937902
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_1.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_10.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_11.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_12.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_13.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_14.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_15.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_16.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_17.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_18.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_19.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_2.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_20.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_21.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_22.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_23.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_24.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_25.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_26.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_27.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.22332902 -0.00637218 0.34681336
+v -0.23484810 -0.00757576 -0.21094094
+v -0.23484810 0.20454545 -0.21094094
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_28.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_29.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_3.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.35606022 -0.00757576 0.12239239
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_30.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28030340 -0.00757576 0.25875602
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+v 0.30420625 0.25470343 0.28027931
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+v -0.23484810 -0.00757576 0.25875602
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+v 0.29156247 0.24420100 -0.34465782
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+f 8 2 7

objects/objaverse/apple/apple_17/collision/model_normalized_collision_4.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_5.obj

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objects/objaverse/apple/apple_17/collision/model_normalized_collision_6.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_7.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_8.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.33081004 -0.25696290 -0.29284401
+v 0.25186928 -0.34007039 -0.28745152
+v 0.26968371 -0.39846974 -0.15889064
+v 0.38446437 -0.31193265 -0.07235572
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objects/objaverse/apple/apple_17/collision/model_normalized_collision_9.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.16003270 -0.00766285 0.33118701
+v 0.15909128 -0.00757576 0.25875602
+v 0.15909128 0.23484848 0.25875602
+v -0.24046282 0.24160781 0.33378135
+v -0.23484810 -0.00757576 0.25875602
+v 0.15936143 0.23518166 0.35200785
+v 0.16319017 0.05430024 0.33456670
+v -0.22913930 -0.00697927 0.34798487
+v -0.23484810 0.23484848 0.25875602
+v 0.16096657 0.17655527 0.34996879
+v -0.16003777 -0.00767473 0.33116235
+v -0.15936483 0.23517869 0.35199750
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 1 7
+f 10 8 1
+f 10 6 8
+f 10 7 3
+f 10 3 6
+f 11 8 5
+f 11 1 8
+f 11 5 2
+f 11 2 1
+f 12 8 6
+f 12 6 4
+f 12 4 8

objects/objaverse/apple/apple_17/model.xml

@@ -0,0 +1,84 @@
+<mujoco model="apple_50">
+  <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="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="APPLE_MATERIAL" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="APPLE__STAMP" 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="APPLE__STAMP"/>
+        <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_1_vis" conaffinity="0" contype="0" group="1" material="APPLE_MATERIAL"/>
+        <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="6.441189999999986e-05 -4.513600000000396e-06 -0.0322169869" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="6.441189999999986e-05 -4.513600000000396e-06 0.032261124" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0345072504 0.0343694253 2.206854999999869e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/apple/apple_17/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.png

objects/objaverse/apple/apple_17/visual/model_normalized_0.obj

@@ -0,0 +1,1594 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01491526 0.00757928 0.24921965
+v -0.01162642 0.00931265 0.26957607
+v -0.01432850 0.00950325 0.24896103
+v -0.01103966 0.01123737 0.26931745
+v -0.01337922 0.01127025 0.24865681
+v -0.01009038 0.01300362 0.26901398
+v -0.01210405 0.01281078 0.24831970
+v -0.00881521 0.01454489 0.26867612
+v -0.01055232 0.01406726 0.24796167
+v -0.00726348 0.01580138 0.26831884
+v -0.00878382 0.01499038 0.24759765
+v -0.00549423 0.01672450 0.26795407
+v -0.00686583 0.01554500 0.24724036
+v -0.00357624 0.01727911 0.26759679
+v -0.00487234 0.01571019 0.24690401
+v -0.00158275 0.01744356 0.26726117
+v -0.00287960 0.01547922 0.24660203
+v 0.00040924 0.01721259 0.26695845
+v -0.00096535 0.01486032 0.24634490
+v 0.00232424 0.01659369 0.26670207
+v 0.00079792 0.01387815 0.24614384
+v 0.00408750 0.01561227 0.26650100
+v 0.00408750 0.01561227 0.26650100
+v 0.00234218 0.01257009 0.24600556
+v 0.00563176 0.01430421 0.26636272
+v 0.00360763 0.01098697 0.24593604
+v 0.00689722 0.01272108 0.26629321
+v 0.00454645 0.00918932 0.24593754
+v 0.00783603 0.01092268 0.26629470
+v 0.00512199 0.00724516 0.24601004
+v 0.00841158 0.00897928 0.26636721
+v 0.00531260 0.00523075 0.24615056
+v 0.00860218 0.00696486 0.26650773
+v 0.00511003 0.00322306 0.24635462
+v 0.00839962 0.00495643 0.26671104
+v 0.00452328 0.00129909 0.24661324
+v 0.00781286 0.00303246 0.26697041
+v 0.00357400 -0.00046791 0.24691671
+v 0.00686358 0.00126620 0.26727388
+v 0.00229882 -0.00200843 0.24725457
+v 0.00558841 -0.00027507 0.26761099
+v 0.00074709 -0.00326492 0.24761185
+v 0.00403668 -0.00153155 0.26796902
+v -0.00102141 -0.00418804 0.24797662
+v 0.00226818 -0.00245467 0.26833304
+v -0.00293940 -0.00474266 0.24833390
+v 0.00035019 -0.00300929 0.26869032
+v -0.00493289 -0.00490785 0.24866952
+v -0.00164330 -0.00317448 0.26902668
+v -0.00692488 -0.00467688 0.24897224
+v -0.00363604 -0.00294276 0.26932866
+v -0.00883988 -0.00405798 0.24922862
+v -0.00555029 -0.00232461 0.26958579
+v -0.01060314 -0.00307581 0.24942969
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objects/objaverse/bar/bar_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.34110014 -0.10682270 -0.14406562
+v 0.34120124 -0.07554443 -0.17180787
+v 0.34092601 -0.03702074 -0.17714806
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+f 12 5 11

objects/objaverse/bar/bar_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26696990 -0.11333686 -0.06724067
+v 0.26515151 -0.03738300 -0.07379796
+v 0.26744190 -0.05691518 0.07034750
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objects/objaverse/bar/bar_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.30733353 -0.12543992 -0.11020610
+v 0.40102823 -0.09215918 -0.16211092
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objects/objaverse/bar/bar_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.07455808 -0.18457062
+v 0.44613426 0.07987556 0.16986601
+v 0.44252288 -0.06682000 -0.14004761
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objects/objaverse/bar/bar_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.39450403 -0.09335472 -0.12280914
+v 0.44691394 -0.08223771 -0.18607975
+v 0.44179263 0.05689714 0.15828050
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+v 0.44613426 0.07987556 0.16986601
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+v 0.46220595 0.03888830 0.07749326
+v 0.39406131 0.00086127 -0.11509548
+v 0.39467221 0.04387163 -0.01037378
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+f 22 17 20
+f 22 20 21

objects/objaverse/bar/bar_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.33632519 -0.00776036 0.16242348
+v 0.33462125 -0.00312032 0.17340967
+v 0.14405973 -0.01845571 0.16674640
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+f 12 10 8
+f 12 4 10

objects/objaverse/bar/bar_0/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 15.47450500
+map_Kd material_0.jpeg

objects/objaverse/bar/bar_10/collision/model_normalized_collision_23.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04908887 -0.14512629 -0.01230534
+v -0.01239325 -0.14477832 -0.11283189
+v -0.01289257 -0.05301697 -0.10054107
+v -0.05356751 -0.05253880 -0.01061014
+v -0.04464602 -0.14438745 -0.06831258
+v -0.04893071 -0.14360121 -0.01209236
+v -0.02687426 -0.14462854 -0.09969742
+v -0.04550914 -0.05266348 -0.06514613
+v -0.01056109 -0.08460869 -0.10424333
+v -0.01917274 -0.08519679 -0.10080596
+v -0.02847234 -0.05044432 -0.08667674
+v -0.03289892 -0.14236431 -0.09283061
+v -0.02009885 -0.14306534 -0.10626927
+v -0.03158776 -0.05658385 -0.08503768
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 9 6 2
+f 9 2 3
+f 9 3 6
+f 10 3 2
+f 11 8 4
+f 11 4 3
+f 11 3 10
+f 12 7 5
+f 12 5 8
+f 13 10 2
+f 13 2 7
+f 13 7 10
+f 14 11 10
+f 14 10 7
+f 14 7 12
+f 14 12 8
+f 14 8 11

objects/objaverse/bar/bar_10/collision/model_normalized_collision_4.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01445931 -0.46221384 0.09394917
+v 0.01319750 -0.40087850 -0.15109800
+v -0.00386063 -0.38816680 0.09672979
+v -0.02475957 -0.38520119 0.08689164
+v 0.00251265 -0.45699732 0.01190557
+v 0.01345219 -0.38638340 -0.15115577
+v 0.00340349 -0.40333106 0.09993285
+v 0.00957556 -0.46417922 0.00174020
+v -0.00325040 -0.45957028 0.08394571
+v 0.00176985 -0.40306435 -0.15180571
+v -0.01467019 -0.38330357 -0.00500842
+v -0.01538870 -0.42642533 0.08358154
+v 0.00269262 -0.38799657 -0.15116528
+f 6 1 2
+f 7 3 4
+f 7 6 3
+f 7 1 6
+f 8 2 1
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 8 5
+f 10 2 8
+f 10 6 2
+f 11 4 3
+f 11 3 6
+f 11 10 4
+f 12 9 4
+f 12 4 10
+f 12 10 5
+f 12 5 9
+f 13 11 6
+f 13 6 10
+f 13 10 11

objects/objaverse/bar/bar_10/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bar_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
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+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
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+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865474 3.9252311467094385e-17 0.7071067811865476 9.47634626983522e-17"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="textured_0.002" 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="textured_0.002"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.5820678100908482e-17 -0.00025376494999999807 -0.011467721699999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.5820678100908482e-17 -0.00025376494999999807 0.011460476999999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029655008100000015 0.09449247390000001 -3.622350000000406e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>